Vehicle for providing self-decided lane change and method thereof

Abstract

The invention discloses a vehicle for providing a self-decided lane change and a method thereof. A vehicle may include a processor configured to: receive, via a communication interface, a request from a driver of the vehicle to activate a lane keeping function of an autonomous driving operation; determining, based on the request, whether the vehicle is in a state in which the lane keeping function of the autonomous driving operation can be performed; activating the lane keeping function of the autonomous driving operation based on a state in which the vehicle is in the lane keeping function capable of performing the autonomous driving operation; determining whether a self-decided lane change function of the autonomous driving operation is activated; and controlling the autonomous driving operation of the vehicle based on whether a self-decided lane change function of the autonomous driving operation is activated.

Description

TECHNICAL FIELD

[0001] The disclosure relates to vehicle control, and more particularly, to autonomous lane change of a vehicle. BACKGROUND

[0002] According to a standard of a motorway coach system (MCS), a motorway coach system must compulsorily include a lane-keeping function of autonomous driving (MCS-1). Lane change is classified into two categories, i.e., discretionary lane change and mandatory lane change. In the case of mandatory lane change, lane change must be performed in order to reach a destination or to comply with laws and regulations, and thus, use of the function is expected to be performed.

[0003] In the case of discretionary lane change (DLC), lane change can be performed in order to facilitate and is not mandatory. The driver can selectively use the function. SUMMARY

[0004] One or more exemplary embodiments of the disclosure disclose a vehicle and a method thereof, which classify activation conditions of a discretionary lane change (DLC) function and activate the discretionary lane change (DLC) function according to the activation conditions.

[0005] The technical problems to be solved by the disclosure are not limited to the above-mentioned technical problems, and other technical problems not mentioned by those skilled in the art to which the disclosure belongs will be clearly understood from the following description.

[0006] According to one or more exemplary embodiments of the disclosure, a vehicle can include a sensor, a communication interface, and a processor configured to control autonomous driving operation of the vehicle based on sensing data received from the sensor. The processor can be further configured to receive a request for activation of a lane-keeping function of the autonomous driving operation from a driver of the vehicle via the communication interface, determine whether the vehicle is in a state in which the lane-keeping function of the autonomous driving operation can be performed based on the request, activate the lane-keeping function of the autonomous driving operation based on the vehicle being in the state in which the lane-keeping function of the autonomous driving operation can be performed, determine whether a discretionary lane change function of the autonomous driving operation is activated, and control the autonomous driving operation of the vehicle based on whether the discretionary lane change function of the autonomous driving operation is activated.

[0007] The processor can be configured to determine whether the vehicle is in a state capable of performing the lane-keeping function of the autonomous driving operation by: determining whether the vehicle is located within a run design domain; determining whether a device for the lane-keeping function of the autonomous driving operation is in normal operation; and determining whether a field of view for the lane-keeping function of the autonomous driving operation is satisfied.

[0008] The processor can be configured to determine whether the vehicle is in a state capable of performing the lane-keeping function of the autonomous driving operation by: determining that the vehicle is in a state capable of performing the lane-keeping function of the autonomous driving operation based on the vehicle being located within the run design domain, the device for the lane-keeping function of the autonomous driving operation being in normal operation, and the field of view for the lane-keeping function of the autonomous driving operation being satisfied.

[0009] The processor can be further configured to determine whether the vehicle is in a state capable of performing a self-determining lane-changing function of the autonomous driving operation based on the vehicle being in a state capable of performing the lane-keeping function of the autonomous driving operation.

[0010] The processor can be further configured to determine whether the vehicle is located within a run design domain; determine whether a device for the lane-keeping function of the autonomous driving operation is in normal operation; and determine whether a field of view for the lane-keeping function of the autonomous driving operation is satisfied.

[0011] The processor can be further configured to determine that the vehicle is in a state capable of performing a self-determining lane-changing function of the autonomous driving operation based on the vehicle being located within the run design domain, the device for the lane-keeping function of the autonomous driving operation being in normal operation, and the field of view for the lane-keeping function of the autonomous driving operation being satisfied.

[0012] The processor can be further configured to control the vehicle to be in a standby mode without activating the self-determining lane-changing function of the autonomous driving operation based on the vehicle being in a state capable of performing the self-determining lane-changing function of the autonomous driving operation.

[0013] The processor can be configured to determine whether to activate the self-determining lane-changing function of the autonomous driving operation based on whether an automatic execution condition for the self-determining lane-changing function of the autonomous driving operation is preset.

[0014] The processor can be further configured to activate the self-determining lane-changing function of the autonomous driving operation based on the automatic execution condition for the self-determining lane-changing function of the autonomous driving operation being preset.

[0015] The processor can be further configured to activate the self-determining lane change function of the autonomous driving operation based on the automatic execution condition of the self-determining lane change function of the autonomous driving operation not being preset, from receiving the request of the vehicle driver to activate the self-determining lane change function of the autonomous driving operation.

[0016] The processor can be further configured to determine whether a lane change is required based on the automatic execution condition of the self-determining lane change function of the autonomous driving operation not being preset, and transmit a request of activating the self-determining lane change function of the autonomous driving operation to the driver of the vehicle based on the lane change being required.

[0017] The processor can be configured to determine whether a lane change is required by further determining whether a lane change is required based on at least one of a traffic flow, a traffic regulation, or a geometric road condition around the vehicle.

[0018] The processor can be configured to determine whether a lane change is required by further determining whether a lane change is required based on at least one of whether a lead vehicle is obstructing a traffic flow or whether a road event occurs.

[0019] The processor can be further configured to determine whether a lane change is possible based on the automatic execution condition of the self-determining lane change function of the autonomous driving operation not being preset, and transmit a request of activating the self-determining lane change function of the autonomous driving operation to the driver of the vehicle based on the lane change being possible.

[0020] According to one or more example embodiments of the present disclosure, a method performed by a device of a vehicle can include controlling an autonomous driving operation of the vehicle based on sensing data received from a sensor of the vehicle, receiving a request of activating a lane keeping function of the autonomous driving operation from a driver of the vehicle, determining whether the vehicle is in a state capable of performing the lane keeping function of the autonomous driving operation based on the request, and activating the lane keeping function of the autonomous driving operation based on the vehicle being in the state capable of performing the lane keeping function of the autonomous driving operation, determining whether to activate a self-determining lane change function of the autonomous driving operation, and controlling the autonomous driving operation of the vehicle based on whether the self-determining lane change function of the autonomous driving operation is activated.

[0021] Determining whether the vehicle is in a state capable of performing the lane-keeping function of the autonomous driving operation can include determining that the vehicle is in a state capable of performing the lane-keeping function of the autonomous driving operation based on the vehicle being located within an operational design domain, based on devices for the lane-keeping function of the autonomous driving operation being in normal operation, and based on a field of view for the lane-keeping function of the autonomous driving operation being satisfied.

[0022] Determining whether to activate the self-determining lane change function of the autonomous driving operation can include determining whether the vehicle is in a state capable of performing the self-determining lane change function of the autonomous driving operation based on the vehicle being in a state capable of performing the lane-keeping function of the autonomous driving operation.

[0023] Determining whether the vehicle is in a state capable of performing the self-determining lane change function of the autonomous driving operation can include determining that the vehicle is in a state capable of performing the self-determining lane change function of the autonomous driving operation based on the vehicle being located within an operational design domain (ODD), based on devices for the lane-keeping function of the autonomous driving operation being in normal operation, and based on a field of view for the lane-keeping function of the autonomous driving operation being satisfied.

[0024] Determining whether to activate the self-determining lane change function of the autonomous driving operation can further include controlling the vehicle to be in a standby mode without activating the self-determining lane change function of the autonomous driving operation based on the vehicle being in a state capable of performing the self-determining lane change function of the autonomous driving operation.

[0025] The method can further include determining whether to activate the self-determining lane change function of the autonomous driving operation based on whether an automatic execution condition for the self-determining lane change function of the autonomous driving operation is preset.

[0026] The method can further include activating the self-determining lane change function of the autonomous driving operation based on the automatic execution condition for the self-determining lane change function of the autonomous driving operation being preset.

[0027] The method can further include activating the self-determining lane change function of the autonomous driving operation based on the automatic execution condition for the self-determining lane change function of the autonomous driving operation not being preset after receiving a request for activating the self-determining lane change function of the autonomous driving operation from a driver of the vehicle.

[0028] Determining whether to activate the self-determining lane change function of the autonomous driving operation can include transmitting a request for activating the self-determining lane change function of the autonomous driving operation to a driver of the vehicle based on the automatic execution condition for the self-determining lane change function of the autonomous driving operation not being preset.

[0029] The sending of the request for activation of the self-determined lane change function of the autonomous driving operation can include determining whether a lane change is needed based on at least one of traffic flow, traffic regulations, or geometric road conditions around the vehicle, and sending the request for activation of the self-determined lane change function of the autonomous driving operation to the driver of the vehicle based on the lane change being needed.

[0030] The determining of whether a lane change is needed can include determining whether a lane change is needed based on whether the lead vehicle is impeding traffic flow or whether a road event has occurred.

[0031] The sending of the request for activation of the self-determined lane change function of the autonomous driving operation can include determining whether a lane change is possible, and sending the request for activation of the self-determined lane change function of the autonomous driving operation to the driver of the vehicle based on the lane change being possible. BRIEF DESCRIPTION OF DRAWINGS

[0032] Figure 1 is a view of an autonomous driving system.

[0033] Figure 2 is a block diagram of an example vehicle system.

[0034] Figure 3 is a view for describing operation of an autonomous driving system.

[0035] Figure 4 is a flowchart illustrating an activation process of a lane-keeping autonomous driving (MCS-1) function and a self-determined lane change (DLC) function.

[0036] Figure 5 is a flowchart illustrating an activation process of a lane-keeping autonomous driving (MCS-1) function.

[0037] Figure 6 is a flowchart illustrating a process for determining whether a lane-keeping autonomous driving (MCS-1) function can be performed.

[0038] Figure 7 is a view of a rear distance.

[0039] Figure 8 is a view of a front distance.

[0040] Figure 9 is a flowchart illustrating a process for suggesting activation of a self-determined lane change (DLC) function of an autonomous driving system. DETAILED DESCRIPTION

[0041] Hereinafter, one or more exemplary embodiments of the present disclosure will be described in detail with reference to the accompanying drawings.

[0042] For purposes of this application and the claims, the use of the exemplary phrases "A; B; or C" or "at least one of A, B, or C" means "at least one of A, or at least one of B, or at least one of C, or at least one of A, at least one of B, and at least one of C." Further, as used in this document, the exemplary phrases "A, B, and C," "A, B, or C," "at least one of A, B, and C," "at least one of A, B, or C," and the like can refer to each of the listed items literally, or to the members of any subset or superset of the listed items. For example, "at least one of A or B" can refer to (1) at least one A; (2) at least one B; or (3) at least one A and at least one B.

[0043] Throughout this disclosure, reference to components, units, or modules generally refer to items logically grouped together to perform a function or related set of functions. The same reference numbers are generally intended to refer to the same or similar components. Components, units, and modules can be implemented in software, hardware, or a combination of software and hardware. The components, units, modules, and / or functions described above can be implemented by one or more processors. For example, the components, units, and / or modules can include a processor, microprocessor, graphics processing unit, logic circuit, special purpose circuit, application specific integrated circuit, programmable array logic, field programmable gate array, controller, microcontroller, and / or other suitable hardware. The components, units, and / or modules can also include software implemented by, for example, a processor or logic circuit. These components, units, and / or modules can include or otherwise have access to memory, such as, for example, one or more non-transitory computer-readable storage media, like random access memory, read-only memory, electrically erasable programmable read-only memory, erasable programmable read-only memory, one or more flash / other memory devices, one or more data registers, one or more databases, and / or other suitable hardware. The one or more storage types of media can include any or all of the tangible memory of a computer, processor, etc., or its associated modules, such as different semiconductor memories, tape drives, disk drives, etc., which can provide non-transitory storage for software programming at any time.

[0044] The construction and operation of the present disclosure will be apparent from the following detailed description of example implementations. Before describing example implementations of the present disclosure, it should be noted that, throughout the drawings, like reference numerals will be used to refer to like components, where possible, and detailed descriptions of well-known devices and functions can be omitted for the sake of clarity.

[0045] It should also be noted that the terms used in the detailed description of the present disclosure are defined as follows.

[0046] The vehicle refers to a vehicle provided with an autonomous driving system (ADS) and capable of autonomous driving. For example, by the ADS, the vehicle can perform at least one of steering, acceleration, deceleration, lane change, and vehicle stop (short stop) without manipulation of a driver. For example, the ADS can include at least one of a pedestrian detection and collision mitigation system (PDCMS), a lane change decision assistance system (LCDAS), a land departure warning system (LDWS), an adaptive cruise control (ACC), a lane keeping assistance system (LKAS), a road boundary departure prevention system (RBDPS), a curve speed warning system (CSWS), a forward vehicle collision warning system (FVCWS), and a low speed following (LSF).

[0047] The driver is a person who uses the vehicle and is provided with a service of the autonomous driving system.

[0048] The vehicle control authority is an authority to control at least one component of the vehicle and / or at least one function of the vehicle. At least one function of the vehicle can include, for example, at least one of steering, acceleration, deceleration (or braking), lane change, lane detection, lateral control, obstacle recognition and distance detection, powertrain control, safety zone detection, engine on / off, power on / off, and vehicle lock / unlock. The listed functions of the vehicle are only examples to help understanding, and the present disclosure is not limited thereto.

[0049] Figure 1 is a view of the autonomous driving system.

[0050] Referring to Figure 1 , the autonomous driving system 100 can include a vehicle 110, a neighboring object 120, and an infrastructure 130.

[0051] The vehicle 110 can represent a vehicle in which a motorway chauffeur system (MCS) is provided and a function of deciding lane change (DLC) by itself. The vehicle 110 can represent a component or a set of components capable of the DLC function.

[0052] The neighboring object 120 can represent another vehicle, a pedestrian, a personal mobility device (e.g., a bicycle), and a traffic signal device. The other vehicle, the pedestrian, the personal mobility device (e.g., a bicycle), and the traffic signal device can include a communication module configured to communicate with the vehicle 110. The pedestrian can communicate with the vehicle 110 through a terminal device including the communication module.

[0053] The infrastructure 130 includes a communication module and can transmit geometry information including information on an overtaking lane, a main road area, a road curvature, and whether to fall into an incident zone, and information on a lane change limit to the vehicle 110.

[0054] Figure 2is a block diagram of an example vehicle system.

[0055] In Figure 2 the configuration of the vehicle shown in Figure 2 Some components shown in can be divided into a plurality of components and configured as different chips, different components, or different electronic circuits, and some components can be combined to form one chip, one component, or one electronic circuit. Some components shown in can be omitted or other components not shown can be added. At least some of the components of will be described with reference to subsequent drawings. Figure 2 Figure 2 will be described with reference to subsequent drawings.

[0056] Referring to Figure 2 , the vehicle 110 can include a sensor unit (also referred to as a sensor) 111, a communication module (also referred to as a communication interface) 112, a map module (also referred to as a map database or a digital map) 113, a display 114, a controller 115, and a processor 116.

[0057] The sensor unit 111 can sense an environment around the vehicle 110 using at least one sensor and generate data related to the surrounding environment based on the sensing result. For example, the sensor unit 111 can obtain information about objects (e.g., other vehicles, people, objects, curbs, guardrails, lanes, obstacles) around the vehicle based on sensing data obtained from the at least one sensor. The information about the objects around the vehicle can include at least one of a position of the object, a size of the object, a shape of the object, a distance to the object, and a relative speed with the object. As another example, the sensor unit 111 can measure a position of the vehicle 110 using at least one sensor. For example, the sensor unit 111 can include at least one of a camera, a light detection and ranging (LIDAR) sensor, a radar sensor, an ultrasonic sensor, an infrared sensor, and a position measurement sensor. The listed sensors are only examples to help understanding, and the sensors included in the sensor unit 111 of the present disclosure are not limited thereto.

[0058] The camera can generate image data including objects located in front of, behind, and to the side of the vehicle 110 by capturing images of the surroundings of the vehicle. The laser radar can use light (or laser) to generate information about objects positioned in front of, behind, and / or to the side of the vehicle 110. The radar can use electromagnetic waves (or radio waves) to generate information about objects located in front of, behind, and / or to the side of the vehicle 110. The ultrasonic sensor can use ultrasonic waves to generate information about objects located in front of, behind, and / or to the side of the vehicle 110. The infrared sensor can use infrared rays to generate information about objects located in front of, behind, and / or to the side of the vehicle 110.​

[0059] The position measurement sensor can measure a current position of the vehicle 110. The position measurement sensor can include at least one of a global positioning system (GPS) sensor, a differential global positioning system (DGPS) sensor, and a global navigation satellite system (GNSS) sensor. The position measurement sensor can generate position data of the vehicle based on a signal generated by at least one of the GPS sensor, the DGPS sensor, and the GNSS sensor.

[0060] The communication module 112 can transmit or receive data with the infrastructure 130. The communication can be referred to as vehicle-to-infrastructure (V2I) communication. Also, the communication module 112 can transmit or receive data with another vehicle. The communication can be referred to as vehicle-to-vehicle (V2V) communication. Also, the V2I communication and the V2V communication can be collectively referred to as vehicle-to-everything (V2X) communication. The communication module 112 can receive data transmitted from the infrastructure 130, and process the received data and transmit the processed data to the processor 116. Also, the communication module 112 can transmit data generated by the vehicle 110 to the infrastructure 130. The communication module 112 can transmit or receive data with a terminal of a driver of the vehicle 110.

[0061] The communication module 112 can transmit or receive data by using a wireless communication protocol or a wired communication protocol. Examples of the wireless communication protocol can include wireless LAN (WLAN), digital living network alliance (DLNA), wireless broadband (Wibro), worldwide interoperability for microwave access (Wimax), global system for mobile communications (GSM), code division multiple access (CDMA), code division multiple access 2000 (CDMA2000), evolution-data optimized (EV-DO), wideband CDMA (WCDMA), high speed downlink packet access (HSDPA), high speed uplink packet access (HSUPA), institute of electrical and electronics engineers (IEEE) 802.16, long term evolution (LTE), long term evolution-advanced (LTE-A), wireless mobile broadband service (WMBS), Bluetooth, radio frequency identification (RFID), infrared data association (IrDA), ultra wideband (UWB), Zigbee, near field communication (NFC), ultrasonic communication (USC), visible light communication (VLC), Wi-Fi, and Wi-Fi direct. Also, examples of the wired communication protocol can include wired local area network (LAN), wired wide area network (WAN), power line communication (PLC), universal serial bus (USB) communication, Ethernet, serial communication, optical / coaxial cable, etc., but are not limited thereto, and can include any and all protocols that can provide an environment for communication with other devices.

[0062] The map module 113 can include map information, geometry information of each road segment of a highway, and information about a lane change restriction. The geometry information can include information about a passing lane and a current road segment, information about a road curvature, and information about a road segment where an event occurs.

[0063] The display 114 can visually display information related to the vehicle 110. For example, the display 114 can provide a driver of the vehicle 110 with various information related to a state of the vehicle 110 under the control of the processor 116. The various information related to the state of the vehicle can include at least one of information indicating whether various components included in the vehicle and / or at least one function of the vehicle are normally operated and information indicating a driving state of the vehicle.

[0064] If an automatic execution condition of a self-determined lane change (DLC) function, which will be described below, is not preset, and if the processor 116 determines that a lane change is required and / or a lane change is possible, the display 114 can visually display a message requesting activation of the DLC function.

[0065] The controller 120 can control an operation (e.g., autonomous driving operation) of at least one component of the vehicle 110 and / or at least one function of the vehicle according to the control of the processor 116. The at least one function can be at least one of, for example, a steering function, an acceleration function (or a longitudinal acceleration function), a deceleration function (or a longitudinal deceleration function, a brake function), a lane change function, a lane detection function, an obstacle recognition and distance detection function, a lateral control function, a powertrain control function, a safety zone detection function, an engine on / off, a power on / off, and a vehicle lock / unlock function. The autonomous driving operation of the vehicle 110 can include, for example, a lane keeping function and a self-determined lane change function.

[0066] The controller 115 can control at least one component of the vehicle and / or at least one function of the vehicle for autonomous driving of the vehicle 110 according to the control of the processor 130. For example, for autonomous driving, the controller 115 can control an operation of at least one of a steering function, an acceleration function, a deceleration function, a lane change function, a lane detection function, a lateral control function, an obstacle recognition and distance detection function, a powertrain control function, and a safety zone detection function.

[0067] The processor 116 can control the overall operation of the vehicle 110. The processor 116 can include an electronic control unit (ECU) capable of controlling components in the vehicle 110 as a whole. For example, the processor 116 can include a central processing unit (CPU) or a micro processing unit (MCU) capable of performing arithmetic processing.

[0068] The processor 116 can control the controller 115 based on data received through the sensor unit 111 and the communication module 112. The processor 116 can generate a control signal for controlling the vehicle 110 according to data received from the infrastructure 130, and transmit the generated control signal to the controller 115.

[0069] The processor 116 can mean a device capable of controlling the vehicle 110 and performing a series of operations or determinations for performing a lane change or vehicle overtaking. For example, in the processor 116, a program for performing a lane change or vehicle overtaking can be executed.

[0070] In the above Figure 2 In the above

[0071] Figure 3 is a view for describing the operation of an autonomous driving system.

[0072] Referring to Figure 3 , in the DLC-off operation, the processor 116 can automatically or manually turn off the Decide Lane Change (DLC) function while running the In-Lane Autonomous Driving (MCS-1). The In-Lane Autonomous Driving (MCS-1) function can be a part of autonomous driving operation, and can also be referred to as a lane keeping function or an automatic lane keeping function.

[0073] In the DLC-on operation, when the driver requests to activate the In-Lane Autonomous Driving (MCS-1), the processor 116 can automatically turn on the Decide Lane Change (DLC) function according to the existing settings defined by the driver. When the In-Lane Autonomous Driving (MCS-1) function enters a normal state, the Decide Lane Change (DLC) function can be automatically turned on, and the Decide Lane Change (DLC) function can enter a standby state. The processor can turn off the Decide Lane Change (DLC) function when the driver selectively requests to do so. When the In-Lane Autonomous Driving (MCS-1) function is activated, an initial start of the Decide Lane Change (DLC) can be allowed in a state in which the Decide Lane Change (DLC) function is turned off.

[0074] In the DLC-standby operation, the processor 116 can monitor the Motorway Chauffeur Systems (MCS) and determine whether lane change is required based on the monitoring result. In more detail, the processor 116 can determine whether the MCS is normally operated based on the vehicle state information, determine whether a target lane for completing the lane change is continuously present and detected, and determine whether the lane change is allowed based on information about the lane change restriction in the travel lane received from the infrastructure 130 or pre-stored in the map module. When the MCS is normally operated, the continuous presence of the target lane is detected, and the lane change is allowed, the processor 116 can determine whether the lane change in the travel lane is required. The processor 116 can determine whether all the tires are located in the changed lane after the travel lane change is performed.

[0075] In the DLC-activation operation, the processor 116 can start the process for the lane change, notify the driver of the start of the process, and can notify the adjacent vehicle of the start of the process. (Turn signal)

[0076] In the MCS-off operation, the processor 116 can turn off the in-lane autonomous driving (MCS-1) function including the self-determined lane change (DLC) function.

[0077] In the MCS-standby operation, the processor 116 can continuously monitor the MCS and the state of the vehicle 110 and determine whether the condition for proceeding to the self-determined lane change (DLC) is satisfied (M2).

[0078] In the request-fallback operation, the processor 116 can perform the DDT (dynamic driving task) for a predetermined period of time so that a fallback-ready user (FRU) can perform fallback.

[0079] In the MCS-MRM operation, the processor 116 can select a lane with a lower risk (for example, a lane suitable for low speed, a lane closest to the shoulder, or an emergency stop zone) while the self-determined lane change (DLC) function is turned off (D4) and maintain the lane change until the shoulder or the emergency stop is reached.

[0080] In the MCS-normal operation, the processor 116 can perform the entire DDT (dynamic driving task) according to the minimum DDT performance requirement during normal operation, continuously monitor the minimum driving environment, the FRU, the MCS, and the state of the vehicle 110, and detect the generation of the M5 condition (the disengagement-trigger condition and the direct disengagement condition) in a state in which the in-lane autonomous driving (MCS-1) function is normally operated.

[0081] In the D1 operation, when there is a request of the driver for activation of the DLC in a state in which the in-lane autonomous driving (MCS-1) function is activated, the processor 116 can activate the self-determined lane change (DLC) function. The processor 116 can suggest to the driver activation of the self-determined lane change (DLC) function in a state in which only the in-lane autonomous driving (MCS-1) function is activated.

[0082] In the D2 operation, the processor 116 can activate the self-determined lane change (DLC) function when there is an incentive behind the lane change (when it is determined that the lane change is needed).

[0083] In the D3 operation, when the lane change is completed, the processor 116 can set the self-determined lane change (DLC) function to be in a standby state.

[0084] In the D4 operation, when the FRU disables the self-determined lane change (DLC) function, the processor 116 can set the self-determined lane change (DLC) function to be in an off state.

[0085] Figure 4 FIG. 1 is a flowchart illustrating an activation process of an in-lane autonomous driving (MCS-1) function and a self-determined lane change (DLC) function. Figure 5 FIG. 2 is a flowchart illustrating an activation process of an in-lane autonomous driving (MCS-1) function. Figure 6 FIG. 3 is a flowchart illustrating a process for determining whether the in-lane autonomous driving (MCS-1) function can be performed. Figure 7 FIG. 4 is a view illustrating a rear distance. Figure 8 FIG. 5 is a view illustrating a front distance. Figure 9 FIG. 6 is a flowchart illustrating a process for suggesting activation of a self-determined lane change (DLC) function of an autonomous driving system.

[0086] Referring to Figure 4 , the activation process of the in-lane autonomous driving (MCS-1) function and the self-determined lane change (DLC) function includes receiving a request for activation of the in-lane autonomous driving (MCS-1) function from the driver, determining whether the vehicle is in a state in which the in-lane autonomous driving (MCS-1) function can be performed, and when the vehicle is in the state in which the in-lane autonomous driving (MCS-1) function can be performed, activating the in-lane autonomous driving (MCS-1) function and determining whether to activate the self-determined lane change (DLC) function.

[0087] In more detail, referring to Figure 5In operation S110, when the processor 116 receives a request for activation of the in-lane autonomous driving (MCS-1) function from the driver (S111), the processor 116 can determine whether the vehicle is in a state capable of performing the in-lane autonomous driving (MCS-1) function before the in-lane autonomous driving (MCS-1) function is activated (S112), when the vehicle is in a state capable of performing the in-lane autonomous driving (MCS-1) function, the in-lane autonomous driving (MCS-1) function is activated, and it is determined whether the vehicle is in a state capable of performing the self-determined lane change (DLC) function (S113).

[0088] Referring to Figure 6 , the processor 116 can determine whether the following state conditions are satisfied, and when all of the state conditions are satisfied, the processor 116 can determine that the vehicle is in a state capable of performing the in-lane autonomous driving (MCS-1) function. That is, the processor 116 can determine whether the vehicle is located within the operational design domain (ODD) (S1121), whether the devices (sensors, actuators, etc.) for the in-lane autonomous driving (MCS-1) are normally operated (S1122), and whether the field of view (FoV) for the in-lane autonomous driving (MCS-1) is satisfied (S1123), and when all of the above state conditions are satisfied, the processor 116 can determine that the vehicle is in a state capable of performing the in-lane autonomous driving (MCS-1) function. When the vehicle is located within the operational design domain (ODD), the devices (sensors, actuators, etc.) for the in-lane autonomous driving (MCS-1) are normally operated, and the field of view (FoV) for the in-lane autonomous driving (MCS-1) is satisfied, the processor 116 can determine that the vehicle is in a state capable of performing the in-lane autonomous driving (MCS-1) function, and activate the in-lane autonomous driving (MCS-1) function.

[0089] When the in-lane autonomous driving (MCS-1) function is activated, the in-lane autonomous driving (MCS-1) function is started, and all dynamic driving tasks (DDT) can be transferred from the driver to the autonomous driving system.

[0090] When the in-lane autonomous driving (MCS-1) function is started by activating the MCS-1 function, and all DDTs are transferred, the processor 116 can determine whether the vehicle is in a state capable of performing the self-determined lane change (DLC) function. That is, when the vehicle is in a state capable of performing the in-lane autonomous driving (MCS-1) function, the processor 116 can activate the in-lane autonomous driving (MCS-1) function and can determine whether the vehicle is in a state capable of performing the self-determined lane change (DLC) function.

[0091] Similar to the state condition of the in-lane autonomous driving (MCS-1) function, the processor 116 can determine whether the vehicle is located within an operational design domain (ODD), whether the device for in-lane autonomous driving (MCS-1) is normally operated, and whether the field of view for in-lane autonomous driving (MCS-1) is satisfied.

[0092] When the vehicle is located within the operational design domain (ODD), the device for in-lane autonomous driving (MCS-1) is normally operated, and the field of view for in-lane autonomous driving (MCS-1) is satisfied, the processor 116 can determine that the vehicle is in a state capable of performing the self-determined lane change (DLC) function.

[0093] When the vehicle is in a state capable of performing the self-determined lane change (DLC) function, the processor 116 can not activate the self-determined lane change (DLC) function and can stand by. That is, when the state condition of the self-determined lane change (DLC) function is satisfied, unlike the in-lane autonomous driving (MCS-1) function, the processor 116 can not immediately activate the self-determined lane change (DLC) function but stand by.

[0094] In a state in which the state condition for activating the self-determined lane change (DLC) function is satisfied and there is a driver's preset automatic execution condition for the self-determined lane change (DLC) function, when the situation corresponds to any one of having received a request for activating the self-determined lane change (DLC) function from the driver, having suggested activating the self-determined lane change (DLC) function to the driver, the processor 116 can activate the self-determined lane change (DLC) function.

[0095] In more detail, in operation S120, the processor 116 can determine whether to activate the self-determined lane change (DLC) function based on whether the automatic execution condition of the self-determined lane change (DLC) function is preset. Upon a driver's request for activating the self-determined lane change (DLC) function from the driver, when there is a driver's preset automatic execution condition of the self-determined lane change (DLC) function, the processor 116 can activate the self-determined lane change (DLC) function.

[0096] When the processor receives a request for activation of the in-lane autonomous driving (MCS-1) function from the driver, the processor 116 can check state conditions regarding whether the in-lane autonomous driving (MCS-1) function is possible, and when the state conditions are satisfied, the processor 116 can activate the in-lane autonomous driving (MCS-1) function and perform a lane keeping operation and a vehicle forward progress maintaining operation. When the lane keeping operation and the vehicle forward progress maintaining operation function of the in-lane autonomous driving (MCS-1) are performed, the processor 116 can check a default setting value or a previous setting value preset by the driver, and when the default setting or the previous setting value includes information regarding activation of the self-determining lane change (DLC) function, the processor 116 can activate the self-determining lane change (DLC) function. That is, when an automatic execution condition of the self-determining lane change (DLC) function is preset, the self-determining lane change (DLC) function can be automatically activated.

[0097] In operation S130, when the automatic execution condition of the self-determining lane change (DLC) function is not preset, the processor 116 can maintain a state of the in-lane autonomous driving (MCS-1). In this case, the autonomous driving system can have all DDTs.

[0098] In operation S140, when the processor receives a request for activation of the self-determining lane change (DLC) function from the driver, the processor can activate the self-determining lane change (DLC) function. When the automatic execution condition of the self-determining lane change (DLC) function is not preset, the processor 116 can receive a request for activation of the self-determining lane change (DLC) function from the driver while performing the lane keeping operation and the vehicle forward progress maintaining operation function of the in-lane autonomous driving (MCS-1), and can activate the self-determining lane change (DLC) function upon receiving the request for activation of the self-determining lane change (DLC) function.

[0099] The processor 116 can receive a request for activation of the self-determining lane change (DLC) function while performing DDTs (including tactical functions and operational functions) of the in-lane autonomous driving (MCS-1) function, when a situation does not fall into a situation in which approval or a request (e.g., approval of a path change, a request for transfer of control, a request for checking for a minor malfunction, etc.) is required from the driver, or a situation in which control to avoid or mitigate a collision is performed. The driver can activate the self-determining lane change (DLC) function using an HMI device such as a physical button or a touch display installed in the vehicle, and the vehicle can recognize an input of the driver through the HMI device, and can recognize a request for activation of the self-determining lane change (DLC) function from the driver in real time.

[0100] In operation S160, when the automatic execution condition of the self-determining lane change (DLC) function is not preset, the processor 116 can determine whether lane changing is required, and when it is determined that lane changing is required, the processor 116 can request the driver to activate the self-determining lane change (DLC) function.

[0101] The processor 116 can determine whether lane changing is required based on at least one of surrounding traffic flow, traffic regulations, and geometric road conditions.

[0102] The processor 116 can determine whether lane changing is required based on whether a preceding vehicle (e.g., a leading vehicle) obstructs traffic flow or whether a road event occurs. When the processor 116 determines that a preceding vehicle obstructs traffic flow due to slow speed based on speed information of the preceding vehicle, the processor 116 can determine that lane changing is required. When the processor 116 determines that a preceding vehicle obstructs traffic flow due to reckless driving based on speed information of the preceding vehicle, sudden stop or acceleration, and a change in width of lateral movement within a lane, the processor 116 can determine that lane changing is required. When a road event (road construction work, presence of a stop for the subject vehicle, etc.) is expected based on information received from the infrastructure 130, the processor 116 can determine that lane changing is required.

[0103] The processor 116 can determine that a lane change is required using the map information received from the infrastructure 130, road event information (e.g., construction work, traffic accident, etc.), and the pre-stored map information when a specific event occurs within a preset distance in a forward direction (e.g., 2 km) while driving. The processor 116 can determine that a driving lane change is required when a situation thereof corresponds to at least one of a situation in which a driving lane merges with an adjacent lane, a situation in which a driving lane branches in a direction different from a destination, a situation in which an event occurs on a road of a driving lane, and a situation in which only traffic congestion occurs on a road of a driving lane. The processor 116 can determine whether a driving lane change is required based on a driving speed preset by a driver, a limit speed on a highway, and traffic flow. For example, when the vehicle 110 is driving on a second lane of a three-lane highway on which a limit speed is 110 km / h, when a driving speed preset by a driver is about 80 km / h, and lanes of the highway increase to four lanes, the processor 116 can determine that there is an obstruction of traffic flow and a driving lane change is required because a difference between the preset driving speed and the limit speed is greater than a preset reference value (e.g., 20 km / h) and the vehicle is driving on the second lane. The processor 116 can determine whether a lane change is required based on driving mode information preset by a driver. Assuming that an average driving speed is fast and a variation in acceleration and deceleration is large in the second lane and an average driving speed is relatively slow and a variation in acceleration and deceleration is relatively low in the third lane on a highway, the processor 116 can determine that a lane change is required when driving mode information preset by a driver is driving mode information for generation.

[0104] The processor 116 can request a driver to activate a self-determined lane change (DLC) function while performing a DDT (including a tactical function and an operational function) of a lane-keeping autonomous driving (MCS-1) function when a situation does not fall into a situation in which a driver is required to approve or request (e.g., approval of a path change, a request for transfer of control, a request for checking a minor malfunction, etc.) or a situation in which control to avoid or mitigate a collision is performed.

[0105] If an automatic execution condition of the self-determined lane change (DLC) function is not preset, the processor 116 can determine whether a lane change is possible, and when it is determined that a lane change is possible, the processor 116 can request a driver to activate the self-determined lane change (DLC) function.

[0106] The processor 116 can monitor information for determining a lane change upon determining that a lane change is required, and can determine whether a lane change is possible based on the information for determining a lane change. The information for determining a lane change can include at least one of information on a lane change restriction within a travel lane, geometric information, and traffic flow information within a change lane.

[0107] The processor 116 can determine whether a travel lane change is possible based on lane change restriction information within a travel lane. The lane change restriction information can include at least one of whether a lane line is a solid line, whether a lane is within a tunnel, whether a lane is a shoulder, and whether a lane is an overtaking lane. For example, in a case where a dashed line (rather than a solid line) exists in a lane change section, in a case where a lane change section is located outside a tunnel, in a case where a lane change section is located inside a tunnel but a dashed line exists, in a case where a lane change section is not a shoulder, and in a case where a lane change section is an overtaking lane, i.e., in a case where the situation does not correspond to a lane change restriction, the processor 116 can determine that a travel lane change is possible. For example, in a case where a lane change is prohibited by a lane change restriction, e.g., in a case where a solid line exists in a lane change section, in a case where a lane change section is within a tunnel, in a case where a lane change section is a shoulder, and in a case where a lane change section is not an overtaking lane, the processor 116 can determine that a travel lane change is not possible.

[0108] The processor 116 can determine whether a travel lane change is possible based on geometric information. The geometric information can include at least one of whether an overtaking lane and a main road are continuous, whether there is a sharp bend in a forward direction, and whether a lane falls into an event section. The processor 116 can determine whether an overtaking lane and a main road are continuous, whether there is a sharp bend in a forward direction, and whether a lane falls into an event section based on the geometric information received from the infrastructure 130 or stored in the map module 113. For example, when the situation does not correspond to a case where an overtaking lane and a main road are continuous, a case where there is no sharp bend in a forward direction, and a case where a lane does not fall into a section where an event occurs (e.g., a construction work area), i.e., in a case where a lane change is not possible in consideration of a geometry, the processor 116 can determine that a travel lane change is possible. For example, when the situation corresponds to a case where an overtaking lane and a main road are not continuous, a case where there is a sharp bend in a forward direction, and a case where a lane falls into a section where an event occurs (e.g., a construction work area), i.e., in a case where a lane change is not possible in consideration of a geometry, the processor 116 can determine that a travel lane change is not possible.

[0109] The processor 116 can determine whether a travel lane change is feasible based on traffic flow information within the travel lane. The traffic flow information within the travel lane can include at least one of rear distance information or front distance information required for a lane change, sensing information generated by the sensor unit 111, and average speed information of the lane.

[0110] Referring to Figure 7 , the processor 116 can calculate the rear distance d Rear using the following mathematical equation 1.

[0111] Equation (1)

[0112] Here, V passerRear represents a maximum speed of the other vehicle of the rear RV approaching from the rear, V SV represents a speed of the vehicle (the host vehicle) 110, t RRear represents a reaction time of the other vehicle of the rear RV when the host vehicle 110 starts a lane change operation, a decRear represents a deceleration of the other vehicle of the rear RV, t Tgaprear represents a time gap until the other vehicle of the rear RV reaches the speed of the host vehicle 110 after the host vehicle 110 completes deceleration.

[0113] The maximum speed V passerRear of the other vehicle of the rear RV approaching from the rear can be a speed obtained by adding a limit speed of the other vehicle of the rear RV to a reference value (e.g., 30 km / h) set in advance.

[0114] As a preset value, the reaction time t RRear of the other vehicle at the rear RV can be 1 s, but is not limited thereto, and the reaction time thereof can have various values according to settings.

[0115] The deceleration a decRear of the other vehicle at the rear RV can be 3.5 m / s 2 as a preset value, but is not limited thereto, and the deceleration thereof can have various values according to settings.

[0116] The time gap t TgapRear until the other vehicle at the rear RV reaches the speed of the host vehicle 110 after the host vehicle 110 completes deceleration can be 0.8 s as a preset value, but is not limited thereto, and the time gap can have various values according to settings.

[0117] Referring to Figure 8 , the processor 116 can calculate the front distance d front using the following mathematical equation 2.

[0118] … Equation (2)

[0119] Here, V passerF represents the speed of the other vehicle in front of the FV, V SV represents the speed of the host vehicle 110, t RSV represents the reaction time of the host vehicle 110 when the host vehicle 110 starts the lane change operation, a decSV represents the deceleration of the host vehicle 110, t TapF represents the time gap until the host vehicle 110 reaches the speed of the other vehicle in front of the FV after the host vehicle 110 finishes deceleration.

[0120] The reaction time t RSV of the host vehicle 110 can be 1 s as a preset value, but is not limited thereto, and the reaction time thereof can have various values according to settings.

[0121] The deceleration a decRear of the host vehicle 110 can be 4 m / s 2 as a preset value, but is not limited thereto, and the deceleration thereof can have various values according to settings.

[0122] The processor 116 can calculate the time gap t TapF until the host vehicle 110 reaches the speed of the other vehicle in front of the FV after the host vehicle 110 finishes deceleration using the following mathematical Equation 3 or 4.

[0123] … Equation (3)

[0124] … Equation (4)

[0125] When the front or rear distance is greater than a preset reference distance, the processor 116 can determine that the lane change is possible.

[0126] Referring to Figure 9 , if there is no preset automatic execution condition of the self-determined lane change (DLC) function, the processor 116 can determine whether the lane change is required (S161). When it is determined that the lane change is required, the processor 116 can determine whether the lane change is possible (S162). When it is determined that the lane change is possible, the processor 116 can request the driver to activate the self-determined lane change (DLC) function (S163). In this case, the processor 116 can request the activation of the self-determined lane change (DLC) function, the reason why the driver needs the self-determined lane change (DLC) function. The processor 116 can output the reason why the self-determined lane change (DLC) function is required and a message requesting the activation of the self-determined lane change (DLC) function in the screen through the display 114.

[0127] In operation S170, when the activation setting of the self-determined lane change (DLC) function is confirmed by the driver, the processor 116 can activate the self-determined lane change (DLC) function. At this time, the processor 116 can set a target lane for actual lane change and check a space for lane change (sufficient gap to search for LC), and then can perform lane change.

[0128] As described above, according to the present disclosure, the in-lane autonomous driving (MCS-1) function can be activated according to determination of a state condition of the in-lane autonomous driving (MCS-1) function during autonomous driving. In addition, according to the present disclosure, the self-determined lane change (DLC) function can be selectively activated based on at least one of a preset automatic activation condition during autonomous driving, an activation request from the driver, and an activation suggestion from the system.

[0129] The functions described can be implemented in hardware, software, firmware or any combination thereof. If implemented in software, the functions can be stored on or transmitted over as one or more instructions or code on a computer-readable medium. Computer-readable media includes both computer storage media and communication media including any medium that facilitates transfer of a computer program from one place to another. A storage media can be any available media that can be accessed by a computer. By way of example, and not limitation, such computer-readable media can comprise RAM, ROM, EEPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage devices, or any other medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by a computer. Disk and disc, as used herein, includes compact discs and laser discs.

[0130] When the example embodiments are implemented in program code or code segments, it should be appreciated that a code segment can represent a procedure, a function, a subprogram, a program, a routine, a subroutine, a module, a software package, a class, or any combination of instructions, data structures, or program statements. A code segment can be coupled to another code segment or a hardware circuit by passing and / or receiving information, data, arguments, parameters, or memory contents. Information, arguments, parameters, data, etc. can be passed, forwarded, or transmitted using any suitable means including memory sharing, message passing, token passing, network transmission, etc. Additionally, in some aspects, the steps and / or actions of a method or algorithm can reside as one or any combination or set of codes and / or instructions on a machine readable medium and / or computer readable medium which can be incorporated into a computer program product.

[0131] For software implementations, the techniques described herein can be implemented with modules (e.g., procedures, functions, and so on) that perform the functions described herein. The software codes can be stored in memory units and executed by processors. The memory unit can be implemented within the processor or external to the processor, in which case it can be communicatively coupled to the processor via various means as is known in the art.

[0132] For a hardware implementation, the processing units can be implemented within one or more application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), processors, controllers, micro-controllers, microprocessors, other electronic units designed to perform the functions described herein, or a combination thereof.

[0133] A vehicle that can be configured to provide a self-determining lane change includes a sensor unit, a communication module, and a processor configured to control an operation of the vehicle, and the processor can be configured to determine whether the vehicle is in a state capable of performing an in-lane autonomous driving (MCS-1) function upon receiving a request for activation of the in-lane autonomous driving (MCS-1) function from a driver, activate the in-lane autonomous driving (MCS-1) function when the vehicle is in the state capable of performing the in-lane autonomous driving (MCS-1) function, and determine whether to activate a self-determining lane change (DLC) function.

[0134] The processor can determine whether the vehicle is located within an operational design domain (ODD), whether devices for the in-lane autonomous driving (MCS-1) are operating normally, and whether a field of view for the in-lane autonomous driving (MCS-1) is satisfied.

[0135] When the vehicle is located within the operational design domain (ODD), the devices for the in-lane autonomous driving (MCS-1) are operating normally, and the field of view for the in-lane autonomous driving (MCS-1) is satisfied, the processor can determine that the vehicle is in the state capable of performing the in-lane autonomous driving (MCS-1) function and activate the in-lane autonomous driving (MCS-1) function.

[0136] When the vehicle is in the state capable of performing the in-lane autonomous driving (MCS-1) function, the processor can determine whether the vehicle is in a state capable of performing the self-determining lane change (DLC) function.

[0137] The processor can determine whether the vehicle is located within an operational design domain (ODD), whether devices for the in-lane autonomous driving (MCS-1) are operating normally, and whether a field of view for the in-lane autonomous driving (MCS-1) is satisfied.

[0138] When the vehicle is located within an operational design domain (ODD), the device for in-lane autonomous driving (MCS-1) normally operates, and a field of view for in-lane autonomous driving (MCS-1) is satisfied, the processor can determine that the vehicle is in a state capable of performing a self-determining lane change (DLC) function.

[0139] When the vehicle is in a state capable of performing a self-determining lane change (DLC) function, the processor can not activate the self-determining lane change (DLC) function, and can stand by.

[0140] The processor can determine whether to activate the self-determining lane change (DLC) function based on whether an automatic execution condition of the self-determining lane change (DLC) function is preset.

[0141] When the automatic execution condition of the self-determining lane change (DLC) function is preset, the processor can activate the self-determining lane change (DLC) function.

[0142] When the automatic execution condition of the self-determining lane change (DLC) function is not preset, the processor can activate the self-determining lane change (DLC) function upon receiving a request for activation of the self-determining lane change (DLC) function from the driver.

[0143] When the automatic execution condition of the self-determining lane change (DLC) function is not preset, the processor can determine whether a lane change is required, and when it is determined that a lane change is required, the processor can request the driver to activate the self-determining lane change (DLC) function.

[0144] The processor can determine whether a lane change is required based on at least one of surrounding traffic flow, traffic regulations, and geometric road conditions.

[0145] The processor can determine whether a lane change is required based on whether a preceding vehicle in a travel direction obstructs traffic flow or whether a road event occurs.

[0146] When the automatic execution condition of the self-determining lane change (DLC) function is not preset, the processor can determine whether a lane change is possible, and when it is determined that a lane change is possible, the processor can request the driver to activate the self-determining lane change (DLC) function.

[0147] A method for changing a lane during autonomous driving can include receiving, by a vehicle, a request for activation of a lane-keeping autonomous driving (MCS-1) function from a driver; determining whether the vehicle is in a state capable of performing the lane-keeping autonomous driving (MCS-1) function; and when the vehicle is in the state capable of performing the lane-keeping autonomous driving (MCS-1) function, activating, by the vehicle, the lane-keeping autonomous driving (MCS-1) function, and determining, by the vehicle, whether to activate a decision lane change (DLC) function.

[0148] Determining whether the vehicle is in the state capable of performing the lane-keeping autonomous driving (MCS-1) function can include determining whether the vehicle is located within an operational design domain (ODD); determining whether devices for the lane-keeping autonomous driving (MCS-1) are operating normally; determining whether a field of view for the lane-keeping autonomous driving (MCS-1) is satisfied; and when the vehicle is located within the operational design domain (ODD), the devices for the lane-keeping autonomous driving (MCS-1) are operating normally, and the field of view for the lane-keeping autonomous driving (MCS-1) is satisfied, determining that the vehicle is in the state capable of performing the lane-keeping autonomous driving (MCS-1) function.

[0149] Determining whether to activate the decision lane change (DLC) function can include, when it is determined that the vehicle is in the state capable of performing the lane-keeping autonomous driving (MCS-1) function, determining whether the vehicle is in a state capable of performing the decision lane change (DLC) function.

[0150] Determining whether the vehicle is in the state capable of performing the decision lane change (DLC) function can include determining whether the vehicle is located within an operational design domain (ODD); determining whether devices for the lane-keeping autonomous driving (MCS-1) are operating normally; determining whether a field of view for the lane-keeping autonomous driving (MCS-1) is satisfied; and when the vehicle is located within the operational design domain (ODD), the devices for the lane-keeping autonomous driving (MCS-1) are operating normally, and the field of view for the lane-keeping autonomous driving (MCS-1) is satisfied, determining that the vehicle is in the state capable of performing the decision lane change (DLC) function.

[0151] Determining whether to activate the decision lane change (DLC) function can further include, when the vehicle is in the state capable of performing the decision lane change (DLC) function, not activating the decision lane change (DLC) function, and standing by.

[0152] Determining whether to activate the decision lane change (DLC) function can further include determining whether to activate the decision lane change (DLC) function based on whether an automatic execution condition of the decision lane change (DLC) function is preset.

[0153] Determining whether to activate the self-determining lane change (DLC) function based on whether an automatic execution condition of the self-determining lane change (DLC) function is preset can include activating the self-determining lane change (DLC) function when the automatic execution condition of the self-determining lane change (DLC) function is preset.

[0154] Determining whether to activate the self-determining lane change (DLC) function based on whether an automatic execution condition of the self-determining lane change (DLC) function is preset can include activating the self-determining lane change (DLC) function when the automatic execution condition of the self-determining lane change (DLC) function is preset.

[0155] Determining whether to activate the self-determining lane change (DLC) function based on whether an automatic execution condition of the self-determining lane change (DLC) function is preset can include activating the self-determining lane change (DLC) function when the automatic execution condition of the self-determining lane change (DLC) function is preset.

[0156] Requesting the self-determining lane change (DLC) function to the driver can include determining whether a lane change is required based on at least one of a surrounding traffic flow, a traffic regulation, and a geometric road condition, and requesting the self-determining lane change (DLC) function to the driver when it is determined that the lane change is required.

[0157] Determining whether the lane change is required can determine whether the lane change is required based on whether a preceding vehicle in a forward direction obstructs a traffic flow or whether a road event occurs.

[0158] Requesting the self-determining lane change (DLC) function to the driver can include determining whether a lane change is possible, and requesting the self-determining lane change (DLC) function to the driver when it is determined that the lane change is possible.

[0159] What has been described above includes examples of one or more illustrative embodiments. Of course, there is an innumerable variety of specific implementations that can be made in the described example embodiments, and it is contemplated that many further combinations and permutations of the described example embodiments are possible. Thus, the described example embodiments are intended to encompass all such alterations, modifications and variations which fall within the spirit and scope of the appended claims. Furthermore, to the extent that the term "includes" is used in either the detailed description or the claims, such term is intended to be inclusive in a manner similar to the term "comprising" as an appreciation of the scope of embodiments is given by the claims.

[0160] As used herein, the term "inference" or "inferences" generally refers to the process of using a set of observations via events and / or data to reason or infer a state of a system, environment, and / or user. For example, inferences can be used to identify a particular context or action, or can generate a probability distribution over states. Inferences can be probabilistic - i.e., based on a calculation of a probability distribution over states of interest based on consideration of data and events. Inferences can also refer to techniques for constructing higher-level events from a set of events and / or data. Such inferences result in the construction of new events or actions from a set of observed events and / or stored event data, whether or not the events are closely related in time and whether the events and data are from one or several event and data sources.

[0161] Furthermore, as used in this application, the terms "component," "module," "system" and the like are intended to refer to a computer-related entity, either hardware, firmware, a combination of hardware and software, software, or software in execution. For example, a component can be, but is not limited to being, a process running on a processor, a processor, an object, an executable, a thread of execution, a program, and / or a computer. By way of illustration, both an application running on a computing device and the computing device can be a component. One or more components can reside within a process and / or thread of execution and a component can be localized, co-resident, and / or distributed amongst one computer or across multiple computers. Also, these components can execute from various computer readable media having various data structures stored thereon. The components can communicate by way of local and / or remote processes such as in accordance with a signal having one or more data packets (e.g., data from one component interacting with another component in a local system, distributed system, and / or across a network such as the Internet with other systems via the signal).

Claims

1. A vehicle comprising: a sensor; a communication interface; and a processor configured to control autonomous driving operation of the vehicle based on sensing data received from the sensor, wherein the processor is further configured to: receive, via the communication interface, a request from a driver of the vehicle for activation of a lane keeping function of the autonomous driving operation; based on the request, determine whether the vehicle is in a state to enable performance of the lane keeping function of the autonomous driving operation; based on the vehicle being in the state to enable performance of the lane keeping function of the autonomous driving operation, activate the lane keeping function of the autonomous driving operation; determine whether to activate a self-determining lane change function of the autonomous driving operation; and control the autonomous driving operation of the vehicle based on whether the self-determining lane change function of the autonomous driving operation is activated.

2. The vehicle of claim 1, wherein, the processor is configured to determine whether the vehicle is in the state to enable performance of the lane keeping function of the autonomous driving operation by: determining whether the vehicle is located within a run design domain; determining whether a device for the lane keeping function of the autonomous driving operation is in normal operation; and determining whether a field of view for the lane keeping function of the autonomous driving operation is satisfied. the processor is configured to determine whether the vehicle is in the state to enable performance of the lane keeping function of the autonomous driving operation by:

3. The vehicle of claim 2, wherein, based on the vehicle being located within the run design domain, based on the device for the lane keeping function of the autonomous driving operation being in normal operation, and based on the field of view for the lane keeping function of the autonomous driving operation being satisfied, determining that the vehicle is in the state to enable performance of the lane keeping function of the autonomous driving operation. the processor is further configured to:

4. The vehicle of claim 1, wherein, based on the vehicle being in the state to enable performance of the lane keeping function of the autonomous driving operation, determine whether the vehicle is in a state to enable performance of the self-determining lane change function of the autonomous driving operation. the processor is further configured to:

5. The vehicle of claim 4, wherein, determine whether the vehicle is located within a run design domain; determine whether a device for the lane keeping function of the autonomous driving operation is in normal operation; and determine whether a field of view for the lane keeping function of the autonomous driving operation is satisfied. the processor is further configured to: based on the vehicle being located within the run design domain, based on the device for the lane keeping function of the autonomous driving operation being in normal operation, and based on the field of view for the lane keeping function of the autonomous driving operation being satisfied, determine that the vehicle is in the state to enable performance of the self-determining lane change function of the autonomous driving operation.

6. The vehicle of claim 5, wherein, the processor is further configured to: based on the vehicle being in the state to enable performance of the self-determining lane change function of the autonomous driving operation, control the vehicle to be in a standby mode without activating the self-determining lane change function of the autonomous driving operation.

7. The vehicle of claim 6, wherein, the processor is configured to: ​ 8. The vehicle of claim 1, wherein, ​ determining whether to activate the self-determining lane change function of the autonomous driving operation based on whether an automatic execution condition of the self-determining lane change function of the autonomous driving operation is preset.

9. The vehicle of claim 8, wherein, The processor is further configured to: activate the self-determining lane change function of the autonomous driving operation based on the automatic execution condition of the self-determining lane change function of the autonomous driving operation being preset.

10. The vehicle of claim 8, wherein, The processor is further configured to: activate the self-determining lane change function of the autonomous driving operation based on the automatic execution condition of the self-determining lane change function of the autonomous driving operation being preset.

11. The vehicle of claim 8, wherein, The processor is further configured to: activate the self-determining lane change function of the autonomous driving operation based on the automatic execution condition of the self-determining lane change function of the autonomous driving operation being preset. The processor is further configured to: determine whether a lane change is needed based on the automatic execution condition of the self-determining lane change function of the autonomous driving operation not being preset; 12. The vehicle of claim 11, wherein, and send a request to a driver of the vehicle for activating the self-determining lane change function of the autonomous driving operation based on the lane change being needed.

13. The vehicle of claim 11, wherein, The processor is configured to determine whether a lane change is needed by: further determining whether a lane change is needed based on at least one of traffic flow, traffic regulations, or geometric road conditions around the vehicle.

14. The vehicle of claim 9, wherein, The processor is configured to determine whether a lane change is needed by: further determining whether a lane change is needed based on at least one of whether a lead vehicle is impeding traffic flow or whether a road event has occurred. The processor is further configured to: determine whether a lane change is possible based on the automatic execution condition of the self-determining lane change function of the autonomous driving operation not being preset; and send a request to a driver of the vehicle for activating the self-determining lane change function of the autonomous driving operation based on the lane change being possible.

15. A method performed by a device of a vehicle, the method comprising: controlling an autonomous driving operation of the vehicle based on sensing data received from sensors of the vehicle; receiving a request from a driver of the vehicle for activating a lane keeping function of the autonomous driving operation; determining whether the vehicle is in a state capable of performing the lane keeping function of the autonomous driving operation based on the request; activating the lane keeping function of the autonomous driving operation based on the vehicle being in the state capable of performing the lane keeping function of the autonomous driving operation; determining whether to activate a self-determining lane change function of the autonomous driving operation; and 16. The method of claim 15, wherein, controlling the autonomous driving operation of the vehicle based on whether the self-determining lane change function of the autonomous driving operation is activated. determining whether the vehicle is in a state capable of performing the lane keeping function of the autonomous driving operation comprises: based on the vehicle being within an operational design domain, based on the devices for the lane keeping function of the autonomous driving operation being in normal operation, and based on a field of view for the lane keeping function of the autonomous driving operation being satisfied, determining that the vehicle is in a state in which the lane keeping function of the autonomous driving operation can be performed.

17. The method of claim 15, wherein, determining whether to activate the self-determining lane change function of the autonomous driving operation includes: based on the vehicle being in a state in which the lane keeping function of the autonomous driving operation can be performed, determining whether the vehicle is in a state in which the self-determining lane change function of the autonomous driving operation can be performed.

18. The method of claim 17, wherein, determining whether the vehicle is in a state in which the self-determining lane change function of the autonomous driving operation can be performed includes: based on the vehicle being within an operational design domain (ODD), based on the devices for the lane keeping function of the autonomous driving operation being in normal operation, and based on a field of view for the lane keeping function of the autonomous driving operation being satisfied, determining that the vehicle is in a state in which the self-determining lane change function of the autonomous driving operation can be performed.

19. The method of claim 17, wherein, determining whether to activate the self-determining lane change function of the autonomous driving operation further includes: based on the vehicle being in a state in which the self-determining lane change function of the autonomous driving operation can be performed, controlling the vehicle to be in a standby mode without activating the self-determining lane change function of the autonomous driving operation.

20. The method of claim 15, further comprising: based on whether an automatic execution condition for the self-determining lane change function of the autonomous driving operation is preset, determining whether to activate the self-determining lane change function of the autonomous driving operation.

21. The method of claim 20, further comprising: based on the automatic execution condition for the self-determining lane change function of the autonomous driving operation being preset, activating the self-determining lane change function of the autonomous driving operation.

22. The method of claim 20, further comprising: based on the automatic execution condition for the self-determining lane change function of the autonomous driving operation not being preset, activating the self-determining lane change function of the autonomous driving operation after receiving a request from a driver of the vehicle for activating the self-determining lane change function of the autonomous driving operation.

23. The method of claim 20, wherein, determining whether to activate the self-determining lane change function of the autonomous driving operation includes: based on the automatic execution condition for the self-determining lane change function of the autonomous driving operation not being preset, sending a request to a driver of the vehicle for activating the self-determining lane change function of the autonomous driving operation.

24. The method of claim 23, wherein, sending a request for activating the self-determining lane change function of the autonomous driving operation includes: based on at least one of the following: traffic flow around the vehicle, traffic regulations, or geometric road conditions; and based on a need to change lanes, sending a request to an operator of the vehicle for activation of the self-determining lane change function of the autonomous driving operation.

25. The method of claim 24, wherein, determining whether a lane change is needed includes: determining whether a lane change is needed based on whether the lead vehicle is impeding traffic flow or whether a road event has occurred.

26. The method of claim 23, wherein, sending a request to an operator of the vehicle for activation of the self-determining lane change function of the autonomous driving operation includes: determining whether a lane change is possible; and based on the lane change being possible, sending a request to an operator of the vehicle for activation of the self-determining lane change function of the autonomous driving operation.

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