Vehicle and control method thereof

Abstract

An apparatus for controlling a vehicle may include a processor coupled to a memory. The memory is configured to store instructions that, when executed by the processor, cause the apparatus to perform various functions. The functionality includes receiving sensor information from at least one of a plurality of sensors disposed at the vehicle, wherein the sensor information may relate to at least one object within a threshold distance from the vehicle. The apparatus may determine a target vehicle based on a preset target condition and the sensor information, and assess whether an entry condition for the target vehicle to enter a driving lane of the vehicle is satisfied. If the entry condition is satisfied, the apparatus determines a first position control reference point for avoiding a collision with the target vehicle, and determines brake control for the vehicle based on the first position control reference point.

Description

Technical Field

[0001] The present disclosure relates to a vehicle and a control method thereof. Background Art

[0002] The matters described in this background section are only for enhancing understanding of the background of the disclosure and should not be regarded as an admission that they correspond to the prior art already known to those skilled in the art.

[0003] The driving safety system may perform brake control based on current sensor physical values ​​of another vehicle that may be traveling in front of or around the host vehicle and may be able to cut in on the host vehicle.

[0004] A driving safety system may often fail to operate effectively because, in a low-speed driving situation of a host vehicle and a target vehicle as another vehicle, physical values ​​may not quickly reflect driving conditions due to limitations of sensors.

[0005] For example, in a low-speed driving situation, a target vehicle attempting to cut in suddenly moves at a considerable heading angle.

[0006] In this case, since the driving safety system may perform braking control based on the lateral position of the rear bumper center relative to the target vehicle, the possibility of a collision is high due to a delay in the automatic control decision. Summary of the Invention

[0007] According to the present disclosure, a device for controlling a vehicle may include a processor coupled to a memory and a memory configured to store instructions, which instructions, when executed by the processor, are configured to enable the device to: receive sensor information from at least one of a plurality of sensors provided on the vehicle, wherein the sensor information may include information related to at least one object within a threshold distance from the vehicle; determine a target vehicle based on preset target conditions and the sensor information; determine whether entry conditions for the target vehicle to enter a driving lane of the vehicle are met; determine a first position control reference point for avoiding a collision with the target vehicle based on meeting the entry conditions; and determine braking control of the vehicle based on the first position control reference point.

[0008] In the device of the present disclosure, the instructions, when executed by the processor, are configured to cause the device to: control braking to avoid a collision with a target vehicle based on a second position control reference point, and wherein the second position control reference point is determined based on a lateral position of a rear bumper center of the target vehicle and based on the non-satisfaction of the entry condition.

[0009] In the device, the instructions, when executed by the processor, are configured to cause the device to: determine whether an entry condition is satisfied based on a first heading angle of the vehicle and a second heading angle of the target vehicle.

[0010] In the device, the instructions, when executed by the processor, are configured to cause the device to: set the current position of the target vehicle to a positive value based on the target vehicle traveling on the left side of the vehicle, or a negative value based on the target vehicle traveling on the right side of the vehicle, and set the difference between the first heading angle and the second heading angle to: a negative value or a positive value, the negative value being based on the second heading angle of the target vehicle pointing further to the left than the first heading angle of the vehicle pointing to the left, and the positive value being based on the second heading angle of the target vehicle pointing further to the right than the first heading angle of the vehicle pointing to the right.

[0011] In the device, the entry conditions may include a first entry condition, a second entry condition, and a third entry condition, and the instructions, when executed by the processor, are configured to cause the device to: determine that the first entry condition is satisfied based on each of the first speed of the vehicle and the second speed of the target vehicle being less than a preset speed, and determine that the first entry condition is not satisfied based on at least one of the first speed or the second speed being greater than the preset speed.

[0012] In the device, the instructions, when executed by the processor, are configured to cause the device to: determine that the second entry condition is satisfied based on a positive number obtained by multiplying the current position of the target vehicle by the difference between the first heading angle and the second heading angle, and determine that the second entry condition is not satisfied based on a negative number obtained by multiplying the current position of the target vehicle by the difference between the first heading angle and the second heading angle.

[0013] In the device, the instructions, when executed by the processor, are configured to cause the device to: determine that the third entry condition is satisfied based on an absolute value of the difference between the first heading angle and the second heading angle being greater than a predetermined value, and determine that the third entry condition is not satisfied based on the absolute value being less than the predetermined value.

[0014] In the apparatus, the instructions, when executed by the processor, are configured to cause the apparatus to: generate a cut-in signal based on satisfying the first entry condition, the second entry condition, and the third entry condition.

[0015] In the device, wherein the instructions, when executed by the processor, are configured to cause the device to: determine a closest lateral position between the target vehicle and the vehicle based on the second heading angle of the target vehicle, and wherein the closest lateral position is set as the first position control reference point.

[0016] In the device, the instructions, when executed by the processor, are configured to cause the device to: generate a braking control signal based on the first position control reference point being smaller than the controllable lateral position reference range.

[0017] According to the present disclosure, a method performed by a device for controlling a vehicle may include the following steps: receiving a sensor message from at least one of a plurality of sensors provided at the vehicle, wherein the sensor message may include information related to at least one object within a threshold distance from the vehicle; determining a target vehicle based on preset target conditions and sensor information; determining whether an entry condition for the target vehicle to enter a driving lane of the vehicle is satisfied; determining a first position control reference point for avoiding a collision with the target vehicle based on satisfying the entry condition at a first time point; and controlling the driving of the vehicle using the vehicle's braking control based on the first position control reference point.

[0018] The method may further include controlling braking for avoiding a collision with the target vehicle based on a second position control reference point, wherein the second position control reference point is determined based on a lateral position of a center of a rear bumper of the target vehicle and based on not satisfying the entry condition at the second time point.

[0019] The method may further include determining whether the entry condition is satisfied based on the first heading angle of the vehicle and the second heading angle of the target vehicle.

[0020] The method may further include: setting the current position of the target vehicle to: a positive value based on the target vehicle traveling on the left side of the vehicle or a negative value based on the target vehicle traveling on the right side of the vehicle, and setting the difference between the first heading angle and the second heading angle to: a negative value or a positive value, the negative value being based on the second heading angle of the target vehicle pointing further to the left than the first heading angle of the vehicle pointing to the left, and the positive value being based on the second heading angle of the target vehicle pointing further to the right than the first heading angle of the vehicle pointing to the right.

[0021] In the method, wherein the entry condition may include a first entry condition, a second entry condition, and a third entry condition, and the method may further include performing one of the following: determining that the first entry condition is satisfied based on each of the first speed of the vehicle and the second speed of the target vehicle being less than a preset speed; or determining that the first entry condition is not satisfied based on at least one of the first speed and the second speed being greater than a preset speed.

[0022] The method may further include performing one of: determining that the second entry condition is satisfied based on a positive number obtained by multiplying the current position of the target vehicle by the difference between the first heading angle and the second heading angle; and determining that the second entry condition is not satisfied based on a negative number obtained by multiplying the current position of the target vehicle by the difference between the first heading angle and the second heading angle.

[0023] The method may further include performing one of: determining that a third entry condition is satisfied based on an absolute value of a difference between the first heading angle and the second heading angle being greater than a predetermined value; and determining that the third entry condition is not satisfied based on the absolute value being less than a predetermined value.

[0024] The method may further include generating a cut-in signal based on satisfying the first entry condition, the second entry condition, and the third entry condition.

[0025] The method may further include determining a closest lateral position between the target vehicle and the vehicle based on the second heading angle of the target vehicle, wherein the closest lateral position is set as a first position control reference point.

[0026] The method may further include generating a brake control signal based on the first position control reference point being smaller than a controllable lateral position reference range. BRIEF DESCRIPTION OF THE DRAWINGS

[0027] It will be understood that the drawings are not necessarily drawn to scale, but rather present various features illustrating the basic principles of the present disclosure in a somewhat simplified manner. The specific design features of the present disclosure included herein (including, for example, specific dimensions, orientations, positions, and shapes) will be determined in part by the specific intended application and use environment. In the drawings, throughout the several figures of the drawings, the same reference numerals refer to the same or equivalent parts of the present disclosure.

[0028] Figure 1 An example of an autonomous vehicle according to an example of the present disclosure is shown.

[0029] Figure 2 An example of a control method for an autonomous driving vehicle according to an example of the present disclosure is shown.

[0030] Figure 3 An example of a feature of determining whether an entry condition for another vehicle to enter a current driving lane of a host vehicle is satisfied according to an example of the present disclosure is shown.

[0031] Figure 4 、 Figure 5 and Figure 6 An example of a process of calculating a first position control reference point corresponding to a target vehicle to avoid a collision in response to a situation in which the target vehicle is about to enter a driving lane according to an example of the present disclosure is shown. DETAILED DESCRIPTION

[0032] Hereinafter, preferred examples of the present disclosure will be described in detail with reference to the accompanying drawings so that a person skilled in the art can easily implement the technical ideas of the present disclosure. However, the present disclosure can be embodied in different forms and should not be construed as being limited to the examples set forth herein. In the following description of the present disclosure, detailed descriptions of known functions and configurations incorporated herein will be omitted to avoid making the subject matter of the present disclosure unclear, and, whenever possible, similar reference numerals are used to refer to the same or similar elements in the description and drawings.

[0033] For purposes of this application and the claims, the exemplary phrase "at least one of: A, B, or C" or "at least one of A, B, or C" is used to mean "at least one A, or at least one B, or at least one C, or any combination of at least one A, at least one B, and at least one C." Further, exemplary phrases such as "A, B, and C," "A, B, or C," "at least one of A, B, and C," "at least one of A, B, or C," etc., as used herein, may mean each listed item or all possible combinations of listed items. For example, "at least one of A or B" may refer to (1) at least one A; (2) at least one B; or (3) at least one A and at least one B.

[0034] In addition, when describing a device as including (or comprising or having) some elements, it should be understood that it may include (or comprise or have) only these elements, or if there is no specific limitation, it may include (or comprise or have) other elements as well as these elements. Like reference numerals refer to like elements throughout.

[0035] The levels of automation of autonomous vehicles may be categorized as follows according to the Society of Automotive Engineers (SAE). At Level 0, the SAE classification standard may correspond to "no automation," in which the autonomous driving system temporarily engages in emergency situations (e.g., automatic emergency braking) and / or only provides warnings (e.g., blind spot warning, lane departure warning, etc.), and the driver is expected to operate the vehicle. At Level 1, the SAE classification standard may correspond to "driver assistance," in which the system performs some driving functions (e.g., steering, acceleration, braking, lane centering, adaptive cruise control, etc.) while the driver operates the vehicle in normal operating conditions, 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," in which 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 under limited conditions (e.g., performs driving functions such as steering, acceleration, and / or braking) but transfers driving control to the driver when the required conditions are not met, and the driver is expected to determine the operating state and / or timing of the system and 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 complete 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 disclosure may apply the SAE classification standard for automated driving classification, other classification methods and / or algorithms may be used in one or more of the configurations described herein.

[0036] One or more features associated with autonomous driving control may be activated based on configured autonomous driving control setting(s) (e.g., based on at least one of: an autonomous driving classification, a selection of an autonomous driving level for the vehicle, etc.). Operation of the vehicle may be controlled based on one or more characteristics described herein (e.g., characteristics of an entry condition of a target vehicle). Vehicle control may include various operational controls associated with the vehicle (e.g., autonomous driving control, sensor control, braking control, braking timing control, acceleration control, acceleration rate control, alert timing control, forward collision warning timing control, etc.).

[0037] One or more auxiliary devices (eg, engine brakes, exhaust brakes, hydraulic retarders, electric retarders, regenerative brakes, etc.) may also be controlled, for example, based on one or more characteristics described herein (eg, characteristics of the target vehicle's entry condition).

[0038] One or more communication devices (e.g., a modem, a network adapter, a radio transceiver, an antenna, etc. capable of communicating via one or more wired or wireless communication protocols such as Ethernet, Wi-Fi, near field communication (NFC), Bluetooth, long term evolution (LTE), 5G new radio, vehicle-to-everything (V2X), etc.) may also be controlled, for example, based on one or more characteristics described herein (e.g., characteristics of the entry conditions of the target vehicle).

[0039] Minimum risk maneuver (MRM) operations may also be controlled, for example, based on one or more characteristics described herein (e.g., characteristics of the target vehicle's entry condition). A minimal risk maneuver (e.g., a minimal risk maneuver, a minimum risk maneuver) may be a maneuver of the vehicle to minimize (e.g., reduce) the risk of collision with surrounding vehicles to achieve a reduced (e.g., minimal) risk state. A minimum risk maneuver may be an operation that can be activated during automated driving of the vehicle when the driver is unable to respond to an intervention request. During a minimal risk maneuver, one or more processors of the vehicle may control the driving operation of the vehicle for a set period of time.

[0040] (One or more) directional steering maneuvers may also be controlled, for example, based on one or more characteristics described herein (e.g., characteristics of the target vehicle's entry conditions). The driving control device may implement directional steering control. To implement directional steering, the driving control device may control the vehicle to stay within the lane by maintaining a distance between the center of the vehicle and the center of the lane. For example, the driving control device may control the vehicle to stay within the lane rather than at the center of the lane. The driving control device may identify or determine a biased target lateral distance for directional steering control. For example, the biased target lateral distance may include an intentionally adjusted lateral distance that the vehicle may aim to maintain from a reference point, such as the center of the lane or another vehicle, during a maneuver such as a lane change. This adjustment may be performed to improve vehicle stability, safety, and / or performance under varying driving conditions. For example, during a lane change, the driving control system may bias the lateral distance to maintain a safer gap with adjacent vehicles, taking into account factors such as the vehicle's speed, road conditions, and / or the presence of obstacles.

[0041] One or more sensors (e.g., IMU sensors, cameras, LIDAR, RADAR, blind spot monitoring sensors, lane departure warning sensors, parking sensors, light sensors, rain sensors, traction control sensors, anti-lock braking system sensors, tire pressure monitoring sensors, seat belt sensors, airbag sensors, fuel sensors, emission sensors, throttle position sensors, inverters, converters, motor controllers, power distribution units, high-voltage wiring and connectors, auxiliary power modules, charging interfaces, etc.) may also be controlled, for example, based on one or more features described herein (e.g., features of the target vehicle's entry conditions). Operational controls for autonomous driving of a vehicle may include various driving controls of the vehicle by the vehicle control device (e.g., 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, etc.).

[0042] Figure 1 An example of an autonomous vehicle according to an example of the present disclosure is shown.

[0043] refer to Figure 1 , an autonomous driving vehicle 10 according to an example of the present disclosure may include at least one sensor 110 , a safe driving module 130 , and a processor 150 .

[0044] At least one sensor 110 may be mounted to the autonomous driving vehicle 10. The sensor 110 is mounted to the autonomous driving vehicle 10 to obtain various sensing information about the surrounding environment of the autonomous driving vehicle 10 while the autonomous driving vehicle 10 is traveling and provide the information to the processor 150 or the safe driving module 130, which will be described later.

[0045] Here, the sensing information may include various information about another vehicle traveling around the autonomous driving vehicle 10 (hereinafter referred to as the host vehicle). For example, the sensing information may include information about the distance between the host vehicle 10 and the other vehicle, the relative speed of the other vehicle, the position of the other vehicle, obstacles, and traffic lights. The sensors 110 may include cameras, radars, LiDAR, and global positioning systems (GPS).

[0046] The sensor 110 may obtain an image of the surrounding environment of the host vehicle 10, a distance between the host vehicle 10 and another vehicle, a relative speed of the other vehicle, a position of the other vehicle, an obstacle, and at least one of a traffic light through a camera, a radar, and a LiDAR, and obtain the current position of the host vehicle 10 through a GPS. However, examples of the present disclosure are not limited thereto.

[0047] The safe driving module 130 may generate a driving path for autonomous driving of the host vehicle 10 under the control of the processor 150. The safe driving module 130 may control the vehicle's autonomous driving based on the generated driving path under the control of the processor 150. For example, the safe driving module 130 may generate a driving path from the current location of the host vehicle 10 to a destination under the control of the processor 150, and control the host vehicle 10 to autonomously drive based on the generated driving path.

[0048] Here, the safe driving module 130 can collect various information obtained through high-precision maps and / or wireless communications under the control of the processor 150, such as real-time traffic information, driving information of the main vehicle 10, sensing information of the main vehicle 10 and weather information, and analyze the various collected information to accurately generate an updated driving path in real time.

[0049] Furthermore, under the control of the processor 150, the safe driving module 130 can store a high-precision map that can distinguish each lane in a database (DB). The high-precision map can be automatically updated at regular intervals using wireless communication or manually updated by the user. For example, the safe driving module 130 may include at least one of a storage medium such as a flash memory, a hard disk, a secure digital (SD) card, a random access memory (RAM), a read-only memory (ROM), and a web storage device.

[0050] The processor 150 may receive at least one sensor information from the plurality of sensors 110 mounted to the host vehicle 10 and analyze another vehicle traveling around the host vehicle 10 based on the received sensor information.

[0051] Based on the analysis results, if the other vehicle meets the preset target conditions, the processor 150 can set the other vehicle as the target vehicle, and if the target vehicle meets the preset avoidance conditions for avoiding a collision between the target vehicle and the host vehicle, determine a position control reference point corresponding to the target vehicle.

[0052] The processor 150 may control to determine whether the determined position control reference point belongs to the braking control possible area, and decide whether to perform braking control based on the determination result. A detailed example of this will be described later.

[0053] Figure 2 An example of a control method for an autonomous driving vehicle according to an example of the present disclosure is shown. For convenience, Figure 2 The description is by way of example, where the steps are performed by a processor (eg, control circuitry). Figure 2 One, some or all of the steps or parts thereof may be performed by one or more other circuits. Figure 2One or some of the steps may be omitted, performed in another order and / or modified in other ways, and / or one or more additional steps may be added.

[0054] refer to Figure 2 In operation S11, the main vehicle 10 according to the example of the present disclosure may receive at least one sensor information from a plurality of sensors 110 installed to the main vehicle 10 under the control of the controller 150, and analyze another vehicle traveling around the main vehicle 10 based on the received sensor information.

[0055] The host vehicle 10 may determine whether the other vehicle satisfies a preset target condition based on the analysis result under the control of the processor 150. That is, if the other vehicle is traveling at a speed lower than a preset speed, the host vehicle 10 may determine that the target condition is satisfied based on the analysis result under the control of the processor 150. Here, the preset speed may be set based on the current speed of the host vehicle.

[0056] If the target condition is satisfied, the host vehicle 10 may set another vehicle as a target vehicle in operation S12 under the control of the processor 150, and determine whether the target vehicle satisfies the entry condition for the other vehicle to enter the current driving lane of the host vehicle in operation S13. Figure 3 A detailed description of this is provided in [ ]. The entry conditions used to determine whether a target vehicle is entering the host vehicle's lane of travel can involve various criteria. One example involves monitoring the relative speeds of the host and target vehicles. If both are below a specific threshold, this may indicate that the target vehicle is moving slowly enough to cut into the host lane. Another condition may focus on the target vehicle's lateral position relative to the host lane boundary, suggesting a potential lane entry if the target vehicle is within a specific lateral distance range. Additionally or alternatively, the target vehicle's heading angle may be used as an indicator; for example, if the heading angle difference between the host and target vehicles is positive or negative, it may suggest moving into the host lane from the right or left, respectively. The magnitude of this heading angle difference can be useful information, as larger values ​​suggest an active turn into the host lane. A combination of position and heading angle can further strengthen the entry condition, such as when both lateral position and heading angle indicate movement toward the host lane. Furthermore, predictive calculation of the target vehicle's trajectory can be used to determine whether its path is likely to intersect the host vehicle's lane within a specific time frame. These conditions can be used together to determine if a target vehicle poses a potential collision risk, thereby initiating active collision avoidance measures by the host vehicle.

[0057] If the entry condition is met, then in operation S14, the host vehicle 10 may determine a first position control reference point for avoiding collision with the target vehicle under the control of the processor 150 to prepare for the target vehicle to enter the driving lane. Here, the first position control reference point may be different from the second position control reference point. Figure 4、 Figure 5 and Figure 6 A detailed description of this is given in .

[0058] Alternatively or additionally, if it is determined in operation S13 that the entry condition is not satisfied, then in operation S17, the host vehicle 10 may control braking for collision avoidance based on a second position control reference point under the control of the processor 150, where the second position control reference point is a lateral position reference relative to the center of the rear bumper of the other vehicle.

[0059] If the change condition is not satisfied in operation S15 , the host vehicle 10 may control braking to avoid a collision based on the determined first position control reference point under the control of the processor 150 in operation S16 .

[0060] If the change condition is not satisfied in operation S15 , the host vehicle 10 may control braking based on the second position control reference point to avoid a collision under the control of the processor 150 in operation S17 .

[0061] Figure 3 An example of a feature of determining whether an entry condition for another vehicle to enter a current driving lane of a host vehicle is satisfied according to an example of the present disclosure is shown.

[0062] refer to Figure 3 , the host vehicle 10 may determine whether entry conditions are met under the control of the processor 150 .

[0063] For example, the host vehicle 10 may determine whether the entry condition is satisfied by comparing and analyzing the signs and magnitudes of the heading angles of the host vehicle and the target vehicle traveling at a low speed under the control of the processor 150 .

[0064] Here, the entry condition may include first to third entry conditions. If the first to third entry conditions are satisfied, the host vehicle 10 may determine that the entry condition is satisfied under the control of the processor 150.

[0065] If the speed of the host vehicle and the speed of the target vehicle are both lower than a preset speed, the host vehicle 10 may determine that the first entry condition is satisfied under the control of the processor 150 .

[0066] For example, if at least one of the speed of the host vehicle and the speed of the target vehicle is greater than a preset speed, the host vehicle 10 may determine that the first entry condition is not satisfied under the control of the processor 150 .

[0067] The host vehicle 10 may determine the current position of the target vehicle under the control of the processor 150. If the target vehicle is traveling on the left side of the host vehicle, the current position is set to (+), and if the target vehicle is traveling on the right side of the host vehicle, the current position is set to (-).

[0068] The host vehicle 10 may determine the difference between the heading angle of the host vehicle and the heading angle of the target vehicle under the control of the processor 150. For example, if the angle obtained by subtracting the heading angle of the target vehicle from the heading angle of the host vehicle is less than 0, the host vehicle 10 may determine that the heading angle of the target vehicle is bent further to the left than the heading angle of the host vehicle under the control of the processor 150 to set the angle difference to (-).

[0069] If the angle obtained by subtracting the heading angle of the target vehicle from the heading angle of the host vehicle is greater than 0, the host vehicle 10 may determine, under the control of the processor 150, that the heading angle of the target vehicle bends further to the right than the heading angle of the host vehicle to set the angle difference to (+).

[0070] The host vehicle 10 may analyze the current position and the angle difference under the control of the processor 150 to determine whether the entry conditions are met.

[0071] For example, if a positive (+) value is obtained by analyzing the current position and the angle difference and then multiplying the set current position by the set angle difference, the host vehicle 10 may determine that the second entry condition among the entry conditions is satisfied under the control of the processor 150 .

[0072] Alternatively or additionally, if a negative (-) value is obtained by analyzing the current position and the angle difference and then multiplying the set current position by the set angle difference, the host vehicle 10 may determine under the control of the processor 150 that the second entry condition among the entry conditions is not satisfied.

[0073] If the difference between the heading angles of the host vehicle and the target vehicle is determined and is greater than a preset value, the host vehicle 10 may determine that a third entry condition among the entry conditions is satisfied under the control of the processor 150 .

[0074] Alternatively or additionally, if the absolute value of the difference between the heading angles is less than a preset value, the host vehicle 10 may determine that the third entry condition is not satisfied under the control of the processor 150 .

[0075] If all of the first to third entry conditions are satisfied, the host vehicle 10 may generate a cut-in signal (INDEX C (CUT-IN)=1) under the control of the processor 150 .

[0076] Alternatively or additionally, if at least one of the first to third entry conditions is not satisfied, the host vehicle 10 may not generate a cut-in signal (INDEX C (CUT-IN) = 0) under the control of the processor 150 .

[0077] Figure 4 、 Figure 5 and Figure 6An example of a process of calculating a first position control reference point for collision avoidance corresponding to a target vehicle in preparation for a case where the target vehicle enters a driving lane according to an example of the present disclosure is shown.

[0078] refer to Figure 4 , the host vehicle 10 may determine a first position control reference point under the control of the processor 150 .

[0079] If it is determined that the entry condition is not satisfied, the host vehicle 10 may operate based on a second position control reference point p2 under the control of the processor 150. The second position control reference point p2 is a lateral position reference relative to the center of the rear bumper of the other vehicle. Here, the second position control reference point p2 may be a typical reference point.

[0080] For example, if the target vehicle is performing a cut-in at a low speed, the second position control reference point p2 may still be located in the next lane at some point if a collision risk has already occurred, thus potentially failing to meet the braking control entry reference for the host vehicle. Specifically, the host vehicle can only perform braking control when the target vehicle is within a predetermined lateral position, thereby preventing sensitive or erroneous control.

[0081] Furthermore, when the target vehicle performs a cut-in at a low speed, the heading angle change may be larger than that at a high speed.

[0082] Considering the above characteristics, the host vehicle 10 may change the second position control reference point p2 and determine the first position control reference point p1 under the control of the processor 150 .

[0083] The host vehicle 10 may use the heading angle of another vehicle to determine the position of the target vehicle closest to the host vehicle as the first position control reference point p1 under the control of the processor 150. Figure 5 and Figure 6 A detailed description of this is given in .

[0084] The host vehicle 10 may determine that braking control may be performed if a change condition is satisfied by comparing the first control reference point a1 where the lateral position reference point is changed with the controllable lateral position reference range under the control of the processor 150 .

[0085] For example, if the changed first control reference point a1 is smaller than the controllable lateral position reference range, the host vehicle 10 may determine that the change condition is satisfied to generate a brake control signal (INDEX L(Lateral)=1) under the control of the processor 150 .

[0086] refer to Figure 5 and Figure 6 , the host vehicle 10 may determine a first position control reference point under the control of the processor 150 .

[0087] The host vehicle 10 may determine the closest lateral position between the target vehicle and the host vehicle by using the heading angle of the target vehicle under the control of the processor 150 .

[0088] like Figure 5 As shown, the host vehicle 10 may calculate the first reference point D1 moved in the lateral direction from the second position control reference point p2 based on the second position control reference point p2 under the control of the processor 150 by applying Equation 1 using the heading angle θ of the target vehicle and the total length L of the target vehicle.

[0089] [Equation 1]

[0090] Dl=L×Sin(|θ|)

[0091] like Figure 6 As shown, the host vehicle 10 may calculate the second reference point D2 under the control of the processor 150 based on the determined first reference point D1 by applying Equation 2 using the heading angle θ and half-width W of the target vehicle, where the half-width is half of the total width of the target vehicle.

[0092] [Equation 2]

[0093]

[0094] The host vehicle 10 may determine a point obtained by subtracting the first reference point D1 and the second reference point D2 determined in Equations 1 and 2 from the second position control reference point p2 as the first position control reference point p1 under the control of the processor 150 .

[0095] If the determined first position control reference point p1 is smaller than the controllable lateral position reference range, the host vehicle 10 may determine that a change condition is satisfied to generate a brake control signal (INDEX L(Lateral)=1) under the control of the processor 150 .

[0096] The processor 150 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in a memory and / or storage device. The memory and storage device may include various types of volatile or non-volatile storage media. For example, the memory may include a read-only memory (ROM) and a random access memory (RAM).

[0097] Therefore, the operations of the methods or algorithms described in conjunction with the examples disclosed in the specification may be directly implemented using hardware modules, software modules, or a combination of hardware modules and software modules executed by a processor. The software modules may reside on a storage medium (that is, a memory and / or storage device) such as RAM, flash memory, ROM, EPROM, EEPROM, registers, hard disks, removable disks, and CD-ROMs.

[0098] An exemplary storage medium may be coupled to a processor. The processor 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. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In another embodiment, the processor and the storage medium may reside in the user terminal as separate components.

[0099] Alternatively or additionally, if the determined first position control reference point p1 is greater than the controllable lateral position reference range, the host vehicle 10 may determine that the change condition is not satisfied under the control of the processor 150 to not generate a brake control signal (INDEX L(Lateral)=0).

[0100] The present disclosure provides an autonomous driving vehicle that is capable of performing braking control to avoid collision by compensating for the limitations of a typical system, so that the automatic control reference for a target vehicle attempting to cut in during low-speed driving becomes a lateral position control reference that takes into account the heading angle. The technical objectives to be solved by the present disclosure are not limited to the aforementioned technical objectives, and the unmentioned technical objectives will be clearly understood by those skilled in the art to which the present disclosure belongs. An example of the present disclosure provides a vehicle, including a memory configured to store computer instructions and a processor configured to execute computer instructions to control the vehicle, wherein by executing the computer instructions, the processor is used to: receive sensor information from at least one of a plurality of sensors provided at the vehicle, the sensor information including information related to at least one object around the vehicle; determine a target vehicle based on preset target conditions and sensor information; determine whether an entry condition for the target vehicle to enter a driving lane of the vehicle is satisfied; determine a first position control reference point for avoiding collision with the target vehicle, and determine braking control of the vehicle based on the first position control reference point.

[0101] In an example, if the processor has determined that the entry condition is not met, the processor may control braking to avoid a collision with the target vehicle based on a second position control reference point determined based on a lateral position of a rear bumper center of the target vehicle.

[0102] In an example, the processor may determine whether entry conditions are met based on the heading angles of the vehicle and the target vehicle.

[0103] In the example, the processor may set the current position of the target vehicle to (+) if the target vehicle is traveling on the left side of the vehicle, to (-) if the target vehicle is traveling on the right side of the vehicle, and set the difference between the heading angles to negative (-) if the heading angle of the target vehicle is pointing farther to the left than the heading angle of the vehicle; and set the difference between the heading angles to positive (+) if the heading angle of the target vehicle is pointing farther to the right than the heading angle of the vehicle.

[0104] In an example, the entry conditions may include first to third entry conditions, and the processor may determine that the first entry condition is satisfied if each of the speed of the vehicle and the speed of the target vehicle is less than a preset speed, and determine that the first entry condition is not satisfied if at least one of the speed of the vehicle and the speed of the target vehicle is greater than the preset speed.

[0105] In an example, the processor may determine that the second entry condition is satisfied if a positive number (+) is obtained by multiplying the difference between the position and the heading angle of the target vehicle, and determine that the second entry condition is not satisfied if a negative number (-) is obtained by multiplying the difference between the position and the heading angle of the target vehicle.

[0106] In an example, the processor may determine that the third entry condition is satisfied if the absolute value of the difference between the heading angles is greater than a predetermined value, and determine that the third entry condition is not satisfied if the absolute value is less than the predetermined value.

[0107] In an example, the processor may generate a cut-in signal if all first to third entry conditions are met.

[0108] In an example, the processor may determine the closest lateral position between the target vehicle and the host vehicle by using the heading angle of the target vehicle to set the lateral position as the first position control reference point.

[0109] In an example, if the first position control reference point is less than the controllable lateral position reference range, the processor may generate a brake control signal.

[0110] In an example of the present disclosure, a method for controlling a vehicle includes: receiving sensor information from at least one of a plurality of sensors provided at the vehicle by a processor executing instructions stored in a memory, the sensor information including information related to at least one object around the vehicle; determining a target vehicle based on preset target conditions and sensor information by a processor executing computer instructions; determining whether entry conditions for the target vehicle to enter a driving lane of the vehicle are met; determining a first position control reference point for avoiding collision with the target vehicle; and controlling the driving of the vehicle using braking control of the vehicle determined based on the first position control reference point.

[0111] In an example, the method may further include controlling braking for avoiding a collision with the target vehicle based on a second position control reference point if the processor has determined that the entry condition is not satisfied, the second position control reference point being determined based on a lateral position of a center of a rear bumper of the target vehicle.

[0112] In an example, the method may further include determining whether entry conditions are met based on heading angles of the vehicle and the target vehicle.

[0113] In an example, the method may further include setting the current position of the target vehicle to (+) if the target vehicle is traveling on the left side of the vehicle and to (-) if the target vehicle is traveling on the right side of the vehicle, setting the difference between the heading angles to negative (-) if the heading angle of the target vehicle points farther to the left than the heading angle of the host vehicle; and setting the difference between the heading angles to positive (+) if the heading angle of the target vehicle points farther to the right than the heading angle of the vehicle.

[0114] In an example, the entry conditions may include first to third entry conditions, and the method may further include determining that the first entry condition is satisfied if each of the speed of the vehicle and the speed of the target vehicle is less than a preset speed, and determining that the first entry condition is not satisfied if at least one of the speed of the vehicle and the speed of the target vehicle is greater than the preset speed.

[0115] In an example, the method may further include determining that the second entry condition is satisfied if a positive number (+) is obtained by multiplying the difference between the position of the target vehicle and the heading angle, and determining that the second entry condition is not satisfied if a negative number (-) is obtained by multiplying the difference between the position of the target vehicle and the heading angle.

[0116] In an example, the method may further include determining that a third entry condition is satisfied if an absolute value of the difference between the heading angles is greater than a preset value, and determining that the third entry condition is not satisfied if the absolute value is less than a predetermined value.

[0117] In an example, the method may further comprise generating a cut-in signal if all of the first to third entry conditions are met.

[0118] In an example, the method may further include determining a closest lateral position between the target vehicle and the host vehicle by using the heading angle of the target vehicle to set the lateral position as the first position control reference point.

[0119] In an example, the method may further comprise generating a brake control signal if the first position control reference point is less than the controllable lateral position reference range.

[0120] According to the autonomous driving vehicle and its control method disclosed in the present invention, braking control can be performed against collision risk by determining the entry intention of the target vehicle through the heading angle of the target vehicle traveling at a low speed, thereby improving the driving safety of the autonomous driving vehicle, which cannot be performed by a typical driving safety system.

[0121] In addition, the autonomous driving vehicle and its control method according to the present disclosure can improve the driver's safety by performing braking control for avoiding collisions. This is because the autonomous driving vehicle can quickly respond to dangerous situations by calculating and using a new lateral position control reference point based on the change in the heading angle of the target vehicle, instead of using the rear bumper center of the target vehicle like a typical driving safety system.

[0122] The objects of the present disclosure are not limited to the above objects, but other objects not described herein will be clearly understood by those skilled in the art from the following description.

[0123] The present disclosure described above can be implemented as computer-readable code on a computer-readable medium storing a program. Computer-readable recording media include all types of recording devices that store data readable by a computer system. Examples of computer-readable recording media include hard disk drives (HDDs), solid-state disks (SSDs), silicon disk drives (SDDs), read-only memories (ROMs), random-access memories (RAMs), compact disc read-only memories (CD-ROMs), magnetic tapes, floppy disks, and optical data storage devices.

[0124] The foregoing descriptions of specific examples of the present disclosure are presented for purposes of illustration and description. They are not intended to be exhaustive or to limit the disclosure to the precise form disclosed, and it is apparent that many modifications and variations are possible in light of the above teachings. These examples are chosen and described to illustrate certain principles of the disclosure and their practical applications, so as to enable others skilled in the art to make and utilize various examples of the disclosure and various alternatives and modifications thereof. The scope of the disclosure is intended to be defined by the appended claims and their equivalents.

Claims

1. A device for controlling a vehicle, the device comprising: a processor coupled to the memory; as well as The memory is configured to store instructions that, when executed by the processor, are configured to cause the apparatus to: receiving a sensor message from at least one of a plurality of sensors disposed on the vehicle, wherein the sensor message includes information related to at least one object within a threshold distance from the vehicle; determining a target vehicle based on a preset target condition and the sensor information; determining whether an entry condition for the target vehicle to enter the driving lane of the vehicle is satisfied; determining a first position control reference point for avoiding a collision with the target vehicle based on satisfying the entry condition; as well as Based on the first position control reference point, braking control of the vehicle is determined.

2. The device according to claim 1, wherein When the instructions are executed by the processor, the instructions are configured to cause the apparatus to: Braking is controlled to avoid a collision with the target vehicle based on a second position control reference point, and wherein the second position control reference point is determined based on a lateral position of a rear bumper center of the target vehicle and based on the entry condition not being satisfied.

3. The device according to claim 2, wherein When the instructions are executed by the processor, the instructions are configured to cause the apparatus to: Whether the entry condition is satisfied is determined based on a first heading angle of the vehicle and a second heading angle of the target vehicle.

4. The apparatus of claim 3 , wherein the instructions, when executed by the processor, are configured to cause the apparatus to: Set the current position of the target vehicle to: A positive value based on the target vehicle being driven to the left of the vehicle, or A negative value based on the target vehicle traveling to the right of the vehicle; and The difference between the first heading angle and the second heading angle is set to: a negative value based on the second heading angle of the target vehicle being directed further to the left than the first heading angle of the vehicle being directed to the left, or A positive value based on the second heading angle of the target vehicle being directed further to the right than the first heading angle of the vehicle being directed to the right.

5. The device according to claim 4, wherein The entry conditions include a first entry condition, a second entry condition, and a third entry condition, and wherein the instructions, when executed by the processor, are configured to cause the apparatus to: determining that the first entry condition is satisfied based on each of a first speed of the vehicle and a second speed of the target vehicle being less than a preset speed; as well as It is determined that the first entry condition is not satisfied based on at least one of the first speed or the second speed being greater than a preset speed.

6. The apparatus of claim 5, wherein the instructions, when executed by the processor, are configured to cause the apparatus to: determining that the second entry condition is satisfied based on a positive number obtained by multiplying the current position of the target vehicle by a difference between the first heading angle and the second heading angle, and It is determined that the second entry condition is not satisfied based on a negative number obtained by multiplying the current position of the target vehicle by a difference between the first heading angle and the second heading angle.

7. The device according to claim 6, wherein When the instructions are executed by the processor, the instructions are configured to cause the apparatus to: determining that the third entry condition is satisfied based on an absolute value of a difference between the first heading angle and the second heading angle being greater than a predetermined value, and Based on the absolute value being smaller than a predetermined value, it is determined that the third entry condition is not satisfied.

8. The device according to claim 7, wherein The instructions, when executed by the processor, are configured to cause the apparatus to: A cut-in signal is generated based on satisfying the first entry condition, the second entry condition, and the third entry condition.

9. The device according to claim 8, wherein When the instructions are executed by the processor, the instructions are configured to cause the apparatus to: Based on the second heading angle of the target vehicle, a closest lateral position between the target vehicle and the vehicle is determined, and wherein the closest lateral position is set as the first position control reference point.

10. The apparatus of claim 9, wherein the instructions, when executed by the processor, are configured to cause the apparatus to: A braking control signal is generated based on the first position control reference point being smaller than a controllable lateral position reference range.

11. A method performed by a device for controlling a vehicle, the method comprising the following steps: receiving a sensor message from at least one of a plurality of sensors disposed on the vehicle, wherein the sensor message includes information related to at least one object within a threshold distance from the vehicle; determining a target vehicle based on a preset target condition and the sensor information; determining whether an entry condition for the target vehicle to enter the driving lane of the vehicle is satisfied; determining a first position control reference point for avoiding a collision with the target vehicle based on satisfying the entry condition at a first time point; as well as Based on the first position control reference point, the driving of the vehicle is controlled by utilizing the braking control of the vehicle.

12. The method according to claim 11, further comprising the steps of: Braking is controlled to avoid a collision with the target vehicle based on a second position control reference point, wherein the second position control reference point is determined based on a lateral position of a center of a rear bumper of the target vehicle and based on the entry condition not being satisfied at a second time point.

13. The method according to claim 12, further comprising the steps of: Whether the entry condition is satisfied is determined based on a first heading angle of the vehicle and a second heading angle of the target vehicle.

14. The method according to claim 13, further comprising the steps of: Setting the current position of the target vehicle to: a positive value based on the target vehicle traveling on the left side of the vehicle or a negative value based on the target vehicle traveling on the right side of the vehicle; as well as The difference between the first heading angle and the second heading angle is set to: a negative value based on the second heading angle of the target vehicle being directed further to the left than the first heading angle of the vehicle being directed to the left, or A positive value based on the second heading angle of the target vehicle being directed further to the right than the first heading angle of the vehicle being directed to the right.

15. The method of claim 14, wherein the entry condition comprises a first entry condition, a second entry condition, and a third entry condition, and the method further comprises performing one of the following: determining that the first entry condition is satisfied based on each of the first speed of the vehicle and the second speed of the target vehicle being less than a preset speed; or It is determined that the first entry condition is not satisfied based on at least one of the first speed and the second speed being greater than a preset speed.

16. The method of claim 15, further comprising performing one of the following: determining that the second entry condition is satisfied based on a positive number obtained by multiplying the current position of the target vehicle by a difference between the first heading angle and the second heading angle; and Based on a negative number obtained by multiplying the current position of the target vehicle by the difference between the first heading angle and the second heading angle, it is determined that the second entry condition is not satisfied.

17. The method of claim 16, further comprising performing one of the following steps: determining that the third entry condition is satisfied based on an absolute value of a difference between the first heading angle and the second heading angle being greater than a predetermined value; and Based on the absolute value being smaller than a predetermined value, it is determined that the third entry condition is not satisfied.

18. The method according to claim 17, further comprising the steps of: A cut-in signal is generated based on satisfying the first entry condition, the second entry condition, and the third entry condition.

19. The method according to claim 18, further comprising the steps of: Based on the second heading angle of the target vehicle, a closest lateral position between the target vehicle and the vehicle is determined, wherein the closest lateral position is set as the first position control reference point.

20. The method of claim 19, further comprising generating a brake control signal based on the first position control reference point being less than a controllable lateral position reference range.

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