DEVICE AND METHOD FOR CONTROLLING A LANE CHANGE FOR A VEHICLE

Abstract

A device (100) for controlling a lane change in a vehicle, the device (100) comprising: a navigation module (110) for providing a path from a starting point to a destination point to a user, a global positioning system module (GPS module) (120) for acquiring location information of the vehicle, a memory (130) storing a precise map database (precise map DB), a first sensor (140) for acquiring information about the vehicle's surroundings, a second sensor (150) for acquiring information about the vehicle, and a processor (160) electrically connected to the navigation module (110), the GPS module (120), the memory (130), the first sensor (140), and the second sensor (150), and configured to: determine whether it is possible to control the vehicle to change lanes to a destination lane in the path, based on the length of a branch lane in a branch section,which is contained in the path, or on a length of a merge lane in a merge section contained in the path, if it is possible to control the vehicle to change lanes, to control the lane change to the target lane, if it is impossible to control the vehicle to change lanes using lane-change logic, to create a lane segment connected to the target lane, the created lane segment not being contained in the precise map database, and to control the vehicle to travel along the created lane segment using lane-center-follow logic.

Description

Cross-reference to related application

[0001] This application is based upon and claims the benefit of priority from Korean Patent Application No. 10-2017-0167645, filed on December 7, 2017, in the Korean Intellectual Property Office, the disclosure of which is incorporated herein by reference in its entirety. Technical field of the invention

[0002] The present invention relates to an apparatus and a method for controlling a vehicle (e.g., a motor vehicle) to change a lane in a branching section and in a merging section. Background of the invention

[0003] With the development of the automobile industry, a lane change control system capable of automatically changing lanes wherever a vehicle (e.g., a motor vehicle) is traveling has been developed. When a driver operates a turn signal with the intention of changing lanes, the lane change control system can perform a lane change by automatically steering a vehicle (e.g., a motor vehicle) in a lateral direction toward a direction where the turn signal is turned on. The lane change control system can perform a lane change by determining whether a speed, location, and the like of a surrounding vehicle (e.g., a motor vehicle) are suitable for performing a lane change, setting a control path for the lane change, and controlling a steering torque along the control path.The lane change control system can perform a lane change to exit via a branch road or enter a merging road.

[0004] There is a need for a lane-changing method that differs from a typical method such that a vehicle (e.g., a motor vehicle) can move to a branch lane connected to a branch road, or move from a merge lane connected to a merge road to / onto a mainline lane. When a length of a branch section or a merge section is short, or when traffic of a branch lane or a merge lane is high, it may be difficult for a vehicle (e.g., a motor vehicle) to change lanes using a typical system. A conventional lane-changing system can detect a lane using its camera and can perform a lane change based on the detected lane.In this case, it may be difficult for the vehicle to determine whether the detected lane is in a branching section or a merging section. Explanation of the invention

[0005] The present invention has been made to solve the aforementioned problems encountered in the prior art while maintaining intact advantages achieved by the prior art.

[0006] One aspect of the present invention provides an apparatus and method for controlling a lane change in a vehicle (e.g., a motor vehicle) to create different lane change strategies in a branching section and in a merging section using a precise map database (DB) (e.g., a database in which a precise map and / or precise maps are stored).

[0007] The technical problems to be solved by the present inventive concept are not limited to the aforementioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which the present invention / disclosure pertains from the following description.

[0008] According to one aspect of the present invention, a device for controlling a lane change in a vehicle (e.g., a motor vehicle) may comprise: a navigation module for providing a path from a starting point to a destination point to a user, a Global Positioning System (GPS) module for detecting (e.g., obtaining, e.g., acquiring) location information of the vehicle, a memory (e.g., a storage device) storing a precise map database (e.g., a database in which a precise map and / or precise maps are stored) (DB), a first sensor for detecting (e.g., obtaining, e.g., acquiring) information about an environment of the vehicle, a second sensor for detecting (e.g., obtaining, e.g., acquiring) information about the vehicle, and a processor (e.g.,a processor unit) electrically connected to the navigation module, the GPS module, the memory, the first sensor, and the second sensor. The processor may be configured to determine whether it is possible to control the vehicle to change lanes to a target lane in the path, (the determination) based on a length of a branch lane in a branch section included in the path or on a length of a merge lane in a merge section included in the path, (the processor) may be configured, if it is possible to control the vehicle to change lanes, to control the lane change to the target lane, and (the processor) may be configured, if it is impossible to control the vehicle to change lanes, to control the vehicle to travel along a lane section (e.g.a lane connecting route) that is connected to the destination lane.

[0009] According to one embodiment, the processor may be further configured to determine the target lane based on the path and the precise map DB and, if the path is connected to the branch lane or the merge lane, to determine whether it is possible to control the vehicle to change lanes to the target lane.

[0010] According to one embodiment, when the vehicle is in the branching section, the target lane may be the branching lane. When the vehicle is in the merging section, the target lane may be a lane adjacent to the merging lane.

[0011] According to one embodiment, the processor may be further configured to, when the vehicle is located in the branching section, determine whether it is possible to control the vehicle to change lanes to the target lane (the determination) based on the length of the branching lane and a traffic (eg, a traffic volume) of the branching lane.

[0012] According to one embodiment, the processor may be further configured to, when the vehicle enters a section having the branch lane and is located in the branch section, and if it is possible to control the vehicle to change lanes, change the lane from a lane adjacent to the branch lane to the branch lane.

[0013] According to one embodiment, the processor may be further configured to, when the vehicle is in the branching section and when it is impossible to control the vehicle to change lanes, control the vehicle to travel along the lane section connecting a lane adjacent to the branching lane to the branching lane.

[0014] According to one embodiment, the processor may be further configured to, when the vehicle is in the merge section and when it is possible to control the vehicle to change lanes, control the vehicle to change lanes from the merge lane to a lane adjacent to the merge lane.

[0015] According to one embodiment, the processor may be further configured to, when the vehicle is in the merging section and when it is impossible to control the vehicle to change lanes, generate the lane section connecting the merging lane with a lane adjacent to the merging lane and control the vehicle to travel along the generated lane section.

[0016] According to one embodiment, the processor may be further configured to determine whether it is possible to control the vehicle to change lanes to the target lane using the first sensor and the second sensor.

[0017] According to one embodiment, the first sensor may comprise at least part of a camera, a radar, or a laser distance and speed measuring device (light detection and ranging) (LIDAR).

[0018] According to one embodiment, the second sensor may comprise at least part of an acceleration sensor, a yaw rate sensor (e.g., a yaw rate sensor), or a wheel speed sensor.

[0019] According to another aspect of the present invention, a method for controlling a lane change in a vehicle (e.g., a motor vehicle) may comprise: generating a path from a starting point to a destination point, determining, by means of a processor (e.g., a processor unit), whether it is possible to control the vehicle to change a lane to a destination lane in the path, (the determination) based on a length of a branch lane in a branch section included in the path or on a length of a merging lane in a merging section included in the path, and, if it is possible, controlling the vehicle to change the lane to the destination lane, controlling the lane change to the destination lane, and, if it is impossible to control the vehicle to change the lane to the destination lane, controlling the vehicle to travel along a lane section (e.g.,a lane connecting route) that is connected to the destination lane.

[0020] According to one embodiment, determining may comprise determining the target lane based on the path and a precise map DB (e.g., a database in which a precise map and / or precise maps are stored) and, if the path is connected to the branch lane or the merge lane, determining whether it is possible to control the vehicle to change lanes to the target lane.

[0021] According to one embodiment, when the vehicle is in the branching section, the target lane may be the branching lane. When the vehicle is in the merging section, the target lane may be a lane adjacent to the merging lane.

[0022] According to one embodiment, the step of determining may comprise, when the vehicle is in the branching section, determining whether it is possible to control the vehicle to change lanes to the target lane (e.g., the branching lane) (the determining) based on a length of the branching lane and a traffic (e.g., a traffic volume) of the branching lane.

[0023] According to one embodiment, the step of controlling may comprise, when the vehicle is in the branching section and when it is possible to control the vehicle to change lanes to the target lane (e.g., the branching lane), changing lanes (e.g., controlling the lane change) from a lane adjacent to the branching lane to the branching lane when the vehicle enters a section including the branching lane (e.g., when the vehicle enters an area including the branching lane and is in the branching section and when it is possible to control the vehicle to change lanes, controlling the vehicle to travel from a lane adjacent to the branching lane to the branching lane).

[0024] According to one embodiment, the step of controlling may comprise, when the vehicle is in the branching section and when it is impossible to control the vehicle to change lanes to the target lane (e.g., the branching lane), controlling the vehicle to travel along the lane section connecting a lane adjacent to the branching lane to the branching lane.

[0025] According to one embodiment, the step of controlling may comprise, when the vehicle is in the merging section and when it is possible to control the vehicle to change lanes to the target lane (e.g., the lane adjacent to the merging lane), controlling the lane change from the merging lane to a lane adjacent to the merging lane.

[0026] According to one embodiment, the step of controlling may comprise, when the vehicle is in the merging section and when it is impossible to control the vehicle to change lanes to the target lane (e.g., the lane adjacent to the merging lane), generating the lane section connecting the merging lane to a lane adjacent to the merging lane, and controlling the vehicle to travel along the generated lane section.

[0027] According to one embodiment, the step of determining may comprise determining whether it is possible to control the vehicle to change the lane to the target lane using sensor information about an environment of the vehicle and sensor information about the vehicle. Character list

[0028] The above and other objects, features and advantages of the present invention / disclosure will become more apparent from the following detailed description taken in conjunction with the accompanying drawings. Fig. 1 is a block diagram illustrating a configuration of a lane change control apparatus in a vehicle (e.g., an automobile) according to an embodiment of the present invention. Fig. 2 is a block diagram illustrating a configuration of a program module included in a lane change control device in a vehicle (e.g., an automobile) according to an embodiment of the present invention. Fig. 3 is a drawing illustrating an exemplary operation of a lane change control device in a vehicle (e.g., an automobile) according to an embodiment of the present invention. Fig. 4 is a drawing illustrating an exemplary operation of a lane change control device in a vehicle (e.g., an automobile) according to an embodiment of the present invention. Fig. 5 is a drawing illustrating an exemplary operation of a lane change control device in a vehicle (e.g., an automobile) according to an embodiment of the present invention. Fig. 6 is a drawing illustrating an exemplary operation of a lane change control device in a vehicle (e.g., an automobile) according to an embodiment of the present invention. Fig. 7 is a flowchart illustrating a method for controlling a lane change in a vehicle (e.g., a motor vehicle) according to an embodiment of the present invention. Fig. 8 is a flowchart illustrating a method for controlling a lane change in a vehicle (e.g., a motor vehicle) according to an embodiment of the present invention. Fig. 9 is a block diagram illustrating a configuration of a computing system (e.g., a computer system, e.g., a data processing system) according to an embodiment of the present invention. Detailed description of the invention

[0029] Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. When adding reference labels to elements of each drawing, even though the same elements are displayed on a different drawing, it should be noted that the same elements have the same labels. In addition, when describing an embodiment of the present invention, if it is determined that a detailed description of related well-known configurations or related well-known functions obscures the gist of an embodiment of the present invention, it will be omitted.

[0030] When describing elements of embodiments of the present invention, the terms "1st," "2nd," "first," "second," "A," "B," "(a)," "(b)," and the like may be used herein. These terms are used only to distinguish one element from another, but do not limit the corresponding elements, regardless of the nature, direction (e.g., extension or rotation), or order of the corresponding elements. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention / disclosure pertains.Such terms as defined in a commonly used dictionary shall be interpreted to have a respective meaning which is the same as a contextual meaning in the relevant field of technology, and shall not be interpreted to have an ideal or an overly formal meaning unless it is clearly defined that they have such a meaning in the present application.

[0031] Fig. 1 is a block diagram illustrating a configuration of a lane change control apparatus in a vehicle (e.g., an automobile) according to an embodiment of the present invention.

[0032] Referring to Fig. 1 can be a device 100 for controlling a lane change in a vehicle (e.g. a motor vehicle) (hereinafter referred to as “device 100 “): a navigation module 110, a Global Positioning System (GPS) module 120 , a non-volatile memory 130 (e.g. a non-volatile memory device), a first sensor 140 , a second sensor 150 and a processor 160 (e.g. a processor unit). The device 100 from Fig. 1 can be mounted on / in a vehicle (e.g. a motor vehicle). The device 100 can provide a strategy for a lane change in a branch section or a merge section using the previously mentioned elements.

[0033] The navigation module 110 can guide a user along a path from a starting point to a destination. For example, the navigation module 110 capture (e.g. obtain, e.g. acquire, e.g. determine) a path from a current location, which is determined by the GPS module120 recorded (e.g., received, e.g., obtained, e.g., determined) to a destination entered by the user, and can provide the user with guidance (e.g., instructions) that follows the recorded (e.g., received, e.g., obtained, e.g., determined) route. The navigation module 110 can guide the user along a path using a precise map database (e.g. a database in which a precise map and / or precise maps are stored) (DB) stored in the memory 130 is stored.

[0034] The GPS module 120 can record (e.g., receive, acquire, or determine) location information of the vehicle. The GPS module 120 can receive a GPS signal and can calculate a current location of the vehicle based on the received signal. The current location of the vehicle can be determined by the processor 160 be calculated.

[0035] The memory 130 can store data received from an element of the device 100 be used. The memory 130 can store instructions and / or a DB for performing operations that are performed by the processor 160 For example, the memory 130 save the precise map DB.

[0036] The first sensor 140 can provide information about the environment of the vehicle on / in which the device 100 is mounted, detect (e.g. receive, e.g. acquire). The first sensor 140 may provide information about a vehicle (e.g. a motor vehicle), a lane or the like around the vehicle on / in which the device 100 mounted around (e.g., receive, e.g., acquire). According to one embodiment, the first sensor 140have at least part of a camera, a radar or a laser distance and speed measuring device (light detection and ranging) (LIDAR).

[0037] The second sensor 150 can capture (e.g. obtain, e.g. acquire) information about the vehicle on / in which the device 100 is mounted. The second sensor 150 can detect (e.g., obtain, e.g., acquire) information about an acceleration, a yaw rate (e.g., a yaw velocity), and / or the like of the vehicle. According to one embodiment, the second sensor 150 have at least part of an acceleration sensor, a yaw rate sensor (e.g. a yaw rate sensor) or a wheel speed sensor.

[0038] The processor 160 can be used with the navigation module 110 , the GPS module 120 , the memory 130 , the first sensor 140and the second sensor 150 be electrically connected. The processor 160 the navigation module can 110 , the GPS module 120 , the memory 130 , the first sensor 140 and the second sensor 150 and can perform a variety of data processing and different computing operations.

[0039] According to one embodiment, the processor 160 determine whether it is possible to control the vehicle to change lanes to a target lane in a path, (the determining) based on a length of a branch lane in a branch section or on a length of a merge lane in a merge section, in the branch section or the merge section in the path. The processor 160 can determine whether it is possible to control the vehicle to change lanes using the Precise Map DB. The processor 160can determine a target lane based on a path and the Precise Map DB. If the path is connected to a branch lane or a merge lane, the processor can 160 determine whether it is possible to control the vehicle to change lanes to a target lane. For example, if the vehicle is in a branching section, the target lane may be a branching lane. In another example, if the vehicle is in a merging section, the target lane may be a lane adjacent to a merging lane. According to one embodiment, the processor 160 determine whether it is possible to control the vehicle to change lanes to a target lane (the determining) using the first sensor 140 and the second sensor 150 .

[0040] According to one embodiment, when the vehicle is in a branching section, the processor 160 determine whether it is possible to control the vehicle to change lanes to a target lane based on a length of a branch lane and traffic (e.g., traffic volume) of the branch lane. If the vehicle is in a branch section and if it is possible to control the vehicle to change lanes, the processor may 160 control the lane change to a branch lane. If the vehicle is in a branch section and it is possible to control the vehicle to change lanes, the processor can 160 control the lane change from a lane adjacent to the branch lane to the branch lane when the vehicle enters a section including the branch lane.

[0041] According to one embodiment, when the vehicle is in a merging section, the processor 160 determine whether it is possible to control the vehicle to change lanes to a target lane based on a length of a merging lane. If the vehicle is in the merging section and if it is possible to control the vehicle to change lanes, the processor may 160 control the lane change to a mainline lane. According to one embodiment, when the vehicle is in the merging section and when it is possible to control the vehicle to change lanes, the processor 160 control the lane change from a merge lane to a lane adjacent to the merge lane.

[0042] According to one embodiment, when it is impossible to control the vehicle to change lanes, the processor 160 control the vehicle to travel along a lane section (e.g., a lane connecting section) connected to a target lane. According to one embodiment, when the vehicle is in a branch section and when it is 160 impossible to control the vehicle to change lanes, the processor 160 control the vehicle to travel along a lane segment (e.g., a lane connector segment) that connects a lane adjacent to a branch lane with the branch lane. The processor 160 can control the vehicle to move to a branch lane using lane center follow logic instead of lane change logic.

[0043] According to one embodiment, when the vehicle is in a merging section and when it is available to the processor 160 impossible to control the vehicle to change lanes, the processor 160 generate a lane segment (e.g., a lane connecting segment) that connects a merging lane with a lane adjacent to the merging lane, and can control the vehicle to travel along the generated lane segment. The processor 160 may control the vehicle to move to a mainline lane adjacent to a merge lane (controlling) using lane center follow logic instead of lane change logic.

[0044] Fig. 2 is a block diagram illustrating a configuration of a program module included in a lane change control device in a vehicle (e.g., an automobile) according to an embodiment of the present invention.

[0045] Referring to Fig. 2 can be a program module 200 according to one embodiment, comprising: a global path generator 210 (e.g. a total path generator), a vehicle location detection unit 220 , an external situation detection unit 230 , a driving situation investigation unit 240 , a local path generator 250 (e.g. a partial path generator), a vehicle control unit 260 and a system control unit 270 (e.g. a system manager, e.g. a system management device).

[0046] The global path generator 210can create a path from a starting point to a destination point. The global path generator 210 can create a path using a precise map DB (e.g. a database in which a precise map and / or precise maps are stored).

[0047] The vehicle location detection unit 220 can accurately (e.g., accurately, e.g., correctly) detect a location of a vehicle (e.g., a motor vehicle) based on the precise map DB using precise positioning technology (e.g., precise positioning technology).

[0048] The external situation detection unit 230 a surrounding vehicle (e.g. a surrounding motor vehicle, e.g. a surrounding (motor) vehicle) using a first sensor 140 from Fig. 1, which detects (e.g. receives, e.g. acquires) information about the exterior (e.g. the outside environment) of the vehicle, and detects the precise map DB.

[0049] The driving situation determination unit 240 can analyze an average speed in a lane (e.g. the average speed of the (motor) vehicles in a lane) and traffic information (e.g. traffic volume information)) using information obtained by the external situation recognition unit 230 is / are recorded (e.g. received, e.g. obtained) and can determine a time of a lane change.

[0050] The local path generator 250 may generate a path for avoiding driving in (e.g., on) a lane and for changing lanes in response to controlling a lane change.

[0051] The vehicle control unit 260can generate a steering control signal for lateral steering and can generate a vehicle acceleration signal for longitudinal steering.

[0052] The system manager 270 may be responsible for a transition strategy (e.g., a switching strategy) between a driver and a system. The system manager 270 can generate a control activation button and can generate a warning signal in response to a fault.

[0053] Fig. 3 is a drawing illustrating an exemplary operation of a lane change control device in a vehicle (e.g., an automobile) according to an embodiment of the present invention.

[0054] Referring to Fig. 3, according to one embodiment, a vehicle (e.g., a motor vehicle) can travel on a second lane of a roadway having a branching section. For example, the vehicle can be located on a lane section 1 (e.g., a lane connecting section). In principle, the vehicle can travel along a local path generated by a local path generator (e.g., a partial path generator) based on information about the lane section. The vehicle can, in principle, control a lane change along a local path.

[0055] In Fig. 3, an arrow may indicate a lane section (e.g., a lane connecting section). The lane section may be subdivided to distinguish a shape of a roadway. For example, a lane section (e.g., a lane connecting section) of another straight lane may be subdivided at (e.g., on) the same level (e.g., at the same (lane) height, e.g., into equal (e.g., subsections) (e.g., lane sections ①, ②, ③, and ④) to indicate lane sections ⑨, ⑩, and ⑪ of a branch lane.

[0056] According to one embodiment, the vehicle (e.g., the processor 160in the vehicle) determine whether it is possible to control the vehicle to change lanes to a branch lane based on a length of the branch lane and traffic (e.g., traffic volume) of the branch lane in a branch section. If the length of the branch lane (e.g., lane section ⑩) is sufficiently long and if traffic (e.g., traffic volume) of the branch lane is light, the vehicle can determine that it is possible to control the vehicle to change lanes to the branch lane. In this case, the vehicle can control a lane change from lane section ③ to the branch lane. The vehicle may travel in a sequence of, for example, lane section 1, lane section 2, lane section 3, controlling a lane change, lane section ⑩, and lane section ⑪.

[0057] According to one embodiment, when the length of the branch lane is short and when the traffic of the branch lane is high, the vehicle may determine that it is impossible to control the vehicle to change lanes to the branch lane. For example, when the length of the branch lane (e.g., lane section ⑩) is short, it may be difficult to perform a lane change from lane section ③ to lane section ( 10). When the traffic in the branch lane is heavy, the vehicle may insert itself (e.g., merge) between other waiting vehicles (e.g., motor vehicles) in the branch lane when controlling a lane change from lane section 3 to lane section ⑩. Therefore, in this case, the vehicle may travel along lane section ⑨ without controlling the lane change. For example, the vehicle may travel in a sequence of lane section ①, lane section ⑨, lane section ⑩, and lane section ⑪ as if following a center line without controlling a lane change.

[0058] Fig. 4 is a drawing illustrating an exemplary operation of a lane change control device in a vehicle (e.g., an automobile) according to an embodiment of the present invention.

[0059] Referring to Fig. 4, according to one embodiment, a vehicle (e.g., a motor vehicle) may travel on a first lane of a roadway having a branch section. A target lane in a global path may be a branch lane. The first lane has low traffic (e.g., a low traffic volume), and the second lane has high traffic (e.g., a high traffic volume). For example, an average speed of the first lane may be 100 km / h, and an average speed of the second lane may be 30 km / h. The vehicle should perform a lane change to the second lane to enter the branch lane. The vehicle may move forward for a time when controlling a lane change to the second lane based on a result of analyzing the traffic.The vehicle may determine that it is impossible to control the vehicle to change lane to the branch lane (the determination) based on the traffic and may travel along a lane section (e.g., a lane connecting section) connecting the second lane to the branch lane without controlling the lane change.

[0060] Fig. 5 is a drawing illustrating an exemplary operation of a lane change control device in a vehicle (e.g., an automobile) according to an embodiment of the present invention.

[0061] Referring to Fig. 5, a vehicle (e.g., a motor vehicle) may travel on a merging lane of a roadway having a merging section according to one embodiment. For example, the vehicle may be on a lane section ( 9). In principle, the vehicle can travel along a path generated by a local path generator (e.g., a partial path generator) based on information about a lane sub-route (e.g., a lane connecting route). In principle, the vehicle can control a lane change along a local path.

[0062] According to one embodiment, the vehicle may determine whether it is possible to control the vehicle to change lanes to a lane of a main road adjacent to a merging lane (the determination) based on a length of the merging lane in the merging section. If the length of the merging lane (e.g., a lane section ⑩ (e.g., a lane connecting section ⑩)) is sufficiently long, the vehicle may determine that it is possible to control the vehicle to change lanes to the main road. In this case, the vehicle may perform a lane change from the lane section ( 10 ) to a second lane, which is a target lane. The vehicle can travel in a sequence of, for example, lane segment ⑨, lane segment ⑩, controlling a lane change, lane segment ⑥, lane segment ⑦, and lane segment ⑧.

[0063] According to one embodiment, when the length of the merging lane is short, the vehicle may determine that it is impossible to control the vehicle to change lanes to a lane of the main road adjacent to the merging lane. For example, when the length of the merging lane (e.g., lane section ⑩) is short, it may be difficult to perform a lane change from the lane section ( 10) to the lane segment ⑥. Therefore, in this case, the vehicle can generate a (e.g., additional) lane segment ⑫ (e.g., an (e.g., additional) lane connecting segment ⑫) which is not included in a precise map DB (e.g., a database in which a precise map and / or precise maps are stored), without controlling the lane change. The vehicle can travel along the generated lane segment ⑫. The vehicle can travel in a sequence of, for example, lane segment ⑨, lane segment ⑩, lane segment ⑫, lane segment ⑥, lane segment ⑦, and lane segment ⑧ as if following a centerline, without controlling a lane change.

[0064] The following is a summary of the Fig. 6 a description is given of a difference between when the vehicle controls a lane change and when the vehicle follows a lane segment.

[0065] Fig. 6 is a drawing illustrating an exemplary operation of a lane change control device in a vehicle (e.g., an automobile) according to an embodiment of the present invention.

[0066] Referring to Fig. 6, a vehicle (e.g., a motor vehicle) may travel on a lane segment 6 according to one embodiment. A target lane of the vehicle may be a lane having a lane segment 6. When it is possible to control the vehicle to change lanes, the vehicle may determine situations (e.g., conditions) of a current lane and the target lane using lane-change logic and may generate a local path, thereby controlling its behavior (e.g., driving behavior) along the local path.

[0067] When it is impossible to control the vehicle to change lanes, the vehicle may create a (e.g., additional) lane segment ⑫ connecting lane segment ⑩ with lane segment ⑥, and travel along lane segment ⑫ using (e.g., lane) center-following logic without using lane-change logic (i.e., without creating a local path). The vehicle may change direction to turn toward lane segment ⑥ along lane segment ⑫ once the vehicle enters lane segment ⑫, thereby more easily entering lane segment ⑥.

[0068] Fig. 7 is a flowchart illustrating a method for controlling a lane change in a vehicle (e.g., a motor vehicle) according to an embodiment of the present invention.

[0069] In the following, it can be assumed that a device 100 from Fig. 1 a process of Fig. 7. Furthermore, in a description with reference to Fig. 7, a process which is described as being carried out by means of a device shall be understood as being carried out by means of a processor 160 (e.g. a processor unit) of the device 100 is controlled.

[0070] Referring to Fig. 7, in process 710 , the device can generate a path from a starting point to a destination point. For example, the device can generate a path for traveling from a current location of a vehicle (e.g., a motor vehicle) to a destination point requested by a user using a precise map DB (e.g., a database in which a precise map and / or precise maps are stored).

[0071] In process 720the device may determine whether it is possible to control the vehicle to change lanes to a target lane in the path based on a length of a branch lane in a branch section or a length of a merging lane in a merging section, in the branch section, or the merging section included in the path. For example, the device may determine whether it is possible to control the vehicle to change lanes from a mainline lane to a branch lane, and may determine whether it is possible to control the vehicle to change lanes from the merging lane to the mainline lane. The device may consider traffic (e.g., traffic volume) of a lane for determination.

[0072] If it is possible to control the vehicle to change lanes, the device can, in operation730 , control a lane change to the target lane. For example, the device may generate a local path using lane change logic and control a lane change along the local path.

[0073] If it is impossible to control the vehicle to change lanes, the device may, in operation 740, travel (e.g., make the vehicle travel) along a lane segment (e.g., a lane connector) connected to the target lane. For example, the device may travel (e.g., make the vehicle travel) along a lane segment (e.g., a lane connector) connected to the target lane using (e.g., lane) center-follow logic. The device may generate a lane segment (e.g., a lane connector) connected to the target lane and travel along the generated lane segment using the center-follow logic.

[0074] Fig. 8 is a flowchart illustrating a method for controlling a lane change in a vehicle (e.g., a motor vehicle) according to an embodiment of the present invention.

[0075] In the following it can be assumed that the device 100 from Fig. 1 a process of Fig. 8. Furthermore, in a description with reference to Fig. 8, a process which is described as being carried out by means of a device shall be understood as being carried out by means of a processor 160 (e.g. a processor unit) of the device 100 is controlled.

[0076] Referring to Fig. 8, in process 810 , the device may analyze a precise map DB (e.g., a database in which a precise map and / or precise maps are stored) based on a global path. For example, the device may compare the global path with the precise map DB.

[0077] In process 815The device can determine a target lane. For example, the device can determine a path where (e.g., where to) a vehicle (e.g., a motor vehicle) 5 km ahead of the vehicle will travel by analyzing the global path and the precise map DB.

[0078] In process 820 The device can analyze traffic (e.g., traffic volume). For example, the device can analyze traffic (e.g., traffic volume) for each lane by calculating an average speed of each lane (e.g., of the road users in the respective lane for the respective lane).

[0079] In process 825 The device can determine whether there is a merge lane or a diverge lane. For example, the device can determine whether there is a merge lane or a diverge lane within a specific distance.

[0080] If there is a branch lane, the device can be used in operation 830 , determine a per-lane traffic (e.g., a per-lane traffic volume), and a length of the branch lane. For example, the device may determine the length of the branch lane using a length value of a lane segment (e.g., a lane connecting segment) included in the precise map DB, and may determine whether the traffic of the branch lane is higher than that of another lane.

[0081] In process 835 The device can determine whether it is possible for a vehicle (e.g., a motor vehicle) on / in which the device is mounted to travel according to a basic principle. For example, the device can determine whether lane change logic should be used based on traffic and the length of the branch lane.

[0082] If it is possible for the vehicle on / in which the device is mounted to drive according to the basic principle, the device can, in process 840 , control a lane change. For example, the device may generate a local path using lane change logic and may control a lane change along a local path.

[0083] If it is impossible for the vehicle on / in which the device is mounted to drive according to the basic principle, the device can, in process 845, control the vehicle to travel along a lane segment (e.g., a lane connector) that faces the branch lane. For example, the device may control the vehicle to follow a lane segment (e.g., a lane connector) that connects a lane adjacent to the branch lane to the branch lane using (e.g., lane) center-follow logic.

[0084] If there is a merging lane, the device can, in operation 850 , determine a length of the merging lane. For example, the device may determine the length of the merging lane using a length value of a lane segment (e.g., a lane connecting segment) included in the precise map DB.

[0085] In process 855The device can determine whether it is possible for the vehicle on / in which the device is mounted to drive according to the basic principle. For example, the device can determine whether to use lane change logic based on the length of the merging lane.

[0086] If it is possible for the vehicle on / in which the device is mounted to drive according to the basic principle, the device can process 840 carry out.

[0087] If it is impossible for the vehicle on / in which the device is mounted to travel according to the basic principle, the device can generate an additional lane section (e.g., an additional lane connecting section) and can control the vehicle to travel along the additional lane section, 860. For example, the device may generate the additional lane segment connecting the merge lane to the lane adjacent to the merge lane and may control the vehicle to follow the additional lane segment using the center-follow logic.

[0088] Fig. 9 is a block diagram illustrating a configuration of a computing system (e.g., a computer system, e.g., a data processing system) according to an embodiment of the present invention.

[0089] Referring to Fig. 9, the aforementioned device according to an embodiment of the present invention can be implemented by means of the computing system. A computing system 1000 (e.g. computer system, e.g. data processing system) may have at least one processor 1100 , a memory 1300 , a user interface input device 1400, a user interface output device 1500 , a (data) storage unit 1600 and a network interface 1700 which is connected to another via a bus 1200 (e.g. a bus system).

[0090] The processor 1100 may be a central processing unit (CPU) or a semiconductor device for executing instructions stored in the memory 1300 and / or the (data) storage unit 1600 Both the memory 1300 as well as the (data) storage unit 1600 can (respectively) have different types of volatile or non-volatile storage media. For example, the memory 1300 have a read-only memory (ROM) and a random access memory (RAM).

[0091] Therefore, the operations of the methods or algorithms described in connection with the embodiments disclosed in the description may be directly implemented with a hardware module, a software module, or a combination thereof, each of which may be executed by the processor 1100 The software module can be located on a storage medium (ie the memory 1300 and / or the (data) storage unit 1600 ) such as a RAM, a flash memory, a ROM, an erasable and programmable ROM (EPROM), an electronic EPROM (EEPROM), a register, a hard disk, a removable storage device, or a compact disk ROM (CD-ROM). An example storage medium can be connected to the processor 1100 connected. The processor 1100can read information from / to the storage medium and can write information to / to the storage medium. Alternatively, the storage medium can be connected to the processor 1100 be integrated (e.g., combined, e.g., integral). The processor and the storage medium can be located in an application-specific integrated circuit (ASIC). The ASIC can be located in a user terminal. Alternatively, the processor and the storage medium can remain as a separate component from the user terminal.

[0092] The lane change control device in the vehicle according to an embodiment of the inventive concept can ensure user safety when changing lanes in a branching section or a merging section by creating a lane change strategy based on a length of a branching lane or a length of a merging lane in a branching section or a merging section.

[0093] Furthermore, the lane change control device in the vehicle according to an embodiment of the inventive concept can efficiently change a lane in a branching section or a merging section by changing the lane using a lane section (eg, a lane connection section).

[0094] In addition, various effects obtained indirectly or directly by means of the present disclosure / invention may be provided.

[0095] Although the present invention has been described with reference to exemplary embodiments, it will be apparent to those skilled in the art that various changes and modifications can be made without departing from the scope of the present invention.

[0096] Therefore, the exemplary embodiments of the present invention are not restrictive but illustrative, and the scope of the present invention is not limited thereto. The scope of the present invention should be interpreted by the following claims, and it should be understood that all technical ideas that are equivalent to the present invention are included within the scope of the present invention. Character list Fig. 1 100: Device for controlling a lane change 110: Navigation module 120: GPS module 130: Memory 140: First sensor 150: Second sensor 160: Processor Fig. 2 200: Program module 210: Global path generator 220: Vehicle location detection unit 230: External situation detection unit 240: Driving situation determination unit 250: Local path generator 260: Vehicle control unit 270: System Manager Fig. 9 1100: Processor 1300: Memory 1400: User interface input device 1500: User interface output device 1600: (Data) storage unit 1700: Network interface QUOTES CONTAINED IN THE DESCRIPTION

[0000] This list of documents submitted by the applicant was generated automatically and is included solely for the convenience of the reader. This list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions. Cited patent literature

[0000] KR 1020170167645

[0001]

Claims

[1] A device (100) for controlling a lane change in a vehicle, the device (100) comprising: a navigation module (110) for providing a path from a starting point to a destination point to a user, a global positioning system (GPS) module (120) for acquiring location information of the vehicle, a memory (130) storing a precise map database (precise map DB), a first sensor (140) for detecting information about an environment of the vehicle, a second sensor (150) for detecting information about the vehicle, and a processor (160) electrically connected to the navigation module (110), the GPS module (120), the memory (130), the first sensor (140) and the second sensor (150) and configured to: to determine whether it is possible to control the vehicle to change a lane to a target lane in the path based on a length of a branch lane in a branch section included in the path or on a length of a merge lane in a merge section included in the path, if it is possible to control the vehicle to change lanes, to control the lane change to the target lane, if it is impossible to control the vehicle to change lanes, control the vehicle to travel along a lane segment connected to the destination lane. [2] The device (100) of claim 1, wherein the processor (160) is further configured to: to determine the target lane based on the path and the Precise Map DB, and if the path is connected to the branch lane or the merge lane, to determine whether it is possible to control the vehicle to change lanes to the target lane. [3] The device (100) according to claim 1 or 2, wherein when the vehicle is in the branching section, the target lane is the branching lane, and when the vehicle is in the merging section, the target lane is a lane adjacent to the merging lane. [4] The device (100) of any of claims 1-3, wherein the processor (160) is further configured to: when the vehicle is in the branch section, to determine whether it is possible to control the vehicle to change lanes to the target lane based on the length of the branch lane and traffic of the branch lane. [5] The device (100) of any of claims 1-4, wherein the processor (160) is further configured to: when the vehicle enters a section having the branch lane and is located in the branch section, and if it is possible to control the vehicle to change lanes, control the vehicle to travel from a lane adjacent to the branch lane to the branch lane. [6] The device (100) of any of claims 1-5, wherein the processor (160) is further configured to: when the vehicle is in the branch section and when it is impossible to control the vehicle to change lanes, control the vehicle to travel along the lane section connecting a lane adjacent to the branch lane with the branch lane. [7] The device (100) of any of claims 1-6, wherein the processor (160) is further configured to: when the vehicle is in the merging section and if it is possible to control the vehicle to change lanes, control the vehicle to travel from the merging lane to a lane adjacent to the merging lane. [8] The device (100) of any of claims 1-7, wherein the processor (160) is further configured to: when the vehicle is in the merging section and when it is impossible to control the vehicle to change lanes, generate the lane section connecting the merging lane with a lane adjacent to the merging lane, and control the vehicle to travel along the generated lane section. [9] The device (100) of any of claims 1-8, wherein the processor (160) is further configured to: to determine whether it is possible to control the vehicle to change lanes to the target lane using the first sensor (140) and the second sensor (150). [10] Device (100) according to one of claims 1-9, wherein the first sensor (140) comprises at least a part of a camera, a radar or a laser distance and speed measuring device (LIDAR). [11] Device (100) according to one of claims 1-10, wherein the second sensor (150) comprises at least a part of an acceleration sensor, a yaw rate sensor or a wheel speed sensor. [12] A method for controlling a lane change in a vehicle, the method comprising the steps of: Creating (710) a path from a starting point to a destination point, Determining (720), by means of a processor (160), whether it is possible to control the vehicle to change a lane to a target lane in the path based on a length of a branch lane in a branch section included in the path or on a length of a merge lane in a merge section included in the path, and, if it is possible to control the vehicle to change lanes, controlling (730) the vehicle, by means of the processor (160), to drive to the target lane, and, if it is impossible to control the vehicle to change lanes, controlling (740) the vehicle, by means of the processor (160), to travel along a lane segment connected to the target lane. [13] The method of claim 12, wherein the step of determining (720) comprises: Determining the target lane based on the path and a precise map DB, and, if the path is connected to the branch lane or the merge lane, determining whether it is possible to control the vehicle to change lanes to the target lane. [14] The method according to claim 12 or 13, wherein when the vehicle is in the branching section, the target lane is the branching lane, and wherein when the vehicle is in the merging section, the target lane is a lane adjacent to the merging lane. [15] The method of any of claims 12-14, wherein the step of determining (720) comprises: when the vehicle is in the branch section, determining whether it is possible to control the vehicle to change lanes to the target lane based on a length of the branch lane and a traffic of the branch lane. [16] A method according to any one of claims 12-15, wherein the step of controlling (730) the vehicle comprises: when the vehicle enters an area having the branch lane and is located in the branch section, and if it is possible to control the vehicle to change lanes, controlling the vehicle to travel from a lane adjacent to the branch lane to the branch lane. [17] A method according to any one of claims 12-16, wherein the step of controlling (740) the vehicle comprises: when the vehicle is in the branch section and when it is impossible to control the vehicle to change lanes, controlling the vehicle to travel along the lane section connecting a lane adjacent to the branch lane with the branch lane. [18] A method according to any one of claims 12-17, wherein the step of controlling (730) the vehicle comprises: when the vehicle is in the merging section and when it is possible to control the vehicle to change lanes, controlling the vehicle to travel from the merging lane to a lane adjacent to the merging lane. [19] A method according to any one of claims 12-18, wherein the step of controlling (740) the vehicle comprises: when the vehicle is in the merging section and when it is impossible to control the vehicle to change lanes, generating the lane section connecting the merging lane with a lane adjacent to the merging lane, and controlling the vehicle to travel along the generated lane section. [20] The method of any of claims 12-19, wherein the step of determining (720) comprises: Determining whether it is possible to control the vehicle to change lanes to the target lane using sensor information about an environment of the vehicle and sensor information about the vehicle.

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