Travel control apparatus and method thereof

Abstract

The invention relates to a travel control apparatus and a method thereof. The travel control apparatus includes a sensor device, a memory, and a controller. The travel control apparatus recognizes a situation in which a lane change is required on the basis of a travel path while controlling the host vehicle according to the travel path. A first distance from a lane change end point of the target lane to the host vehicle and a second distance from the lane change end point to the parked or parked vehicle are used to determine whether or not the biased driving needs to be performed. And performing biased driving toward a target lane using at least one of a position of the parked or parked vehicle, a lateral length of the parked or parked vehicle, or a lateral distance between the parked or parked vehicle and a host vehicle, or any combination thereof.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims priority to Korean Patent Application No. 10-2024-0032777 filed on Mar. 7, 2024, the entire contents of which application is incorporated herein for all purposes by this reference. Technical Field

[0003] The present invention relates to a driving control device and method thereof, and more particularly to a technology for naturally changing lanes based on the state of a parked or stopped vehicle in the rightmost lane and the relationship between the parked or stopped vehicle and the vehicle when the vehicle is not traveling in the rightmost lane when turning right at an intersection. Background Art

[0004] As autonomous and / or semi-autonomous driving control technologies develop, the technology used to stabilize the vehicle will become increasingly sophisticated. For example, when the vehicle is driving in a city center, technology can be developed that naturally changes lanes to a target lane at intersections, taking into account surrounding conditions.

[0005] Meanwhile, if lane change control is executed for the host vehicle, there may be at least one other vehicle in the target lane for the lane change. For example, if the target lane is a lane adjacent to a sidewalk (e.g., the rightmost lane), there may be a parked or stopped vehicle corresponding to a parked or stopped state in an area of ​​the target lane. In this case, the driving system may generate a driving path for lane change to the target lane after the host vehicle passes the parked or stopped vehicle.

[0006] However, when the host vehicle makes a right turn within a short period of time after completing the lane change to the target lane, if the lane change is delayed due to a parked or stopped vehicle in the target lane, the host vehicle cannot make a right turn normally. Summary of the Invention

[0007] Various aspects of the present invention have been described to provide solutions to the above-mentioned problems.

[0008] One aspect of the present invention can provide a driving control device and method thereof, wherein the driving control device performs directional driving control based on the state of at least one other vehicle and the driving condition of the vehicle when the vehicle can change lanes to the target lane and turn right, and then completes the lane change, so that the vehicle can make a right turn normally at the intersection after the lane change is completed.

[0009] Another aspect of the present invention can provide a driving control device and a method thereof, which determines whether each of at least one other vehicle present in a target lane is a parked or stopped vehicle based on a state such as speed or position, thereby more accurately and quickly generating a driving path for directional driving and lane changing.

[0010] Another aspect of the present invention can provide a driving control device and a method thereof, which uses the distance from the final point where a right turn can be made in the target lane (for example, the lane change end point) to the vehicle and the distance from the final point to the parked or stopped vehicle to determine whether directional driving needs to be performed.

[0011] Another aspect of the present invention can provide a driving control device and method thereof, which, when entering a target lane and making it difficult to turn right due to insufficient space in front of a parked or stopped vehicle in the target lane, performs directional driving in advance and quickly enters the target lane, thereby quickly turning right according to the driving path.

[0012] Another aspect of the present invention can provide a driving control device and a method thereof, which is used to perform directional driving occupying at least a portion of the target lane to indirectly provide the intention of lane change to other vehicles around it, and also provide a driving function of ultimately changing lanes and completing a right turn while minimizing or reducing the impact of objects behind.

[0013] The technical problems solved by the present invention are not limited to the above-mentioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which the present invention pertains through the following description.

[0014] A driving control device may include: a sensor device (e.g., at least one sensor); a memory storing at least one instruction; and a controller (e.g., including at least one processor and / or at least one vehicle controller) operably connected to the sensor device and the memory, wherein the at least one instruction is configured to, when executed by the controller, cause the driving control device to: while controlling the vehicle according to a driving path, identify a situation where the vehicle needs to change lanes based on the driving path; based on information received from the sensor device, determine whether to perform directional driving using a first distance from the lane change end point of the target lane to the vehicle and a second distance from the lane change end point to a parked or stopped vehicle, wherein whether to perform directional driving is determined based on identifying a parked or stopped vehicle in the target lane; based on determining that directional driving is to be performed, perform directional driving toward the target lane using at least one of the position of the parked or stopped vehicle, the lateral length of the parked or stopped vehicle, or the lateral distance between the parked or stopped vehicle and the vehicle, or any combination thereof.

[0015] The at least one instruction may be configured to, when executed by the controller, cause the driving control device to determine that a lane change to the target lane is required if an intersection requiring a right turn is identified within a specified distance from the current position of the host vehicle based on the driving path and the host vehicle is not traveling in the target lane. The lane change endpoint corresponds to an endpoint where a right turn is possible.

[0016] The at least one instruction can be configured to, when executed by the controller, cause the driving control device to: identify at least one other vehicle included in the target lane based on information received from the sensor device; identify a first other vehicle among the at least one other vehicle that meets the speed condition as a parked or stopped vehicle, wherein the first other vehicle is determined based on the following information: the real-time driving speed of the first other vehicle is less than or equal to the first speed, or the real-time driving speed of the first other vehicle is less than or equal to a second speed greater than the first speed, and a history of driving at the first speed within a first time.

[0017] The at least one instruction can be configured to, when executed by the controller, cause the driving control device to: identify at least one other vehicle included in the target lane based on information received from the sensor device; identify a second other vehicle among the at least one other vehicle that meets the position condition as a parked or stopped vehicle, wherein the second other vehicle is determined based on the following information: the spacing distance between the second other vehicle and the right lane line of the target lane is less than or equal to the first value, and the average driving speed of the adjacent lane is greater than or equal to the third speed, or at least a portion of the body of the second other vehicle passes through the right lane line.

[0018] The at least one instruction can be configured to, when executed by the controller, cause the driving control device to: after identifying a third other vehicle that does not meet the speed condition among at least one other vehicle, determine the third other vehicle as a parked or stopped vehicle based on the third other vehicle meeting the speed condition and the position condition within a second time that is longer than the first time.

[0019] The at least one instruction can be configured to, when executed by the controller, enable the driving control device to: after identifying a fourth other vehicle included in a specified distance from the lane change end point toward the direction of the vehicle among at least one other vehicle, determine the fourth other vehicle as a parked or stopped vehicle based on the fourth other vehicle satisfying the speed condition and the position condition within a third time longer than the first time.

[0020] The at least one instruction can be configured so that, when executed by the controller, the driving control device determines that directional driving needs to be performed based on the following information: a first distance from a first point of the vehicle to an end point of the lane change is less than or equal to a first threshold distance; a second distance from the end point of the lane change to a second point of the first parked or parked vehicle farthest from the vehicle among a plurality of parked or parked vehicles including the parked or parked vehicle is less than or equal to a second threshold distance that is smaller than the first threshold distance.

[0021] The at least one instruction can be configured to, when executed by the controller, cause the driving control device to: identify an interval corresponding to the lateral length of the parked or parked vehicle as a directional driving maintenance interval for directional driving; identify an offset amount using the lateral distance between the parked or parked vehicle and the host vehicle and the width of the host vehicle; identify a directional target lateral distance based on the lateral distance and the offset; and perform directional driving within the directional driving maintenance interval based on a directional driving path spaced apart from the center of the parked or parked vehicle by the directional target lateral distance.

[0022] The at least one instruction can be configured to, when executed by the controller, cause the driving control device to: identify an interval from a first parked or parked vehicle farthest from the host vehicle to a second parked or parked vehicle closest to the host vehicle among a plurality of parked or parked vehicles including the parked or parked vehicles as a deflection driving maintenance interval for deflection driving; identify a designated parked or parked vehicle with the smallest lateral distance from the host vehicle among the parked or parked vehicles; identify an offset using the minimum lateral distance between the designated parked or parked vehicle and the host vehicle and the width of the host vehicle; identify a deflection target lateral distance based on the minimum lateral distance and the offset; and perform deflection driving within the deflection driving maintenance interval based on a deflection driving path spaced from the center of the designated parked or parked vehicle by the deflection target lateral distance.

[0023] The at least one instruction can be configured so that, when executed by the controller, the driving control device: controls the vehicle to drive close to the target lane with a lateral acceleration below the specified lateral acceleration from the time point when it is determined that directional driving needs to be performed to the starting point when the vehicle enters the directional driving maintenance interval; controls the vehicle to drive along a directional driving path that is separated from the center of the parked or parked vehicle by a directional target lateral distance from the starting point of the directional driving maintenance interval to the time when the vehicle overtakes the parked or parked vehicle; and performs lane change control to the lane change end point after the vehicle overtakes the parked or parked vehicle.

[0024] The travel control device may further perform one or more features described herein and / or may implement one or more features described herein.The travel control method may be executed by a controller of the travel control device. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] The above and other objects, features and advantages of the present invention will become more apparent from the following detailed description with reference to the accompanying drawings.

[0026] Figure 1 An example of components of a travel control apparatus according to an example of the present invention is shown.

[0027] Figure 2 An example of a travel control method according to an example of the present invention is shown.

[0028] Figure 3 An example of an operational concept diagram of a travel control method according to an example of the present invention is shown.

[0029] Figure 4 An example of an operational concept diagram of a travel control method according to an example of the present invention is shown.

[0030] Figure 5 An example of an operational concept diagram of a travel control method according to an example of the present invention is shown.

[0031] Figure 6 An example of an operational concept diagram of a travel control method according to an example of the present invention is shown.

[0032] Figure 7 An example of a flowchart of a travel control method according to an example of the present invention is shown.

[0033] Figure 8 An example of a computing system related to a travel control apparatus or a travel control method according to an example of the present invention is shown.

[0034] Regarding the description of the drawings, the same or similar reference numerals may be used for the same or similar components. DETAILED DESCRIPTION

[0035] Hereinafter, some examples of the present invention will be described in detail with reference to the illustrative drawings. When reference numerals are added to the components of each figure, it should be noted that the same components are referred to by the same reference numerals even when shown in other figures. In addition, detailed descriptions of some features or functions will be omitted so as not to unnecessarily obscure the main purpose of the present invention.

[0036] When describing components according to examples of the present invention, terms such as first, second, "A", "B", (a), (b), etc. may be used. These terms are only used to distinguish one element from another element, but do not limit the corresponding elements and have nothing to do with the order or priority of the corresponding elements. In addition, unless otherwise defined, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by those skilled in the art to which the present invention belongs. Terms defined in commonly used dictionaries should be understood to have the same meaning as the contextual meaning in the relevant technical field, and should not be understood to have ideal or overly formal meanings unless clearly defined as such in this application.

[0037] In the following, reference will be made to Figures 1 to 8 Examples of the present invention are described in detail.

[0038] According to the Society of Automotive Engineers (SAE), the automation levels of autonomous vehicles can be categorized as follows. At Level 0, the SAE classification standard may correspond to "non-automation," where the autonomous driving system temporarily intervenes in emergency situations (e.g., automatic emergency braking) and / or only provides warnings (e.g., blind spot warnings, lane departure warnings, etc.), and the driver is expected to operate the vehicle. At Level 1, the SAE classification standard may correspond to "driver assistance," where the system performs some driving functions (e.g., steering, acceleration, braking, lane centering, adaptive cruise control, etc.) while the driver operates the vehicle in a normal operating range, and the driver is expected to determine the operating state and / or timing of the system, perform other driving functions, and respond to (e.g., resolve) emergency situations. At Level 2, the SAE classification standard may correspond to "partial automation," where the system performs steering, acceleration, and / or braking under the driver's supervision, and the driver is expected to determine the operating state and / or timing of the system, perform other driving functions, and respond to (e.g., resolve) emergency situations. At automated driving level 3, the SAE classification standard may correspond to "conditional automation," in which the system drives the vehicle (e.g., performs driving functions such as steering, acceleration, and / or braking) under limited conditions, but transfers driving control to the driver if the required conditions are not met, and the driver is expected to determine the operating state and / or timing of the system, take over control in emergency situations, but does not otherwise operate the vehicle (e.g., steering, acceleration, and / or braking). At automated driving level 4, the SAE classification standard may correspond to "high automation," in which the system performs all driving functions, and the driver is expected to take control of the vehicle only in emergency situations. At automated driving level 5, the SAE classification standard may correspond to "full automation," in which the system performs all driving functions without any assistance from the driver, including in emergency situations, and the driver is not expected to perform any driving functions other than determining the operating state of the system. Although the present invention may apply the SAE classification standard to automated driving classification, other classification methods and / or algorithms may be used in one or more of the configurations described herein.

[0039] Figure 1 1 is a block diagram illustrating components of a driving control device according to an example of the present invention. Examples of operational controls for autonomous driving of a vehicle may include acceleration, deceleration, steering control, gear shifting control, braking system control, traction control, stability control, cruise control, lane keeping assist control, collision avoidance system control, emergency brake assist control, traffic sign recognition control, adaptive headlight control, and the like.

[0040] For example, the driving control device 100 may include a sensor device 110 (e.g., a camera, a blind spot monitoring sensor, a lane departure warning sensor, a parking sensor, a light sensor, a rain sensor, a traction control sensor, an anti-lock braking system sensor, a tire pressure monitoring sensor, a seat belt sensor, an airbag sensor, a fuel sensor, an emission sensor, a throttle position sensor, etc.), a memory 120 and / or a controller 130. Figure 1 The components of the travel control device 100 shown are illustrative, and examples of the present invention are not limited thereto. For example, the travel control device 100 may further include Figure 1 Components not shown (eg, at least one of a communication device, an interface, a display, or a notification device, or any combination thereof).

[0041] For example, the sensor device 110 can obtain various information about the host vehicle.

[0042] For example, the sensor device 110 may include at least one sensor including at least one of a camera, radio detection and ranging (RADAR), or light detection and ranging (LiDAR), or any combination thereof.

[0043] For example, the sensor device 110 may utilize at least one sensor to obtain information about an external object (eg, at least one of a person, another vehicle, a building or structure, or a combination thereof).

[0044] For example, the sensor device 110 can obtain at least one information about the real-time driving speed of the vehicle, the real-time driving acceleration of the vehicle, the driving direction of the vehicle, the driving path of the vehicle, or the driving history of the vehicle, or any combination thereof.

[0045] For example, the sensor device 110 can obtain at least one information about the driving speed of another vehicle adjacent to the host vehicle (for example, at least one other vehicle present in the target lane), the driving acceleration of the other vehicle, the driving direction of the other vehicle, the driving path of the other vehicle, the type of the target lane, or the separation distance between the host vehicle and the other vehicle (for example, the lateral distance and / or the longitudinal distance), or any combination thereof.

[0046] For example, the sensor device 110 may obtain information about the lane in which the host vehicle is traveling and an adjacent lane adjacent to the lane (e.g., the lane to the right of the lane). For example, the sensor device 110 may obtain information that an intersection exists within a specified distance ahead of the lane. For example, the sensor device 110 may confirm that the host vehicle can perform a lane change from the lane to a target lane (e.g., the lane to the right of the lane) in order to make a right turn at the intersection.

[0047] For example, the memory 120 may store commands or data. For example, the memory 120 may store one or more instructions that, when executed by the controller 130 , cause the travel control apparatus 100 to perform various operations.

[0048] For example, the memory 120 and the controller 130 may be implemented as one chipset. The controller 130 may include at least one of a communication processor or a modem.

[0049] For example, the memory 120 may store various information related to the travel control apparatus 100. For example, the memory 120 may store information about the operation history of the controller 130. For example, the memory 120 may store information related to the status and / or operation of a component of the host vehicle (e.g., at least one of the engine control unit (ECU), the sensor device 110, or the controller 130, or any combination thereof).

[0050] For example, the memory 120 may include a plurality of storage devices of different types. For example, the memory 120 may include at least one of a random access memory (RAM) or an embedded multimedia card (eMMC), or any combination thereof.

[0051] For example, the RAM may temporarily store data (e.g., driving data) related to the operation of the driving control device 100 and / or the host vehicle (i.e., the control target of the driving control device 100). The RAM may include, for example, at least one buffer. For example, the driving control device 100 may store at least one node in the RAM that is divided by dividing the data collected (or recognized) when performing driving control on the host vehicle into units of time.

[0052] For example, eMMC can include a built-in multimedia card. For example, eMMC can store data for a longer time than RAM. eMMC can be implemented as a separate memory chip independent of RAM, for example.

[0053] For example, the controller 130 may be operatively connected to the sensor device 110 and / or the memory 120. For example, the controller 130 may control the operation of the sensor device 110 and / or the memory 120.

[0054] For example, while controlling the host vehicle based on the driving path, the controller 130 may identify situations requiring lane changes based on the driving path.

[0055] For example, the controller 130 can use the driving path of the host vehicle to confirm whether there is an intersection ahead of the lane in which the host vehicle is traveling. For example, if a situation in which a right turn at an intersection is required is identified based on the driving path, the controller 130 can determine whether the lane in which the host vehicle is traveling is a target lane in which a right turn can be made (for example, whether the lane is the rightmost lane). For example, if it is identified that the host vehicle is not traveling in the target lane (for example, if it is identified that the host vehicle is traveling in the left lane of the target lane), the controller 130 can determine that a lane change to the target lane is required.

[0056] For example, the controller 130 may identify a lane change destination included in the target lane using information received from the sensor device 110. For example, the lane change destination may be defined as the final point at which the vehicle can make a right turn at the intersection if the vehicle is traveling in the target lane.

[0057] For example, the controller 130 may use information received from the sensor device 110 to identify whether there is a parked or stopped vehicle in the target lane.

[0058] For example, the controller 130 may use information received from the sensor device 110 to identify at least one other vehicle included in the target lane, and may identify a first other vehicle among the at least one other vehicle that meets the speed condition as a parked or stopped vehicle. For example, the first other vehicle may include another vehicle whose real-time driving speed is less than or equal to a first speed (e.g., 1.8 kilometers per hour (km / h)). For example, the first other vehicle may include another vehicle whose real-time driving speed is less than or equal to a second speed (e.g., 10.8 km / h) greater than the first speed, and which has a history of traveling at the first speed within a first time (e.g., 0.8 seconds). For example, the controller 130 may determine that another vehicle among the at least one other vehicle whose real-time driving speed is less than or equal to the first speed corresponds to a parked or stopped vehicle that meets the speed condition. Furthermore, the controller 130 may determine that another vehicle among the at least one other vehicle whose real-time driving speed is less than or equal to the second speed and has a history of traveling at the first speed at least once between the current time point and a time point prior to the first time point corresponds to a parked or stopped vehicle that meets the speed condition.

[0059] For example, the controller 130 may use information received from the sensor device 110 to identify at least one other vehicle in the target lane and may identify a second other vehicle among the at least one other vehicle that meets the position condition as a parked or stopped vehicle. For example, the second other vehicle may include a vehicle whose distance from the right lane marking of the target lane is less than or equal to a first value (e.g., 0.3 m) and whose average speed in the adjacent lane is greater than or equal to a third speed (e.g., 7.2 km / h). For example, the second other vehicle may include a vehicle whose body at least partially passes through the right lane marking. For example, if the average speed of the adjacent lane of a specific vehicle (e.g., the host vehicle's lane) is determined to be greater than or equal to the third speed, and the distance between the right side of the specific vehicle and the right lane marking is less than or equal to a first value, the controller 130 may determine that the specific vehicle corresponds to a parked or stopped vehicle that meets the position condition. Furthermore, the controller 130 may determine that the vehicle among the at least one other vehicle whose body at least partially passes through the right lane marking corresponds to a parked or stopped vehicle that meets the position condition. In this case, the controller 130 may set the first value to be proportional to the width of the target lane. For example, if the target lane has a width greater than a predetermined width, the controller 130 may increase a first value that is a condition related to a spacing distance between another vehicle and a right lane line.

[0060] For example, the controller 130 may identify a third other vehicle that does not meet the speed condition among at least one other vehicle. In this case, after identifying that the third other vehicle does not meet the speed condition, if it is confirmed that the third other vehicle meets the speed condition and the position condition within a second time (e.g., 5 seconds) that is longer than the first time, the controller 130 may determine the third other vehicle as a parked or stopped vehicle.

[0061] For example, the controller 130 may identify a fourth other vehicle from the at least one other vehicle within a specified distance (e.g., 20 meters) from the lane change endpoint toward the host vehicle (e.g., behind the other vehicle). For example, if it is confirmed that the fourth other vehicle satisfies the speed condition and the position condition within a third time (e.g., 10 seconds) that is longer than the first time, the controller 130 may determine the fourth other vehicle as a parked or stopped vehicle.

[0062] For example, the controller 130 may determine other vehicles that satisfy both the position condition and the speed condition as parked or stopped vehicles.

[0063] For example, for another vehicle among the at least one other vehicle determined to be a parked or stopped vehicle, the controller 130 may maintain the determination that the other vehicle is a parked or stopped vehicle for a predefined time (e.g., 0.8 seconds). For example, if the predefined time has passed, the controller 130 may re-determine whether each of the at least one other vehicle corresponds to a parked or stopped vehicle.

[0064] For example, if at least one parked or stopped vehicle is identified in the target lane, the controller 130 may determine whether biased driving needs to be performed using a first distance from the lane change endpoint of the target lane to the host vehicle and a second distance from the lane change endpoint to the parked or stopped vehicle.

[0065] For example, after identifying the lane change endpoint of the target lane, the controller 130 may identify a first distance, which is a longitudinal distance from a component of the host vehicle (eg, a front bumper) to the lane change endpoint.

[0066] For example, the controller 130 may identify a second distance that is a longitudinal distance from the lane change endpoint of the target lane to the parked or stopped vehicle.

[0067] For example, if the first distance is less than or equal to a first threshold distance (e.g., 100 meters) and the second distance is less than or equal to a second threshold distance (e.g., 30 meters) that is smaller than the first threshold distance, the controller 130 may determine that zigzag driving is necessary. For example, if the first distance is greater than the first threshold distance, the controller 130 may determine that zigzag driving is being performed too early and may begin zigzag driving at a time when the first distance enters within the first threshold distance. For example, if the second distance is greater than the second threshold distance, i.e., if the parked or stopped vehicle is relatively far from the lane change destination, the controller 130 may determine that a lane change can be performed to the target lane after the host vehicle passes the parked or stopped vehicle without performing zigzag driving. In this case, if it is determined that the second distance is less than or equal to the second threshold distance, since the space between the parked or stopped vehicle and the lane change destination is not large enough, a lane change to the lane change destination cannot be performed relatively easily through normal driving. Therefore, the controller 130 may perform a lane change as quickly as possible through zigzag driving.

[0068] For example, if it is determined that directional driving is required, the controller 130 can use at least one of the position of the parked or stopped vehicle, the lateral length of the parked or stopped vehicle, or the lateral distance between the parked or stopped vehicle and the host vehicle, or any combination thereof to perform directional driving toward the target lane.

[0069] For example, the controller 130 may identify the lateral length of the parked or stopped vehicle. For example, if there is only one parked or stopped vehicle, the controller 130 may identify the interval corresponding to the identified lateral length of the parked or stopped vehicle as a directional driving maintenance interval for directional driving. In this directional driving maintenance interval, the controller 130 may control the host vehicle based on a driving path that deviates from the centerline of the lane toward the target lane.

[0070] For example, the controller 130 may calculate an offset using the lateral distance between the parked or stopped vehicle and the host vehicle and the width of the host vehicle. For example, the offset may be a value obtained by adding a specified ratio (e.g., 50%) of the lateral distance between the parked or stopped vehicle and the host vehicle and the width of the host vehicle.

[0071] For example, the controller 130 may identify a deviation target lateral distance based on the lateral distance and the offset. For example, the deviation target lateral distance may be a value corresponding to the lateral distance between the center of the host vehicle and the center of the other vehicle.

[0072] For example, based on a yaw travel path that is spaced apart from the center of the parked or stopped vehicle by a yaw target lateral distance, the controller 130 may perform yaw travel control on the host vehicle within the yaw travel maintaining interval.

[0073] For example, the controller 130 may identify a plurality of parked or stopped vehicles. In this case, the controller 130 may perform directional driving control based on the relevant information between the plurality of parked or stopped vehicles and the host vehicle.

[0074] For example, if multiple parked or stopped vehicles are identified, the controller 130 may identify a section from a first parked or stopped vehicle farthest from the host vehicle to a second parked or stopped vehicle closest to the host vehicle as a directional travel maintaining section for directional travel. For example, the controller 130 may identify a section from a component (e.g., a front bumper) of the first parked or stopped vehicle to a component (e.g., a rear bumper) of the second parked or stopped vehicle as a directional travel maintaining section.

[0075] For example, the controller 130 may identify a designated parking vehicle that has the smallest lateral distance from the host vehicle among a plurality of parked or stopped vehicles. The designated parking vehicle may be the first parked or stopped vehicle or the second parked or stopped vehicle. For example, the controller 130 may calculate the offset using the lateral distance between the designated parking vehicle and the host vehicle (e.g., the minimum lateral distance) and the width of the host vehicle. For example, the offset may be a value obtained by adding the minimum lateral distance between the designated parking vehicle and the host vehicle and a specified ratio (e.g., 50%) of the width of the host vehicle.

[0076] For example, the controller 130 may identify a deviation target lateral distance based on the minimum lateral distance and the offset. For example, the deviation target lateral distance may be a value corresponding to the lateral distance between the center of the host vehicle and the center of the other vehicle.

[0077] For example, the controller 130 may perform directional traveling control on the host vehicle within the directional traveling maintaining interval based on a directional traveling path that is spaced apart from the center of the vehicle designated for parking or stopping by a directional target lateral distance.

[0078] For example, from the time point when it is determined that directional running needs to be performed to the starting point when the vehicle enters the directional running maintaining interval, the controller 130 can control the vehicle to run close to the target lane at a lateral acceleration below a specified lateral acceleration.

[0079] For example, if it is determined that yaw driving is required, the controller 130 may control the driving direction of the host vehicle based on the lateral acceleration so that the host vehicle enters the starting point of the yaw driving maintenance interval. For example, the controller 130 may use the generated lateral acceleration to control the host vehicle to travel in the direction of the target lane. For example, the controller 130 may set the lateral acceleration for entering the yaw driving maintenance interval to a lateral acceleration limit value (e.g., 2 m / s 2 ) or less, thus providing users with a comfortable and stable driving experience.

[0080] For example, from the start point of the directional travel maintaining interval until the host vehicle passes the parked or stopped vehicle, the controller 130 may control the host vehicle to travel along a directional travel path that is spaced apart from the center of the parked or stopped vehicle by the directional target lateral distance. For example, from the start point of the directional travel maintaining interval to the end point of the directional travel maintaining interval (e.g., a point (e.g., the front bumper) of the frontmost vehicle in the directional travel maintaining interval), the controller 130 may control the travel of the host vehicle based on the directional travel path that is spaced apart from the center of the parked or stopped vehicle by the directional target lateral distance.

[0081] For example, after the host vehicle passes a parked or stopped vehicle, the controller 130 may execute lane change control toward the lane change endpoint. For example, if the host vehicle is recognized to have passed a parked or stopped vehicle (or if the host vehicle is recognized to have passed a point (e.g., the front bumper) that is toward the frontmost vehicle in the travel maintaining interval), the controller 130 may control the host vehicle to travel to the lane change endpoint, thereby completing the lane change control.

[0082] The numerical limits according to the above examples are illustrative, and examples of the present invention are not limited thereto. For example, the numerical limits of the threshold distance, time, interval distance, etc. are illustrative and can be changed by the developer's settings and / or the user's settings.

[0083] Figure 2 An example of a travel control method according to an example of the present invention is shown.

[0084] For example, a travel control device (e.g., Figure 1 The driving control device 100) can perform Figure 2 For example, at least a portion of the components included in the driving control device (e.g., Figure 1 The sensor device 110, memory 120 and / or controller 130) may be configured to perform Figure 2 operation.

[0085] The operations in S210 to S240 in the following examples may be performed sequentially, but not necessarily sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. In addition, the operations in conjunction with the above may be briefly described or omitted. Figure 2 The content described corresponds to or repeats the content.

[0086] For example, in S210 , the driving control apparatus may determine whether there is a parked or stopped vehicle in the target lane.

[0087] For example, if there is at least one other vehicle in the target lane that satisfies a speed condition and / or a position condition, the travel control device may determine that the other vehicle is a parked or stopped vehicle.

[0088] For example, the travel control device can determine other vehicles that meet one of speed condition and / or position condition as the vehicle of parking or stopping.As another example, the travel control device can determine other vehicles that meet speed condition and position condition simultaneously as the vehicle of parking or stopping.

[0089] For example, if there is a parked or stopped vehicle in the target lane (eg, “YES” in S210 ), the vehicle control device may execute S220 .

[0090] For example, if there is no parked or stopped vehicle in the target lane (e.g., S210 is "No"), the driving control device may execute S215. For example, if there is no parked or stopped vehicle in the target lane, the driving control device may execute lane change control to the target lane without considering the parked or stopped vehicle.

[0091] For example, in S220 , the driving control device may determine whether it is necessary to occupy the target lane.

[0092] For example, if a parked or stopped vehicle is identified in the target lane, the driving control device can use the first distance from the lane change end point of the target lane to the vehicle and the second distance from the lane change end point to the parked or stopped vehicle to determine whether it is necessary to occupy the target lane (or perform directional driving).

[0093] For example, if it is necessary to occupy the target lane (eg, “Yes” in S220 ), the driving control device may execute S230 .

[0094] For example, if the target lane does not need to be occupied (eg, S220 is "No"), the driving control device may execute S215. For example, the driving control device may execute lane change control toward the target lane instead of executing directional driving control toward the target lane.

[0095] For example, in S230 , the travel control device may perform directional travel.

[0096] For example, the description of the biased driving control can be described as follows Figures 3 to 6 description instead.

[0097] For example, in S240 , the travel control device may identify whether the host vehicle has passed a parked or stopped vehicle.

[0098] For example, if the host vehicle passes a component (eg, a front bumper) of a frontmost parked or stopped vehicle in a biased travel maintaining section, the travel control device may determine that the host vehicle has passed the parked or stopped vehicle.

[0099] For example, if it is determined that the host vehicle has passed a parked or stopped vehicle (eg, “YES” in S240 ), the travel control apparatus may execute S215 .

[0100] For example, if it is determined that the host vehicle has not passed the parked or stopped vehicle (e.g., S240 is "No"), the driving control device may repeatedly execute S210. For example, the driving control device may continue to execute the directional driving control until the host vehicle passes the parked or stopped vehicle.

[0101] For example, in S215 , the travel control device may perform lane change control.

[0102] For example, the driving control device can control the host vehicle from the lane to the target lane. For example, the driving control device can control the host vehicle to the lane change end point of the target lane to complete the lane change, and then the host vehicle can turn right at the intersection.

[0103] Figure 3 An example of an operational concept diagram of a travel control method according to an example of the present invention is shown.

[0104] For example, a travel control device (e.g., Figure 1 The driving control device 100) can stably perform lane changes by directional driving control of the host vehicle 301, and then a right turn can be made at an intersection. For example, the directional driving control may include a control strategy that can implement slight, continuous adjustments to the steering, speed and / or positioning of the vehicle (e.g., the host vehicle 301) to ensure smooth and stable lane changes. For example, the directional driving control may include fine-tuning the steering angle to seamlessly guide the vehicle into an adjacent lane, managing acceleration or deceleration to match the speed of the target lane, and / or ensuring that the vehicle is properly aligned within the new lane, etc. For example, by utilizing directional driving control, the vehicle can effectively prepare for subsequent maneuvers, such as making a right turn at an intersection. For example, directional driving control can enhance the stability and predictability of vehicle movement, thereby contributing to safer and more efficient driving.

[0105] For example, the travel control device may control the host vehicle 301 traveling in the lane 305. For example, the travel control device may confirm, based on the travel path of the travel control of the host vehicle 301, that there is an intersection ahead of the host vehicle 301 and a right turn is required.

[0106] For example, the driving control device can confirm the target lane 350 (or the rightmost lane) that can turn right at the intersection.For example, the driving control device can identify at least one other vehicle (310, 320 and / or 330) existing in the target lane 350.

[0107] For example, the travel control device may determine a portion of the at least one other vehicle ( 310 , 320 , and 330 ) that meets a speed condition and / or a position condition as parked or stopped vehicles.

[0108] For example, the travel control device can use the speed condition to identify a parked or stopped vehicle. For example, the travel control device can identify a vehicle whose real-time travel speed is less than or equal to a first speed (e.g., 1.8 km / h or any other value) among at least one other vehicle (310, 320, and 330) as another vehicle that meets the speed condition. For example, if the real-time travel speed of a specific other vehicle is less than or equal to a second speed (e.g., 10.8 km / h or any other value) that is greater than the first speed, and there is a history of at least one other vehicle traveling at the first speed during a time point before a first time (e.g., 0.8 seconds or any other value) from the time point when the specific other vehicle was identified, the travel control device can identify the specific other vehicle as another vehicle that meets the speed condition.

[0109] For example, the travel control device may determine whether the at least one other vehicle ( 310 , 320 , and 330 ) satisfies the position condition based on the position of the at least one other vehicle ( 310 , 320 , and 330 ) on the target lane 350 .

[0110] For example, the driving control device may identify the first other vehicle 310. For example, if it is confirmed that at least a portion of the body of the first other vehicle 310 passes through the right lane line 359 of the target lane 350, the driving control device may determine that the first other vehicle 310 meets the position condition and may determine that the first other vehicle 310 corresponds to a parked or stopped vehicle.

[0111] For example, the travel control device may identify a second other vehicle 320. For example, if it is confirmed that the distance D2 between the second other vehicle 320 and the right lane marking 359 of the target lane 350 is less than or equal to a first value (e.g., 0.3 m or any other value) and the average speed of the adjacent lane (or lane 305) is greater than or equal to a third speed (e.g., 7.2 km / h or any other value), the travel control device may determine that the second other vehicle 320 meets the position condition and that the second other vehicle 320 corresponds to a parked or stopped vehicle. For example, if the target lane 350 is wider than a predetermined width, the distance D2 between the second other vehicle 320 and the right lane marking 359 of the target lane 350 may be less than or equal to a second value (e.g., 0.7 m or any other value).

[0112] For example, the driving control device may identify the third other vehicle 330. For example, the driving control device may confirm that the third other vehicle 330 is within an area 395 within a specified distance D1 (e.g., 20 meters or any other value) from the lane change end point 390 in the direction of the host vehicle 301. For example, if the third other vehicle 330 satisfies speed conditions and position conditions within a predefined time (e.g., 10 seconds or any other value), the driving control device may determine that the third other vehicle 330 is a parked or stopped vehicle.

[0113] For example, the driving control device may determine that another vehicle among the at least one other vehicle (310, 320, and 330) that satisfies both the speed condition and the position condition is a parked or stopped vehicle. As another example, the driving control device may determine that another vehicle among the at least one other vehicle (310, 320, and 330) that satisfies one of the speed condition and / or the position condition is a parked or stopped vehicle.

[0114] For example, when another vehicle that does not satisfy the speed condition is identified among at least one other vehicle (310, 320 and 330), if the identified other vehicle satisfies both the speed condition and the position condition within a threshold time (e.g., 5 seconds or any other value), the driving control device can identify that the other vehicle is a parked or stopped vehicle.

[0115] Figure 4 An example of an operational concept diagram of a travel control method according to an example of the present invention is shown.

[0116] For example, a travel control device (e.g., Figure 1 The driving control device 100) can stably change lanes by controlling the directional driving of the vehicle 401, and then make a right turn at the intersection.

[0117] For example, if a sensor device (e.g. Figure 1 If the sensor device 110) identifies the presence of a parked or stopped vehicle 402 in the target lane 450, the vehicle control device can use Figure 4 Whether directional driving needs to be performed is determined based on a first distance DL from the lane change end point 490 of the target lane 450 to the host vehicle 401 and a second distance DA from the lane change end point 490 to the parked or stopped vehicle 402 shown in FIG.

[0118] For example, if a plurality of parked or stopped vehicles are identified in the target lane 450, the driving control device may identify the frontmost vehicle (e.g., the vehicle farthest from the host vehicle 401) among the plurality of parked or stopped vehicles as Figure 4 A parked or stopped vehicle 402 is shown.

[0119] For example, if a first distance DL from a first point of host vehicle 401 (e.g., the front bumper of host vehicle 401) to lane change endpoint 490 is less than or equal to a first threshold distance (e.g., 100 meters or any other value), and a second distance DA from lane change endpoint 490 to a second point of parked or stopped vehicle 402 (or the vehicle farthest from host vehicle 401) (e.g., the front bumper of parked or stopped vehicle 402) is less than or equal to a second threshold distance (e.g., 30 meters or any other value) that is less than the first threshold distance, the driving control device may determine that directional driving is necessary. Additionally or alternatively, if host vehicle 401 can perform a lane change, the parked or stopped vehicle may begin to move. In this case, the directional lane change may be canceled, and a lane change may be performed again after the moving vehicle. For example, if a lane change to target lane 450 has been completed, the necessity of further action may be determined after the lane change.

[0120] Figure 5 An example of an operational concept diagram of a travel control method according to an example of the present invention is shown.

[0121] For example, a travel control device (e.g., Figure 1 The driving control device 100) can stably change lanes by controlling the directional driving of the vehicle 501, and then make a right turn at the intersection.

[0122] For example, the driving control device may identify at least one parked or stopped vehicle (510, 520, and 530) among at least one other vehicle included in the target lane (e.g., the right lane of the lane 505). Figures 1 to 4 The described criteria are used to identify a parked or stopped vehicle.

[0123] For example, the travel control device may identify, from a first point 591 corresponding to the first parked or parked vehicle 510 as the rearmost vehicle (e.g., a point corresponding to the rear bumper of the first parked or parked vehicle 510), a second point 592 corresponding to the third parked or parked vehicle 530 as the frontmost vehicle (e.g., a point corresponding to the front bumper of the third parked or parked vehicle 530) among at least one of the parked or stopped vehicles (510, 520, and 530). The travel control device may identify the section from the first point 591 to the second point 592 as the directional travel maintaining section DO.

[0124] For example, the driving control device can perform directional driving control on the vehicle 501 within the directional driving maintenance interval DO. The driving control device can identify a directional target lateral distance for directional driving control. For example, the directional target lateral distance may include an intentionally adjusted lateral distance that the vehicle intends to maintain from a reference point (such as the center of a lane or another vehicle) during a maneuver such as a lane change. This adjustment can be made to improve the stability, safety and / or performance of the vehicle under various driving conditions. For example, during a lane change, the driving control system can deviate from the lateral distance to maintain a safer interval with adjacent vehicles, taking into account factors such as the speed of the vehicle, road conditions and / or the presence of obstacles.

[0125] For example, the driving control device may identify at least one of the parked or stopped vehicles (510, 520, and 530) that has the smallest lateral distance (e.g., Figure 5 The vehicle shown in DS) is Figure 5 A second parked or stopped vehicle 520 is shown in FIG.

[0126] For example, the travel control device may identify the minimum lateral distance DS from one side of the host vehicle 501 to one side of the second parked or stopped vehicle 520. The travel control device may calculate the offset using the minimum lateral distance DS and the width of the host vehicle 501. For example, the travel control device may identify the offset as a value obtained by adding the minimum lateral distance DS to a specified ratio (e.g., 50% or any other value) of the width of the host vehicle 501.

[0127] For example, the driving control device may identify the deviation target lateral distance based on the minimum lateral distance DS and the offset. For example, the deviation target lateral distance may be the lateral distance from the center of the host vehicle 501 (or the deviation driving path) to the center of the second parked or stopped vehicle 520 (e.g., Figure 6 The lateral distance to the target is 691).

[0128] For example, the travel control apparatus may perform the directional travel control within the directional travel maintaining interval DO based on the directional travel path that is spaced apart from the center of the second parked or stopped vehicle 520 by the directional target lateral distance.

[0129] Figure 6 An example of an operational concept diagram of a travel control method according to an example of the present invention is shown.

[0130] For example, a travel control device (e.g., Figure 1 The driving control device 100) can stably change lanes by controlling the directional driving of the vehicle 601, and then make a right turn at the intersection.

[0131] For example, the travel control device may control the host vehicle 601 to enter the directional travel path in the following section A for directional travel.

[0132] For example, from the time point when the lateral driving needs to be performed (or the starting point 681 of the interval A) to the starting point of the vehicle 601 entering the lateral driving maintenance interval B, the driving control device can control the vehicle 601 to move at a specified lateral acceleration (for example, 2 m / s 2 or any other value) to approach the target lane 650. For example, the driving control device may control the host vehicle 601 to move in lane 605 toward the target lane 650 based on a lateral acceleration that is less than or equal to a specified lateral acceleration. For example, the driving control device may identify a longitudinal distance 692 from the time point when it is determined that the directional driving needs to be performed to the starting point 682 at which the host vehicle 601 enters the directional driving maintaining interval B based on the calculated lateral acceleration.

[0133] For example, the travel control device may control the host vehicle 601 to travel along a directional travel path based on the directional travel distance 693 from the start point of the directional travel maintaining interval B to the start point 683 of the lane change interval C. For example, the start point 683 of the lane change interval C may be the point where the host vehicle 601 passes the parked or stopped vehicle 610 (or the frontmost vehicle of at least one parked or stopped vehicle). For example, the travel control device may control the host vehicle 601 to travel along a directional travel path that is spaced from the center of the parked or stopped vehicle 610 by the directional target lateral distance 691.

[0134] For example, after the host vehicle 601 passes the parked or stopped vehicle 610, the driving control device may perform lane change control on the host vehicle 601 until the lane change end point 690. Figure 6 , the frontmost vehicle among at least one parked or stopped vehicle is shown; however, there may be multiple parked or stopped vehicles 610. For example, the longitudinal distance DA from the front bumper of the parked or stopped vehicle 610 to the lane change end point 690 may be a second threshold distance (e.g., 30 m).

[0135] For example, the travel control device may perform lane change control on the host vehicle 601 to reach the lane change end point 690 and then make a right turn at the intersection.

[0136] Figure 7 An example of a flowchart of a travel control method according to an example of the present invention is shown.

[0137] For example, a travel control device (e.g., Figure 1 The driving control device 100) can perform Figure 7For example, at least a portion of the components included in the driving control device (e.g., Figure 1 The sensor device 110, memory 120 and / or controller 130) may be configured to perform Figure 7 operation.

[0138] For example, the operations in S710 to S730 may be performed sequentially, but not necessarily sequentially. For example, the order of the operations may be changed, and at least two operations may be performed in parallel. In addition, the operations described above may be briefly described or omitted. Figure 7 The content described corresponds to or repeats the content.

[0139] For example, in S710 , the driving control device may identify a situation requiring lane change based on the driving path while controlling the host vehicle based on the driving path.

[0140] For example, in S720, if a parked or stopped vehicle is identified in the target lane, the driving control device can use the first distance from the lane change end point of the target lane to the vehicle and the second distance from the lane change end point to the parked or stopped vehicle to determine whether directional driving needs to be performed.

[0141] For example, in S730, if it is determined that directional driving is required, the driving control device can use at least one of the position of the parked or stopped vehicle, the lateral length of the parked or stopped vehicle, or the lateral distance between the parked or stopped vehicle and the vehicle, or any combination thereof to control the vehicle to approach the target lane and perform directional driving.

[0142] Figure 8 An example of a computing system related to a travel control apparatus or a travel control method according to an example of the present invention is shown.

[0143] refer to Figure 8 The computing system 1000 related to the driving control device or the driving control method may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage device 1600 and a network interface 1700 connected to each other via a bus 1200.

[0144] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage device 1600. The memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a read-only memory (ROM) 1310 and a random access memory (RAM) 1320.

[0145] Therefore, the operations of the methods or algorithms described in conjunction with the examples disclosed in the specification may be directly implemented in a hardware module, a software module, or a combination of a hardware module and a software module, and the software module is executed by the processor 1100. The software module may exist in a storage medium (i.e., the memory 1300 and / or the storage device 1600), such as RAM, flash memory, ROM, EPROM, EEPROM, registers, a hard disk, a removable hard disk, and a CD-ROM.

[0146] An exemplary storage medium may be coupled to the processor 1100. The processor 1100 may read information from the storage medium and may write information to the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor and the storage medium may be present in an application specific integrated circuit (ASIC). The ASIC may be present in a user terminal. In another embodiment, the processor and the storage medium may be present in the user terminal as separate components.

[0147] According to one aspect of the present invention, a driving control device may include a sensor device, a memory storing at least one instruction, and a controller operably connected to the sensor device and the memory. For example, the at least one instruction may be configured such that, when executed by the controller, the driving control device: while controlling the host vehicle according to the driving path, identifies a situation requiring lane change based on the driving path; if the sensor device identifies a parked or stopped vehicle in the target lane, determines whether directional driving is required using a first distance from the lane change endpoint of the target lane to the host vehicle and a second distance from the lane change endpoint to the parked or stopped vehicle; and if directional driving is determined to be required, performs directional driving toward the target lane using at least one of the position of the parked or stopped vehicle, the lateral length of the parked or stopped vehicle, the lateral distance between the parked or stopped vehicle and the host vehicle, or any combination thereof.

[0148] For example, the at least one instruction may be configured to, when executed by the controller, cause the driving control device to determine that a lane change to the target lane is necessary if an intersection requiring a right turn is identified within a specified distance from the current position of the host vehicle based on the driving path and the host vehicle is not traveling in the target lane. For example, the lane change endpoint may correspond to an endpoint where a right turn is possible.

[0149] For example, the at least one instruction may be configured to, when executed by the controller, cause the travel control device to: utilize a sensor device to identify at least one other vehicle included in the target lane, and identify a first other vehicle among the at least one other vehicle that satisfies a speed condition as a parked or stopped vehicle. The first other vehicle may include a vehicle having a real-time travel speed less than or equal to a first speed, or a real-time travel speed less than or equal to a second speed greater than the first speed, and having a history of traveling at the first speed within a first period of time.

[0150] For example, the at least one instruction may be configured to, when executed by the controller, cause the travel control device to: utilize a sensor device to identify at least one other vehicle in the target lane, and identify a second other vehicle among the at least one other vehicle that meets a position condition as a parked or stopped vehicle. For example, the second other vehicle may include a vehicle whose separation distance from the right lane marking of the target lane is less than or equal to a first value, whose average travel speed in the adjacent lane is greater than or equal to a third speed, or whose vehicle body at least partially passes through the right lane marking.

[0151] For example, the at least one instruction can be configured to, when executed by the controller, cause the driving control device to: when a third other vehicle that does not meet the speed condition is identified among at least one other vehicle, determine the third other vehicle as a parked or stopped vehicle if the third other vehicle meets the speed condition and the position condition within a second time that is longer than the first time.

[0152] For example, the at least one instruction can be configured to, when executed by the controller, cause the driving control device to: when a fourth other vehicle is identified among at least one other vehicle as being included within a specified distance from the lane change end point toward the direction of the vehicle, if the fourth other vehicle meets the speed condition and the position condition within a third time that is longer than the first time, the fourth other vehicle is determined as a parked or stopped vehicle.

[0153] For example, the at least one instruction can be configured to, when executed by the controller, cause the driving control device to: determine that directional driving needs to be performed if a first distance from a first point of the host vehicle to an end point of the lane change is less than or equal to a first threshold distance, and a second distance from the end point of the lane change to a second point of a first parked or parked vehicle that is farthest from the host vehicle among a plurality of parked or parked vehicles including parked or parked vehicles is less than or equal to a second threshold distance that is smaller than the first threshold distance.

[0154] For example, the at least one instruction can be configured to, when executed by the controller, cause the driving control device to: identify an interval corresponding to the lateral length of the parked or parked vehicle as a directional driving maintenance interval for directional driving, calculate an offset using the lateral distance between the parked or parked vehicle and the host vehicle and the width of the host vehicle, identify a directional target lateral distance based on the lateral distance and the offset, and perform directional driving within the directional driving maintenance interval based on a directional driving path spaced apart from the center of the parked or parked vehicle by the directional target lateral distance.

[0155] For example, the at least one instruction can be configured to, when executed by the controller, cause the driving control device to: identify an interval from a first parked or parked vehicle farthest from the own vehicle to a second parked or parked vehicle closest to the own vehicle among a plurality of parked or parked vehicles including the parked or parked vehicle as a deflection driving maintenance interval for deflection driving, identify a designated parked or parked vehicle with the smallest lateral distance from the own vehicle among the plurality of parked or parked vehicles, calculate an offset using the minimum lateral distance between the designated parked or parked vehicle and the own vehicle and the width of the own vehicle, identify a deflection target lateral distance based on the minimum lateral distance and the offset, and perform deflection driving within the deflection driving maintenance interval based on a deflection driving path spaced apart from the center of the designated parked or parked vehicle by the deflection target lateral distance.

[0156] For example, the at least one instruction can be configured to, when executed by the controller, cause the driving control device to: control the vehicle to drive close to the target lane with a lateral acceleration below the specified lateral acceleration from the time point when it is determined that directional driving needs to be performed to the starting point when the vehicle enters the directional driving maintenance interval; control the vehicle to drive along a directional driving path that is separated from the center of the parked or parked vehicle by a directional target lateral distance from the starting point of the directional driving maintenance interval to the time when the vehicle overtakes the parked or parked vehicle; and after the vehicle overtakes the parked or parked vehicle, perform lane change control to the lane change end point.

[0157] According to another aspect of the present invention, a driving control method may include: while controlling the vehicle according to the driving path, the controller identifies the need for lane change based on the driving path; if the sensor device identifies the presence of a parked or stopped vehicle in the target lane, the controller uses a first distance from the lane change end point of the target lane to the vehicle and a second distance from the lane change end point to the parked or stopped vehicle to determine whether directional driving is required; if it is determined that directional driving is required, the controller uses at least one of the position of the parked or stopped vehicle, the lateral length of the parked or stopped vehicle, or the lateral distance between the parked or stopped vehicle and the vehicle, or any combination thereof to perform directional driving toward the target lane.

[0158] For example, the driving control method may further include: if an intersection requiring a right turn is identified within a specified distance from the current position of the host vehicle based on the driving path, and the host vehicle is not traveling in the target lane, determining, by the controller, that a lane change to the target lane is required. For example, the lane change endpoint may correspond to an endpoint where a right turn is possible.

[0159] For example, the driving control method may further include: the controller using a sensor device to identify at least one other vehicle in the target lane, and the controller identifying a first other vehicle among the at least one other vehicle that meets a speed condition as a parked or stopped vehicle. For example, the first other vehicle may include a vehicle having a real-time driving speed less than or equal to a first speed, or a real-time driving speed less than or equal to a second speed greater than the first speed, and having a history of traveling at the first speed within a first period of time.

[0160] For example, the driving control method may further include: the controller using a sensor device to identify at least one other vehicle in the target lane, and the controller identifying a second other vehicle among the at least one other vehicle that meets a position condition as a parked or stopped vehicle. For example, the second other vehicle may include a vehicle having a separation distance from the right lane marking of the target lane less than or equal to a first value, an average driving speed in an adjacent lane greater than or equal to a third speed, or at least a portion of the vehicle body passing through the right lane marking.

[0161] For example, the driving control method may further include: when a third other vehicle that does not meet the speed condition is identified among at least one other vehicle, if the third other vehicle meets the speed condition and the position condition within a second time longer than the first time, the third other vehicle is determined as a parked or stopped vehicle.

[0162] For example, the driving control method may further include: when a fourth other vehicle is identified among at least one other vehicle as being included within a specified distance from the lane change end point toward the direction of the vehicle, if the fourth other vehicle meets the speed condition and the position condition within a third time longer than the first time, the fourth other vehicle is determined as a parked or stopped vehicle.

[0163] For example, the driving control method may further include: if a first distance from a first point of the vehicle to a lane change end point is less than or equal to a first threshold distance, and a second distance from the lane change end point to a second point of a first parked or parked vehicle that is farthest from the vehicle among a plurality of parked or parked vehicles including parked or stopped vehicles is less than or equal to a second threshold distance that is smaller than the first threshold distance, the controller determines that directional driving needs to be performed.

[0164] For example, the driving control method may further include: the controller identifying an interval corresponding to the lateral length of the parked or parked vehicle as a directional driving maintenance interval for directional driving, the controller calculating an offset amount using the lateral distance between the parked or parked vehicle and the host vehicle and the width of the host vehicle, the controller identifying a directional target lateral distance based on the lateral distance and the offset amount, and the controller performing directional driving within the directional driving maintenance interval based on a directional driving path spaced apart from the center of the parked or parked vehicle by the directional target lateral distance.

[0165] For example, the driving control method may further include: the controller identifying an interval from a first parked or parked vehicle farthest from the own vehicle to a second parked or parked vehicle closest to the own vehicle among a plurality of parked or parked vehicles including the parked or parked vehicle as a deflection driving maintenance interval for deflection driving, the controller identifying a designated parked or parked vehicle with the smallest lateral distance from the own vehicle among the plurality of parked or parked vehicles, the controller calculating an offset using the minimum lateral distance between the designated parked or parked vehicle and the own vehicle and the width of the own vehicle, the controller identifying a deflection target lateral distance based on the minimum lateral distance and the offset, and the controller performing deflection driving within the deflection driving maintenance interval based on a deflection driving path spaced from the center of the designated parked or parked vehicle by the deflection target lateral distance.

[0166] For example, the driving control method may further include: from the time point when it is determined that directional driving needs to be performed to the starting point when the vehicle enters the directional driving maintenance interval, the controller controls the vehicle to drive close to the target lane with a lateral acceleration below the specified lateral acceleration; from the starting point of the directional driving maintenance interval to the time when the vehicle overtakes the parked or parked vehicle, the controller controls the vehicle to drive along a directional driving path that is spaced from the center of the parked or parked vehicle by a directional target lateral distance; after the vehicle overtakes the parked or parked vehicle, the controller performs lane change control to the lane change end point.

[0167] A description will be given of the effects of the travel control apparatus and method thereof according to an example of the present invention.

[0168] An example of the present invention can be that when the vehicle can change lanes to the target lane and make a right turn, when there is at least one other vehicle in the target lane, the vehicle can perform directional driving control based on the state of the at least one other vehicle and the driving condition of the vehicle, so as to make a right turn normally at the intersection after the lane change is completed.

[0169] Examples of the present invention can determine whether each of at least one other vehicle present in a target lane is a parked or stopped vehicle based on states such as speed or position, thereby more accurately and quickly generating a driving path for directional driving and lane changes.

[0170] Examples of the present invention may utilize the distance from a final point where a right turn can be made (eg, a lane change endpoint) to the host vehicle and the distance from the final point to a parked or stopped vehicle to determine whether directional maneuvering needs to be performed.

[0171] In an example of the present invention, when it is difficult to turn right after entering a target lane due to insufficient space in front of a parked or stopped vehicle in the target lane, the vehicle can perform directional driving in advance and quickly enter the target lane, thereby quickly turning right according to the driving path.

[0172] Examples of the present invention can perform directional driving to occupy at least a portion of the target lane to indirectly provide other vehicles around the vehicle with the intention of making a lane change, and also provide a driving function of ultimately making a lane change and completing a right turn while minimizing or reducing the impact of objects behind.

[0173] Furthermore, various effects determined directly or indirectly by the present invention can be provided.

[0174] Although the present invention has been described above with reference to exemplary examples and accompanying drawings, the present invention is not limited thereto and various changes and modifications may be made by those skilled in the art without departing from the spirit and scope of the invention as claimed in the appended claims.

[0175] Therefore, the examples of the present invention are not intended to limit the technical spirit of the present invention, but are provided for illustrative purposes only. The scope of the present invention should be interpreted based on the appended claims, and all technical concepts within the scope equivalent to the claims should be included in the scope of the present invention.

Claims

1. A driving control device comprising: sensor devices; a memory storing at least one instruction; as well as a processor operatively coupled to the sensor device and the memory, The at least one instruction is configured to, when executed by a processor, cause the travel control device to: While controlling the host vehicle according to the travel path, identifying a situation requiring a lane change for the host vehicle based on the travel path; determining whether to perform directional maneuvering based on information received from the sensor device using a first distance from a lane change endpoint in a target lane to the host vehicle and a second distance from the lane change endpoint to a parked or stopped vehicle, wherein the determination of whether to perform directional maneuvering is based on recognition of the parked or stopped vehicle in the target lane; Based on the determination to perform directional driving, directional driving toward the target lane is performed using at least one of the position of the parked or stopped vehicle, the lateral length of the parked or stopped vehicle, the lateral distance between the parked or stopped vehicle and the vehicle, or any combination thereof.

2. The travel control apparatus according to claim 1, wherein The at least one instruction is configured to, when executed by a processor, cause the travel control device to: If an intersection requiring a right turn is identified within a specified distance from the current position of the host vehicle based on the driving path, and the host vehicle is not traveling in the target lane, it is determined that a lane change to the target lane is required, The lane change endpoint corresponds to an endpoint where a right turn can be performed.

3. The travel control apparatus according to claim 1, wherein The at least one instruction is configured to, when executed by a processor, cause the travel control device to: identifying at least one other vehicle included in the target lane based on information received from the sensor device; identifying a first other vehicle among the at least one other vehicle that meets the speed condition as a parked or stopped vehicle, The first other vehicle is determined based on the following information: The real-time travel speed of the first other vehicle is less than or equal to the first speed, or The first other vehicle has a real-time travel speed that is less than or equal to a second speed that is greater than the first speed, and a history of traveling at the first speed within a first time.

4. The travel control apparatus according to claim 1, wherein The at least one instruction is configured to, when executed by a processor, cause the travel control device to: identifying at least one other vehicle included in the target lane based on information received from the sensor device; identifying a second other vehicle among the at least one other vehicle that meets the position condition as a parked or stopped vehicle, The second other vehicle is determined based on the following information: The distance between the second other vehicle and the right lane line of the target lane is less than or equal to the first value, and the average speed of the adjacent lanes is greater than or equal to the third speed, or At least a portion of a vehicle body of the second other vehicle passes through the right lane marking.

5. The travel control apparatus according to claim 3, wherein The at least one instruction is configured to, when executed by a processor, cause the travel control device to: After a third other vehicle that does not satisfy the speed condition is identified among the at least one other vehicle, the third other vehicle is determined to be a parked or stopped vehicle based on the third other vehicle satisfying the speed condition and the position condition within a second time longer than the first time.

6. The travel control apparatus according to claim 3, wherein: The at least one instruction is configured to, when executed by a processor, cause the travel control device to: After identifying a fourth other vehicle included in a specified distance from the lane change end point toward the present vehicle among the at least one other vehicle, the fourth other vehicle is determined to be a parked or stopped vehicle based on the fourth other vehicle satisfying speed conditions and position conditions within a third time longer than the first time.

7. The travel control apparatus according to claim 1, wherein The at least one instruction is configured to, when executed by a processor, cause the travel control device to: The need for directional steering is determined based on the following information: A first distance from the first point of the host vehicle to the lane change endpoint is less than or equal to a first threshold distance; A second distance from the lane change end point to a second point of a first parked or parked vehicle farthest from the host vehicle among the plurality of parked or parked vehicles including the parked or parked vehicle is less than or equal to a second threshold distance that is smaller than the first threshold distance.

8. The travel control apparatus according to claim 1, wherein The at least one instruction is configured to, when executed by a processor, cause the travel control device to: identifying a section corresponding to a lateral length of the parked or stopped vehicle as a directional travel maintaining section for directional travel; identifying an offset using a lateral distance between the parked or stopped vehicle and the host vehicle and a width of the host vehicle; identifying a lateral distance to a target based on the lateral distance and the offset; The yaw traveling is performed within the yaw traveling maintaining section based on a yaw traveling path that is spaced apart from the center of the parked or stopped vehicle by the yaw target lateral distance.

9. The travel control apparatus according to claim 1, wherein: The at least one instruction is configured to, when executed by a processor, cause the travel control device to: identifying a section from a first parked or parked vehicle farthest from the host vehicle to a second parked or parked vehicle closest to the host vehicle among a plurality of parked or parked vehicles including the parked or parked vehicle as a directional travel maintaining section for directional travel; identifying, among the plurality of parked or stopped vehicles, a designated parked or stopped vehicle having a smallest lateral distance from the host vehicle; identifying an offset using a minimum lateral distance between the designated parked or stopped vehicle and the host vehicle and a width of the host vehicle; identifying a lateral distance to a target based on the minimum lateral distance and the offset; The yaw running is performed within the yaw running maintaining section based on a yaw running path that is spaced apart from the center of the vehicle designated for parking or stopping by the yaw target lateral distance.

10. The travel control apparatus according to claim 1, wherein The at least one instruction is configured to, when executed by a processor, cause the travel control device to: From the time when the directional driving is required to be performed to the start point of the vehicle entering the directional driving maintenance interval, the vehicle is controlled to move toward the target lane at a lateral acceleration less than the specified lateral acceleration; controlling the host vehicle to travel along a deflected travel path spaced apart from the center of the parked or stopped vehicle by a deflection target lateral distance from the starting point of the deflected travel maintaining interval until the host vehicle passes the parked or stopped vehicle; After the host vehicle passes the parked or stopped vehicle, lane change control is performed toward the lane change end point.

11. A driving control method, comprising: While controlling the host vehicle according to the travel path, the processor identifies, based on the travel path, a situation requiring a lane change for the host vehicle; determining, by the processor, based on information received from the sensor device, whether to perform directional maneuvering using a first distance from a lane change endpoint in a target lane to the host vehicle and a second distance from the lane change endpoint to a parked or stopped vehicle, wherein the determination of whether to perform directional maneuvering is based on recognition of the parked or stopped vehicle in the target lane; Based on determining to execute directional driving, the processor uses at least one of the position of the parked or stopped vehicle, the lateral length of the parked or stopped vehicle, or the lateral distance between the parked or stopped vehicle and the host vehicle, or any combination thereof to execute directional driving toward the target lane.

12. The driving control method according to claim 11, further comprising: If an intersection requiring a right turn is identified within a specified distance from the current position of the host vehicle based on the driving path, and the host vehicle is not traveling in the target lane, the processor determines that a lane change to the target lane is required. The lane change endpoint corresponds to an endpoint where a right turn can be performed.

13. The driving control method according to claim 11, further comprising: identifying, by the processor, at least one other vehicle included in the target lane based on information received from the sensor device; identifying, by the processor, a first other vehicle among the at least one other vehicle that meets the speed condition as a parked or stopped vehicle, The first other vehicle is determined based on the following information: The real-time travel speed of the first other vehicle is less than or equal to the first speed, or The first other vehicle has a real-time travel speed that is less than or equal to a second speed that is greater than the first speed, and a history of traveling at the first speed within a first time.

14. The driving control method according to claim 11, further comprising: identifying, by the processor, at least one other vehicle included in the target lane based on information received from the sensor device; identifying, by the processor, a second other vehicle among the at least one other vehicle that meets the position condition as a parked or stopped vehicle, The second other vehicle is determined based on the following information: The distance between the second other vehicle and the right lane line of the target lane is less than or equal to the first value, and the average speed of the adjacent lanes is greater than or equal to the third speed, or At least a portion of a vehicle body of the second other vehicle passes through the right lane marking.

15. The driving control method according to claim 13, further comprising: After identifying a third other vehicle that does not meet the speed condition among the at least one other vehicle, the processor determines the third other vehicle as a parked or stopped vehicle based on the third other vehicle meeting the speed condition and the position condition within a second time longer than the first time.

16. The driving control method according to claim 13, further comprising: After a fourth other vehicle is identified among the at least one other vehicle within a specified distance from the lane change end point toward the vehicle, the processor determines the fourth other vehicle as a parked or stopped vehicle based on the fourth other vehicle satisfying speed conditions and position conditions within a third time longer than the first time.

17. The driving control method according to claim 11, further comprising: The processor determines that directional steering is required based on the following information: A first distance from the first point of the host vehicle to the lane change endpoint is less than or equal to a first threshold distance; A second distance from the lane change end point to a second point of a first parked or parked vehicle farthest from the host vehicle among the plurality of parked or parked vehicles including the parked or parked vehicle is less than or equal to a second threshold distance that is smaller than the first threshold distance.

18. The driving control method according to claim 11, further comprising: identifying, by a processor, a section corresponding to a lateral length of the parked or stopped vehicle as a directional travel maintaining section for directional travel; identifying, by the processor, an offset using a lateral distance between the parked or stopped vehicle and the host vehicle and a width of the host vehicle; identifying, by a processor, a lateral distance to a target based on the lateral distance and the offset; The yaw traveling is performed by a processor within the yaw traveling maintaining section based on a yaw traveling path that is spaced apart from the center of the parked or stopped vehicle by the yaw target lateral distance.

19. The driving control method according to claim 11, further comprising: identifying, by a processor, a section from a first parked or parked vehicle farthest from the host vehicle to a second parked or parked vehicle closest to the host vehicle among a plurality of parked or parked vehicles including the parked or parked vehicle as a directional travel maintaining section for directional travel; identifying, by the processor, a designated parked or stopped vehicle having a smallest lateral distance to the host vehicle among the plurality of parked or stopped vehicles; identifying, by the processor, an offset using a minimum lateral distance between the designated parked or stopped vehicle and the host vehicle and a width of the host vehicle; identifying, by a processor, a lateral distance to a target based on the minimum lateral distance and the offset; The yaw travel is performed by a processor within the yaw travel maintaining section based on a yaw travel path that is spaced apart from the center of the vehicle designated for parking or stopping by the yaw target lateral distance.

20. The driving control method according to claim 11, further comprising: From the time when the deviation driving is determined to be required to the start point of the vehicle entering the deviation driving maintenance interval, the processor controls the vehicle to drive toward the target lane at a lateral acceleration below the specified lateral acceleration; From the start of the directional travel maintaining interval until the host vehicle passes the parked or stopped vehicle, the host vehicle is controlled by the processor to travel along a directional travel path that is spaced apart from the center of the parked or stopped vehicle by a directional target lateral distance; After the host vehicle passes the parked or stopped vehicle, the processor performs lane change control toward the lane change end point.

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