DEVICE, METHOD AND SYSTEM FOR CONTROLLING THE DRIVING OF A VEHICLE

Abstract

Device for assisting the driving of a vehicle (1), comprising: an image sensor (110) arranged in the vehicle (1) such that it has a field of view in front of the vehicle (1) and is configured to acquire image data; a radar (120) arranged in the vehicle such that it has a detection range outside the vehicle (1) and is configured to collect detection data in order to detect an object in the vicinity of the vehicle (1); and a controller (140) comprising at least one processor (115) configured to process the image data acquired by the image sensor (110) and the detection data acquired by the radar (120), wherein the controller (140) is configured to: obtain status information of a vehicle traffic light (3) based on the processing of the image data in response to a right-turn action detected at an intersection;and controlling the vehicle (1) so that it turns right after it has stopped or slowed to a predetermined speed, based on the status information of the vehicle traffic light (3), information about another vehicle (2) in a left lane, which is detected based on the processing of the acquisition data, and status information of a pedestrian crossing signal (4) obtained from an external device; wherein the controller (140) is configured to: control the vehicle (1) to maintain a stopped state in response to the detection of a pedestrian (p) based on the processing of the image data when the pedestrian crossing signal (4) of a pedestrian crossing positioned before entering the intersection (c) is red; and control the vehicle so that it turns right at the predetermined speed in response to the pedestrian (p) not being detected;wherein the control (140) is configured to receive information from the other vehicle (2) as to whether the pedestrian (p) is detected in a front image of the other vehicle (2), in response to the fact that a left area of ​​an image corresponding to the image data is obscured by the other vehicle (2).

Description

REFERENCE TO RELATED REGISTRATION(S)

[0001] This application is based on and claims priority pursuant to 35 USC §119 of Korean patent application No. 10-2018-0120075, filed with the Korean Patent Office on October 8, 2018, the disclosure of which is incorporated herein by reference in its entirety. AREA OF TECHNOLOGY

[0002] Embodiments of the disclosure relate to a method for controlling the driving of a vehicle based on information from the vehicle's surroundings at an intersection. STATE OF THE ART

[0003] When a traffic light at an intersection turns red, a vehicle must turn right according to a pedestrian crossing signal after stopping at a stop line before the pedestrian crossing, even if the vehicle is turning right. In this case, a collision with a pedestrian can occur when the vehicle turns right due to a stop line error, disregard of a pedestrian signal at a pedestrian crossing, or inability to ensure visibility because of another vehicle in a left-hand stop lane.

[0004] Furthermore, pedestrian safety at the crosswalk is also compromised after a right turn because the vehicle turns right without slowing down or obstructs the view, making it impossible to check for a pedestrian. Therefore, to reduce the risk of pedestrian collisions during a right turn, it is essential to properly control the vehicle according to the traffic light signal during the maneuver. SUMMARY

[0005] Therefore, one aspect of the disclosure is the creation of a vehicle driving control device capable of performing a right turn at an intersection more safely by controlling the driving of a vehicle during a right turn according to state information from a vehicle traffic light, information about another vehicle and state information from a pedestrian crossing traffic light, and a method and system for doing so.

[0006] Other aspects of the revelation are partly explained in the following description, or they can be learned through the practical application of the revelation.

[0007] According to one aspect of the disclosure, a device for assisting the driving of a vehicle comprises: an image sensor arranged in the vehicle such that it has a field of view in front of the vehicle and is configured to acquire image data; a radar arranged in the vehicle such that it has a detection range outside the vehicle and is configured to acquire data to detect an object near the vehicle; and a controller comprising at least one processor configured to process the image data acquired by the image sensor and the detection data acquired by the radar. The controller can obtain status information from a vehicle traffic light based on the processing of the image data in response to the detection of a right-turn action at an intersection.and, based on the status information of the traffic light, information about another vehicle in a left lane, which is detected based on the processing of the acquisition data, and status information of a pedestrian crossing signal received from an external device, can control the vehicle to turn right after it has stopped or slowed down to a predetermined speed.

[0008] According to another aspect of the disclosure, a method for assisting the driving of a vehicle includes: acquiring image data by means of a camera arranged in the vehicle in such a way that it has a field of view outside the vehicle; acquiring detection data via a radar arranged in the vehicle in such a way that it has a detection range outside the vehicle; detecting a right-turn action at an intersection; acquiring status information from a vehicle traffic light based on processing of the image data; acquiring information about another vehicle in a left-hand lane, which is detected based on processing of the detection data; receiving status information from a pedestrian crossing traffic light from a communication device outside the vehicle;and controlling the vehicle so that it turns left after it has stopped or slowed down to a predetermined speed, based on the status information from the vehicle traffic light, the information about the other vehicle and the status information from the pedestrian crossing traffic light.

[0009] According to another aspect of the disclosure, a device for assisting the driving of a vehicle comprises: an image sensor arranged in the vehicle such that it has a field of view in front of the vehicle and is configured to acquire image data; a radar arranged in the vehicle such that it has a detection range outside the vehicle and is configured to acquire data to detect an object near the vehicle; a domain control unit (DCU) configured to process the image data acquired by the image sensor and the detection data acquired by the radar and to control at least one driver assistance system provided in the vehicle.The DCU can obtain status information from a traffic light for vehicles based on the processing of image data in response to the detection of a right-turn action at an intersection based on image data and / or the acquisition data; and, based on the status information from the traffic light for vehicles, information about another vehicle in a left lane detected by the radar, and status information from a pedestrian crossing signal received from an external device, can control the vehicle to turn right after it has stopped or slowed down to a predetermined speed. List of characters

[0010] These and other aspects of the disclosure will become clearer and more easily understood from the following description of the embodiments in conjunction with the accompanying drawings, wherein: Fig. 1A is a block diagram of a vehicle control device according to embodiments of the disclosure; Fig. 1B is a block diagram of a vehicle control device equipped with a domain control unit (DCU) according to an embodiment of the disclosure; Fig. 2 to Fig. Six views are described that control a right turn according to the states of a vehicle traffic light, a pedestrian crossing light and another vehicle in an intersection according to embodiments of the disclosure; Fig. 7 a block diagram of a vehicle control system according to embodiments of the disclosure; Fig. 8 is a flowchart representing a vehicle control procedure according to embodiments of the disclosure; Fig. 9 is a flowchart that represents a method for controlling a right turn when a traffic light turns green, according to embodiments of the disclosure; Fig. 10 is a flowchart that represents a method for controlling a right turn when a traffic light for vehicles turns red or yellow, according to embodiments of the disclosure; and Fig. 11 is a flowchart that represents a method for controlling a right turn when an image is obscured by another vehicle positioned in a left lane, according to embodiments of the disclosure; DETAILED DESCRIPTION

[0011] The following section describes embodiments of the disclosure in detail with reference to the accompanying drawings. The same reference numerals denote the same elements throughout the description. This description does not cover all components of the embodiments, nor does it cover the general content of the technical field to which the disclosure belongs or content with which the individual embodiments overlap.

[0012] It should be clarified that the terms first, second, A, B, (a), (b), etc., may be used herein to denote different components, but that these components are not to be limited by these terms. These terms are used only to distinguish one component from another. For example, the first component may be called a second component, and likewise the second component may be called a first component, without departing from the scope of the disclosure. When one section is connected to another, this throughout the description includes the case where the section is connected indirectly to the other section, as well as the case where the section is connected directly to the other section, and the indirect connection includes a connection via a wireless communication network.

[0013] Unless otherwise defined, all terms in the disclosure (including technical and scientific terms) may be used in a sense understood by a person skilled in the art in the field to which embodiments of the disclosure belong. Furthermore, terms defined in commonly used dictionaries are not ideal or overly interpreted unless they are clearly and specifically defined. Additionally, terms described below are defined in light of functions in embodiments of the disclosure and may vary according to the intention of the user or technician, or according to common practice. Therefore, the definition throughout the disclosure should be based on its content.

[0014] In the disclosure, "vehicle traffic light" can refer to traffic signals indicating whether a vehicle is proceeding, stopping, turning left, or making a U-turn in a lane. "Pedestrian crossing signal" can also refer to traffic signals provided at a pedestrian crossing to indicate whether pedestrians are proceeding or stopping. "Left lane" can refer to the left lane of a traffic lane in which a host vehicle is positioned. "Right lane" can refer to the far right lane in which a right turn can be made at the intersection. "Infrastructure device" can refer to a device with a communication module capable of vehicle-to-everything (V2X) communication with the host vehicle, such as a vehicle traffic light or a pedestrian crossing signal, located at an intersection.

[0015] The disclosure can be applied to assist a driver of the vehicle when attempting to turn right at an intersection. Furthermore, within an applicable scope, the disclosure can be applied to an autonomous driving mode of an autonomous vehicle.

[0016] In the following, with reference to the accompanying drawings, a vehicle control device, a method and a system of the vehicle according to embodiments of the disclosure are described.

[0017] Fig. 1A is a block diagram of a vehicle control device according to embodiments of the disclosure;

[0018] As in Fig. As shown in 1A, a driving control device can be used. 100 of the vehicle: an image sensor 110, which is positioned in the host vehicle in such a way that it has a field of view in front of the host vehicle, and which is equipped to acquire image data, a radar 120 , which is arranged in the host vehicle in such a way that it has a detection range outside the host vehicle, and which is configured to collect detection data in order to detect objects in the environment, at least one processor 115 , which is designed to detect the image sensor 110 captured image data and the data from the radar 120 to process the collected data, a communication device 130 , which is in wireless communication with at least one communication device outside the host vehicle, and a control system 140 The control 140Based on image data processing, status information of a traffic light can be derived from an image if a right-turn action at the intersection is detected, at least in part, based on the processing of the image data, the acquisition data, and the status of the traffic light. The control system... 140 Based on the status information of the traffic light, information about another vehicle in the left lane can be obtained from the radar. 120 has been recorded, and status information of the pedestrian crossing traffic light, which is transmitted via the communication device 130 to be received, control the host vehicle so that it turns right after it has stopped or slowed down to a predetermined speed.

[0019] The image sensor 110 It can be mounted on the front of the vehicle to capture an image of the front field of view in individual frame units. The image sensor 110It can be implemented as a camera based on a complementary metal-oxide semiconductor (CMOS) or as a camera based on a charge-coupled device (CCD). However, the image sensor 110 for example, not limited to a particular type, as long as the image sensor 110 can gain an image of the front field of vision.

[0020] The image sensor 110 It can be positioned in the vehicle in such a way that it provides a view outside the vehicle. At least one image sensor. 110 It can be positioned on any part of the vehicle in such a way that it provides a field of vision in front of, to the side of, or behind the vehicle.

[0021] Since image information from the image sensor 110 The image data being captured can include image information, which may refer to the image data captured by the image sensor. 110 be captured. The following can be done with the image information captured by the image sensor. 110The revelation refers to image data captured by the image sensor. 110 be captured. The image sensor 110 The captured image data can be generated in raw form as, for example, AVI, MPEG-4, H.264, DivX, and JPEG. The data from the image sensor 110 The captured image data can be processed by the processor 115 be processed.

[0022] Furthermore, the image sensor 110 It must be set up to capture image data and positioned in the host vehicle so that it has a field of view in front of the host vehicle. The image sensor 110 The recorded image data can be processed by the processor 115The data is processed and used to derive the traffic light status information from the image obtained when a right turn is detected at the intersection. This traffic light status information can be combined with information about other vehicles in the left lane detected by the radar and pedestrian crossing signal status information obtained through the communication device. 130 received, are used to generate a control signal to steer the host vehicle in such a way that it turns right after it has stopped or slowed down to the specified speed.

[0023] The processor 115 can be operated to process the image data from the image sensor 110have been recorded. For example, at least part of the recording of a road being driven on and the generation of camera recognition information can be done by the processor. 115 be carried out.

[0024] The processor 115 can be implemented using at least one electrical unit capable of processing and performing other functions on the image data, such as 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, microcontrollers, microprocessors, and the like. Furthermore, the processor can 115 together with the image sensor 110 as a single camera module.

[0025] The radar 120The radar can send and detect a radar signal, and the transmitted radar signal is reflected back to the object to provide information such as the distance to the object in the vicinity of the vehicle in units of individual images. 120 It can have a transmitting antenna for sending the radar signal and a receiving antenna for detecting the reflected radar signal. In the disclosure, the radar 120 not limited to a specific radar, and embodiments of the disclosure can be applied essentially equally to any radar, as long as this is not applicable.

[0026] The radar 120The radar sensor or radar system may include one or more radar sensor devices, such as a front-detection radar sensor mounted at the front of the vehicle, a rear-detection radar sensor mounted at the rear of the vehicle, and a lateral or lateral rear-detection radar sensor mounted on each side of the vehicle. The radar sensor or radar system can analyze the transmitted and received signals to process data and thus acquire information about the object. For this purpose, it may include an electronic control unit (ECU) or processor. 115 exhibit. Data transmission or signal transmission from the radar sensor to the ECU can use a communication link, such as a suitable vehicle network bus.

[0027] The radar sensor can have at least one transmitting antenna for sending the radar signal and at least one receiving antenna for receiving the reflected signal received from the object.

[0028] On the other hand, the radar sensor can have signal transmission / signal reception schemes of a multidimensional antenna array and multiple input multiple output to form a virtual antenna aperture that is larger than an actual antenna aperture.

[0029] For example, two-dimensional antenna arrays can be used to achieve horizontal and vertical angular precision and resolution. Using a two-dimensional radar antenna array, signals are transmitted and received horizontally and vertically by two separate (time-division multiplexed) scans, and MIMO can be used separately from the two-dimensional horizontal and vertical radar scans (time-division multiplexed).

[0030] More precisely, the radar sensor can have a two-dimensional antenna array configuration comprising a transmitting antenna device with a total of 12 transmitting antennas (Tx) and a receiving antenna device with a total of 16 receiving antennas (Rx). As a result, the radar sensor can comprise a total of 192 virtual receiving antenna arrays.

[0031] In this case, the transmitting antenna device can have three transmitting antenna groups, each having four transmitting antennas, wherein a first transmitting antenna group can be located a predetermined distance away from a second transmitting antenna group in a vertical direction, and the first or second transmitting antenna group can be located a predetermined distance D away from a third transmitting antenna group in a horizontal direction.

[0032] Similarly, the receiving antenna device can have four receiving antenna groups, each comprising four receiving antennas, and the individual receiving antenna groups can be arranged to be vertically spaced apart. The receiving antenna device can be positioned horizontally between the first transmitting antenna group and the third transmitting antenna group.

[0033] In another embodiment, the radar sensor antenna can be arranged in the two-dimensional antenna array; for example, each antenna patch can have a rhombic arrangement to reduce unnecessary side lobes.

[0034] Alternatively, the two-dimensional antenna array can be a V-shaped antenna array in which several beam-emitting patches are arranged in a V-shape, or more precisely, it can be two V-shaped antenna arrays. In this case, a single feed point is made at one vertex of each V-shaped antenna array.

[0035] The two-dimensional antenna array can consist of an X-shaped antenna array in which several beam-emitting patches are arranged in an X-shape, or more precisely, it can consist of two X-shaped antenna arrays. The individual feed point is located at the center of each X-shaped antenna array.

[0036] Furthermore, the radar sensor can use a MIMO antenna system to implement detection accuracy or resolution in the vertical and horizontal directions.

[0037] In a MIMO system, each transmitting antenna can send a signal with independent waveforms that are separate from each other. This means that each transmitting antenna can send a signal with an independent waveform that differs from those of other transmitting antennas, and each receiving antenna can determine, based on the different waveforms of the signals, which transmitting antenna will receive the reflected signal from the object.

[0038] The radar sensor can comprise a radar housing for accommodating a substrate and circuitry, including the transmitting and receiving antennas, and a radome forming an outer part of the radar housing. The radome can be made of a material that reduces attenuation of the transmitted and received radar signal. The radome can encompass the front and rear bumpers, the radiator grilles, the side of the vehicle body, or the outer surfaces of vehicle components.

[0039] This means that the radar sensor radome can be located within the vehicle's radiator grille, bumper, bodywork, or similar components, and is arranged as part of the parts that form the outer surface of the vehicle, such as the radiator grille, bumper, or bodywork, thereby improving the appearance of the vehicle and simultaneously facilitating the installation of the radar sensor.

[0040] The communication facility 130It can perform vehicle-to-vehicle (V2V) communication between the host vehicle and another vehicle, or vehicle-to-infrastructure (V2I) communication between the host vehicle and the infrastructure device. That is, via traffic network communication (V2X), referred to as vehicle-to-vehicle or vehicle-to-infrastructure communication, the communication device can send and receive various pieces of information with another vehicle or with infrastructure devices, such as the vehicle's current position, speed, the status of the vehicle traffic light, and the status of the pedestrian crossing.

[0041] The communication facility 130It can communicate with another vehicle or infrastructure device within a communication range. For example, the V2X communication method can be a multi-hop network type and can be a Wireless Access-in-Vehicular-Environment (WAVE) communication method using a 59 GHz communication frequency, but is not limited to this. That is, an existing wireless communication protocol or a new wireless communication protocol can be used.

[0042] A V2X communication module located in the communication device 130The V2X module can include a module for wireless communication with a server or another vehicle. It can also include a module capable of implementing the V2V or V2I protocol. The vehicle can then communicate wirelessly with an external server and another vehicle via the V2X communication module.

[0043] In telematics-based vehicle-to-vehicle (V2V) and vehicle-to-infrastructure (V2I) systems, connected vehicles can interact wirelessly via 3G / 4G / 5G cellular communication, Wi-Fi, or 5.9 GHz Dedicated Short Range Communication (DSRC). This communication can provide the driver of the vehicle on the road with situational awareness, collision avoidance, and post-accident assistance. V2V / V2X communication systems can utilize telematics to wirelessly transmit data from an equipped host vehicle to another vehicle, to the host vehicle, or to an infrastructure system (such as a traffic light control system or a traffic management system). The data can originate from one or more other vehicles or infrastructure systems, such as remote servers, and can be telematically transmitted to the vehicle.The data may include traffic condition data, traffic density data, weather data, road condition data, and the like.

[0044] The control 140 can affect the operation of the driving control device 100 control the vehicle as a whole. For example, the control can 110 be implemented as an ECU. The control 140 Can the processor process the image data and the acquisition data? 115 receive and process the image and capture data. The control 140 The system can control the right turn of the host vehicle at the intersection, at least in part, based on the processing of image data and the data collected.

[0045] The control 140 It can determine whether the right turn at the intersection is detected. The control system 140 can be derived from the image taken from the image sensor 110The system detects whether a lane in which the host vehicle is traveling is a right-turn lane. If the lane in which the host vehicle is traveling is a right-turn lane, the control system can... 140 Determine that the right turn maneuver is in progress when a right turn signal is activated on the host vehicle.

[0046] If the right turn is detected, the steering can 140 The status information of the traffic light is obtained based on the image of the field of view captured by the image sensor. 110 won. The control 140 The illumination state of the traffic light contained in the image can be identified through image processing of the acquired image. If the illumination state of the traffic light can be extracted from the image captured by the image sensor 110 The image processing method is not limited to a specific procedure.

[0047] If the right turn is detected, the steering can 140 in addition, information about another vehicle positioned in the left lane is obtained through the radar. 120 win. The information about the other vehicle can include information about its length, height, or position. The control 140 can query and receive information about a front image obtained from another vehicle, or about the pedestrian included in the front image, via V2V communication with another vehicle.

[0048] If the right turn is detected, the steering can 140 The lighting status of the pedestrian crossing traffic light is received via V2X communication from the pedestrian crossing traffic light installed at the crossing, which was in place before the vehicle entered the intersection. Alternatively, the control system can... 140The light state of the pedestrian crossing traffic light is received from the pedestrian crossing traffic light installed at the crossing, which appears when the right turn is carried out.

[0049] The control 140 Based on the status information from the traffic light, information about another vehicle, and the status information from the pedestrian crossing signal, the system can control the host vehicle to turn right after it has stopped or slowed to a predetermined speed. For this purpose, the control system can... 140 send a signal to control at least one of the electronic control units of an internal combustion engine, an electronic brake control unit or an electronic steering wheel control unit.

[0050] That means the control 140The electronic control unit of the internal combustion engine control system, which includes an internal combustion engine control unit for adjusting fuel injection according to the engine's operating conditions and the driving conditions, and a transmission control unit for automatic transmission control, can control the vehicle's speed. Furthermore, the control system can 140 The electronic brake control unit, which adjusts the braking force of a hydraulic cylinder used in a hydraulic braking system or a brake motor used in an electronic braking system, controls the braking distance of the vehicle. The control 140 can control an electronic steering wheel control unit, which controls a steering wheel, to control a rotation of the vehicle.

[0051] The sensor 150can include multiple sensors provided in the vehicle and can capture driving information, such as vehicle speed and steering angle, and transmit the captured information to the control system. 140 The sensor sends 150 can detect the illumination state of the turn signal and transmit the detected state to the control unit. 140 send. However, this can, for example, involve sending information about the indicator light status from the indicator itself to the control unit. 140 include.

[0052] By controlling the driving of the host vehicle when turning right according to the status information of the vehicle traffic light, the information about another vehicle and the status information of the pedestrian crossing traffic light, the right turn at the intersection can thus be carried out more safely.

[0053] Fig. 1B is a block diagram of a vehicle control device equipped with a domain control unit (DCU) according to an embodiment of the disclosure.

[0054] The driving control device 100 the vehicle's image sensor 110 , which is positioned in the host vehicle so that it has a view of the area in front of the host vehicle, and which is equipped to capture the image data, the radar 120 , which is arranged in the host vehicle in such a way that it has a detection range outside the host vehicle, and which is configured to collect the detection data in order to detect objects in the environment, the communication device 130 , which is in wireless communication with at least one communication device outside the host vehicle, and a Domain Control Unit (DCU) 141 , which is designed to detect the image sensor 110 captured image data and the data from the radar120 to process the collected data and to control at least one driver assistance system provided in the vehicle.

[0055] The image sensor 110 , the radar 120 , the communication facility 130 and the sensor 150 the configuration of the driving control device 100 of the vehicle as depicted in Fig. 1B can be essentially the same as in the above description of Fig. 1A, with the exception of the content to which this does not apply, and a detailed description of it is omitted to avoid overlapping descriptions.

[0056] The DCU 141 can affect the operation of the driving control device 100 control the vehicle as a whole. The DCU 141can receive image data acquired by at least one image sensor and receive acquisition data acquired by a sensor that is not an image sensor and that has at least one radar sensor 120 , includes a rider or an ultrasonic sensor to process the image data and / or the acquisition data. The DCU 141 can include at least one processor for processing.

[0057] The DCU 141 The vehicle may be equipped to communicate with at least one image sensor and at least one non-image sensor mounted in the vehicle. For this purpose, it may also include a suitable data link or communication path, such as a vehicle network bus for data transmission or signal transmission.

[0058] The DCU 141It can operate in such a way as to control one or more of the various driver assistance systems (DAS) used in the vehicle. The DCU 141 Based on the data collected by the multiple non-image sensors and the image data collected by the image sensor, it can control a driver assistance system (DAS), such as a blind spot detection system (BSD), an adaptive cruise control system (ACC), a lane departure warning system (LDWS), an active lane keeping assistance system (LKAS), and a lane change assistance system (LCAS).

[0059] The DCU 141Based on image data processing, it can derive status information for a traffic light from an image if the right-turn action at the intersection is recorded, at least in part, based on the processing of the image data and the data acquisition data. The DCU 141 can be based on the status information of the traffic light, the information about another vehicle in the left lane, which is shown by the radar 120 has been recorded, and the status information of the pedestrian crossing traffic light, which is transmitted via the communication device 130 to be received, control the host vehicle so that it turns right after it has stopped or slowed down to a predetermined speed.

[0060] The DCU 141 It can determine whether the right turn at the intersection is detected. The DCU 141 The image can be obtained by processing the image data from the image sensor. 110have been recorded. The DCU 141 The DCU can determine from the acquired image whether the lane in which the host vehicle is traveling is the right-turn lane. If the lane in which the host vehicle is traveling is the right-turn lane, the DCU can 141 Determine that the right turn maneuver is in progress when a right turn signal is activated on the host vehicle.

[0061] If the right turn action is detected, the DCU can 141 The status information of the traffic light is obtained based on the image of the field of view captured by the image sensor. 110 won. The DCU 141 The illumination state of the traffic light contained in the image can be identified through image processing of the acquired image. If the illumination state of the traffic light can be extracted from the image captured by the image sensor 110The image processing method is not limited to a specific method.

[0062] If the right turn action is detected, the DCU can 141 in addition, information about another vehicle positioned in the left lane is obtained through the radar. 120 win. The information about the other vehicle can include information about its length, height, or position. The DCU 141 can query and receive information about a front image obtained from another vehicle, or about the pedestrian included in the front image, via V2V communication with another vehicle.

[0063] If the right turn action is detected, the DCU can 141The DCU receives the illumination status of the pedestrian crossing traffic light via V2X communication from the pedestrian crossing traffic light installed at the crossing, which was in effect before the vehicle entered the intersection. Alternatively, the DCU can 141 The light state of the pedestrian crossing traffic light is received from the pedestrian crossing traffic light installed at the crossing, which appears when the right turn is carried out.

[0064] The DCU 141 Based on the status information from the traffic light, information about another vehicle, and the status information from the pedestrian crossing signal, the DCU can control the host vehicle to turn right after it has stopped or slowed to a predetermined speed. For this purpose, the DCU can 141send a signal to control at least one of the electronic control units of an internal combustion engine, an electronic brake control unit or an electronic steering wheel control unit.

[0065] That means the DCU 141 The electronic control unit of the internal combustion engine management system, which includes the combustion engine control unit for adjusting fuel injection according to the combustion engine condition and driving conditions, and the transmission control unit for automatic transmission control, can control the vehicle's speed. Furthermore, the DCU can 141 The electronic brake control unit, which adjusts the braking force of the hydraulic cylinder used in the hydraulic brake device or the brake motor used in the electronic brake device, controls the braking distance of the vehicle.

[0066] By controlling the driving of the host vehicle when turning right according to the status information of the vehicle traffic light, the information about another vehicle and the status information of the pedestrian crossing traffic light, the right turn at the intersection can thus be carried out more safely.

[0067] The following is a detailed description of the operation of the vehicle control device. 100 The vehicle's status is described according to the status information of the vehicle traffic light, the information about another vehicle, and the status information of the pedestrian crossing traffic light, with reference to the associated drawings. Even if the following description refers to the control system... 140 It refers to, but is not limited to, the operation of the control system. 140 can essentially be done in the DCU 141 This may be carried out as long as it does not present a contradiction.

[0068] Fig. 2 to Fig. 6 are views that describe the control of a right turn according to the states of a vehicle traffic light, a pedestrian crossing traffic light and another vehicle in an intersection according to embodiments of the disclosure.

[0069] In Fig. Figure 2 shows a situation at intersection c where a host vehicle 1 another vehicle is driving in the right-turn lane. 2 can be in the lane to the left of the host vehicle 1 be positioned. It is assumed that the illumination state of a traffic light for vehicles 3 , which represents a traffic light for vehicles, indicating the driving of the host vehicle 1 As far as the traffic light for vehicles is concerned, it is green (shown as a dashed line; the same applies to the following drawings). 3 When the pedestrian crossing lights turn green, they become 4 and 5 , which correspond to a pedestrian crossing w1are set up and appear before the intersection c When the vehicle is driven in, it switches to red (shown in black; the same applies to the following drawings).

[0070] The control 140 can detect the lane in the front image, which is captured by the image sensor 110 The system detects and determines whether a vehicle is traveling in the right-turn lane. The lane detection procedure in the image is not limited to this specific procedure, as long as lane detection is possible. The operation to determine whether it is the right-turn lane can be initiated when approaching intersection c to the specified distance. According to an example, the control system can... 140 based on map information stored in a separate memory, or navigation information received via the communication device 130to be received, determine whether the host vehicle 1 approaches intersection c to the specified distance.

[0071] If the host vehicle 1 As the vehicle approaches intersection c along the right-turn lane to the specified distance, the control system can... 140 Determine if the right turn signal is activated. If the right turn signal is activated, the control unit can... 140 determine that the right turn has been recorded.

[0072] The control 140 can the front image, which is captured by the image sensor 110 The data is obtained and processed to provide information about the illumination status of the traffic light. 3 to be won. If the illumination state of the traffic light for vehicles is 3 The image can be confirmed to show that the image processing method is not limited to that specific method.

[0073] If the traffic light identified in the image3 When the light is green, vehicles traveling straight ahead in the left lane continue straight ahead, and the pedestrian crossing lights 4 and 5 the pedestrian crossing w1 The lights are red before entering the intersection. Therefore, the host vehicle can 1 Drive in such a way that it turns right.

[0074] According to an example, the control 140 , when the traffic light for vehicles 3 The host vehicle is green. 1 Control it so that it decelerates to a predetermined speed and turns right. For example, the predetermined speed can be set to 30 km / h to allow the driver to react to an unforeseen situation. However, this is just one example, and the revelation is not limited to it. If necessary, the predetermined speed can be set differently. If the current speed of the host vehicle 1If the speed is slower than the specified speed, the control system may malfunction. 140 perform a control maneuver to maintain the current speed.

[0075] The control 140 can be based on the image taken by the image sensor 110 The system is designed to recognize whether the pedestrian is on the pedestrian crossing. w1 is recorded even though the traffic light for vehicles 3 The light will turn green. This is intended to prevent accidents caused by pedestrians attempting to cross illegally despite the pedestrian crossing's traffic light being green. w1 It lights up red. If the pedestrian is detected, the control system can... 140 to perform a control maneuver to wait for the pedestrian while he walks on the roadway.

[0076] If the host vehicle 1 turns right while the traffic light for vehicles is 3 When the switch turns green, the control 140also recognize whether a pedestrian p on a transition w2 is recorded as shown in Fig. 3. This is intended to prevent accidents caused by pedestrians when the traffic light at the pedestrian crossing is not working. w2 is green or the pedestrian is attempting an unauthorized crossing when the traffic light of the pedestrian crossing is green w2 red. If the pedestrian is detected, the control system can... 140 to perform a control maneuver to wait for the pedestrian while he walks on the roadway.

[0077] According to another example, the control 140 the lighting status of the pedestrian crossing traffic light 7 in the front view, when the host vehicle 1 turns right while the traffic light for vehicles is 3 is switched to green. Alternatively, the control can 140 Light status information from the pedestrian crossing traffic lights 6 and 7, which are at the pedestrian crossing w2 are arranged via the communication facility 130 received. When the light state of the pedestrian crossing traffic lights 6 and 7 If it's green, the control 140 so that pausing and controlling are possible, such that a stop mode is maintained or interrupted depending on whether the pedestrian p is recorded.

[0078] In Fig. Figure 4 shows a situation at intersection c where a host vehicle 1 another vehicle is driving in the right-turn lane. 2 can be in the lane to the left of the host vehicle 1 be positioned differently. Fig. 2. It is assumed that the illumination state of the traffic light for vehicles is 3 is red. According to an example, this can also be the case if the traffic light is red. 3 The following description applies equally to yellow.

[0079] If the host vehicle 1 As the system approaches intersection c to the specified distance, the control can 140 Determine whether the right turn is being detected. If the right turn is detected, the control system can... 140 the front image, which is taken by the image sensor 110 The data is obtained and processed to provide information about the illumination status of the traffic light. 3 to win. When the light state of the traffic light is 3 The image can be confirmed to show that the image processing method is not limited to that specific method.

[0080] When the traffic light for vehicles 3 The vehicle identified in the image, whether red or yellow, can be used as a traffic light. 3 for the road that intersects the road on which the host vehicle is 1 When the traffic light turns green, it will turn green. 3 The pedestrian crossing traffic lights can be red or yellow.4 and 5 the pedestrian crossing w1 The light must be green or red before entering intersection c.

[0081] The control 140 can the host vehicle 1 control it so that it stops when the traffic light changes. 3 red or yellow. The control 140 can detect a stop line in the front view and perform a control to stop before the stop line.

[0082] When the traffic light for vehicles 3 When switched to red or yellow, the control 140 Light status information from the pedestrian crossing traffic lights 4 and 5 , which are at the pedestrian crossing w1 are arranged to proceed via the communication device before entering the intersection 130 received. When the light state of the pedestrian crossing traffic lights 4 and 5 If it's green, the control 140perform a control to restore the stopped state of the host vehicle 1 to maintain until the pedestrian crossing traffic lights are illuminated 4 and 5 red.

[0083] In Fig. 5 will be the illumination status of the pedestrian crossing traffic lights 4 and 5 Changed to red. When the pedestrian crossing traffic lights change their illumination state. 4 and 5 When changed to red, the control 140 Information about changes in the lighting status of at least one of the pedestrian crossing traffic lights 4 and 5 received.

[0084] The control 140 can be based on the image taken by the image sensor 110 is won, recognize whether the pedestrian p on the pedestrian crossing w1 The system is recorded. This is intended to prevent accidents caused by pedestrians attempting to cross illegally despite the pedestrian crossing's traffic light.w1 It lights up red. If the pedestrian is detected, the control system can... 140 perform a control to the pedestrian p to wait while he walks on the road.

[0085] If there is no pedestrian p The control system can be activated when detected. 140 the host vehicle 1 Control the vehicle so that it turns right at the specified speed. For example, the specified speed can be set to 30 km / h to allow the driver time to react to an unforeseen situation. However, this is only one example, and the disclosure is not limited to it. If necessary, the specified speed can be adjusted.

[0086] If the host vehicle 1 turning right, the steering 140 recognize whether the pedestrian p on the transition w2 is recorded as shown in Fig. 3. This is intended to prevent accidents caused by pedestrians attempting to cross illegally despite the pedestrian crossing traffic light being on. w2 It lights up red. If the pedestrian is detected, the control system can... 140 perform a control to the pedestrian p to wait while he walks on the road.

[0087] According to another example, the control 140 the lighting status of the pedestrian crossing traffic light 7 in the front view, when the host vehicle 1 turns right. Alternatively, the steering can be adjusted. 140 Light status information from the pedestrian crossing traffic lights 6 and 7 , which are at the pedestrian crossing w2 are arranged via the communication facility 130 received. When the light state of the pedestrian crossing traffic lights 6 and 7 If it's green, the control 140so that pausing and controlling are possible, such that a stop mode is maintained or interrupted depending on whether the pedestrian p is recorded.

[0088] When the traffic light for vehicles 3 red or yellow, as in Fig. 6 shown, another vehicle 2 on the left lane closer to the pedestrian crossing w1 stopped as the host vehicle 1 In this case, the left side of the front image, which is captured by the image sensor, can be used. 110 of the host vehicle 1 won, in a state where it is from another vehicle 2 is obscured. Therefore, it is possible that the pedestrian p in the front image, which is from the host vehicle 1 won, does not appear.

[0089] The control 140 can be done using information about another vehicle 2 , which is detected by radar 120Determine whether a section of the front image is captured by another vehicle. 2 is concealed. The control 140 can be done using information such as the position and size of another vehicle 2 determine whether another vehicle 2 within the field of view of the image sensor 110 with regard to the host vehicle 1 is located. Alternatively, the control can be 140 By performing image processing on the front image, detect whether another vehicle is present. 2 is located in a left-hand area.

[0090] According to an example, the control 140 determine whether V2V communication with another vehicle is possible 2 is possible if the pedestrian p is not captured, while the left area in the front image is covered by another vehicle. 2 is concealed. The control 140 can be accessed via the communication device 130V2V communication from the other vehicle 2 request.

[0091] According to an example, the control 140 , if from the other vehicle 2 If no response is received to the request, or if V2V communication is not possible, the host vehicle 1 The vehicle is steered to turn right at the specified speed while issuing a warning of a pedestrian approaching from the left. The driving control device 100The vehicle may also have an output device comprising at least one display, one loudspeaker, and one haptic module. The output device may provide a visual warning via the display, an audible warning via the loudspeaker, or a tactile warning via the haptic module to indicate that a pedestrian may appear from the left. This allows the driver to steer the vehicle to the right at the prescribed speed while preparing for the possibility of the pedestrian suddenly appearing on the left.

[0092] According to an example, the control 140 , if there is a response to the V2V communication from the other vehicle 2 This includes front image information from a front camera of another vehicle. 2 won, retrieved. Alternatively, the control can be used. 140Retrieve information about whether the pedestrian in the front view was hit by another vehicle. 2 is recorded.

[0093] If there is no pedestrian in the front view of another vehicle 2 The control system can be activated when detected. 140 the host vehicle 1 Control the vehicle so that it turns right at the specified speed. If the pedestrian is in the front view of another vehicle... 2 The control system can be activated when detected. 140 perform a control to maintain the stopped state until the pedestrian p the route of the host vehicle 1 has crossed.

[0094] By controlling the driving of the host vehicle 1 when turning right according to the status information of the traffic light 3 , the information about another vehicle 2 and the status information of the pedestrian crossing traffic lights 6 and 7This makes right turns at the intersection safer.

[0095] Fig. Figure 7 is a block diagram of a vehicle control system according to embodiments of the disclosure.

[0096] As in Fig. As shown in 7, a driving control system can be used. 10 of the vehicle: the vehicle control device 100 of the vehicle, including an infrastructure device 200 , which includes the traffic light for vehicles and the traffic light for pedestrians, a camera 110 , which is designed to capture the front image of the host vehicle, the radar 120 , which is designed to detect the object in the vicinity of the host vehicle, the communication device 130 , which is connected to the communication device that is in the infrastructure device 200 is provided, is in wireless communication, and the control 140 The control 140It can extract the status information of the traffic light from the image when the right-turn action at the intersection is detected, and can use the status information of the traffic light, the information about another vehicle in the left lane, which is detected by the radar, to determine the status of the traffic light. 120 has been recorded, and the status information of the pedestrian crossing traffic light, which is provided by the infrastructure device 200 to be received, control the host vehicle so that it turns right after it has stopped or slowed down to a predetermined speed.

[0097] Since the driving control device 100 the vehicle's contents are essentially the same as those described with reference to Fig. 1. A detailed description is omitted to avoid duplication. For example, the camera... 110as a single module that includes the image sensor and the processor described above.

[0098] The infrastructure device 200 The infrastructure can include various devices installed in the vicinity of the intersection to provide information about the traffic signal or pedestrian signal at the intersection and information about vehicle movement via the communication device on the vehicle. For example, the vehicle traffic light and the pedestrian crossing signal were described above, but these are not the only possibilities. If the host vehicle is equipped with a device capable of transmitting relevant information, the infrastructure device can 200 This includes street signs, street lamps, and various other information provision devices.

[0099] Furthermore, the infrastructure device 200The server is connected via a network to the information delivery device installed near the intersection. For example, if information relating to the host vehicle can be provided, such as by a server or traffic management system, a navigation information delivery server, or the like, then the server is the infrastructure device. 200 not limited to a specific server.

[0100] As described above, the control 140 , which are in the driving control device 100 the vehicle's right turn at the intersection based on information received from the communication device 130 from the infrastructure device 200 , such as the pedestrian crossing traffic light, in addition to the various pieces of information received by the camera 110 , the radar 120 and the sensor 150to be won, to control.

[0101] The right turn of the host vehicle is performed using information from the infrastructure device. 200 , such as the traffic light for vehicles or pedestrian crossings, in addition to the information obtained from the host vehicle, are controlled so that right turns at the intersection can be carried out more safely and reliably.

[0102] A vehicle driving control method according to the disclosure can be implemented in the driving control device described above. 100 of the vehicle. The following describes the vehicle's driving control procedure and the operation of the driving control device. 100 The vehicle's implementation is described in detail with reference to the accompanying drawings.

[0103] Fig. Figure 8 is a flowchart representing a vehicle control procedure according to embodiments of the disclosure.

[0104] As in Fig. As shown in section 8, the driving control device 100 the vehicle's right turn action at the intersection ( S110 ).

[0105] The control 140 the driving control device 100 The vehicle's system can determine whether the right turn at the intersection is detected. 140 can be extracted from the image taken by the camera 110 The system detects whether the lane the host vehicle is traveling in is the right-turn lane. If the lane the host vehicle is traveling in is the right-turn lane, the control system can... 140 Determine that the right turn maneuver is in progress when a right turn signal is activated on the host vehicle.

[0106] The driving control device 100The vehicle can obtain the status information of the traffic light from the front image of the host vehicle ( S120 ).

[0107] If the right turn is detected, the steering can 140 the driving control device 100 The vehicle obtains the status information of the traffic light based on the image of the field of view captured by the image sensor. 110 won. The control 140 can identify the illumination state of the traffic light contained in the image by processing the acquired image.

[0108] The driving control device 100 The vehicle can receive information about another vehicle in the left lane, which is provided by the radar. 120 be captured, win ( S130 ).

[0109] If the right turn is detected, the steering can 140 the driving control device 100The vehicle receives information about another vehicle positioned in the left lane via radar. 120 win. The information about the other vehicle can include information about the length, height, or position of another vehicle.

[0110] The driving control device 100 The vehicle can obtain the status information of the vehicle traffic light from the communication device outside the host vehicle ( S140 ).

[0111] If the right turn is detected, the steering can 140 the driving control device 100 The vehicle can receive the illumination status of the pedestrian crossing traffic lights from the pedestrian crossing traffic lights installed at the pedestrian crossing via V2X communication before entering the intersection. Alternatively, the control system can... 140The light state of the pedestrian crossing traffic light is received from the pedestrian crossing traffic light installed at the crossing, which appears when the right turn is carried out.

[0112] In Fig. There are 8 steps S120 until S140 They are shown sequentially, but are not limited to the order shown as an example. The steps S120 until S140 They can be performed at the same time as the right turn action is recorded, or they can be performed in reverse order.

[0113] As again in Fig. As shown in section 8, the driving control device 100 The vehicle's status information, including that of the traffic light, information about another vehicle, and the status information of the pedestrian crossing signal, allows the host vehicle to turn right after stopping or slowing down to a predetermined speed.S150 ).

[0114] The control 140 the driving control device 100 The vehicle's control system can use the status information from the traffic light, information about another vehicle, and the pedestrian crossing signal to control the host vehicle so that it turns right after stopping or decelerating to a predetermined speed. For this purpose, the control system can... 140 send the signal to control at least one of an electronic control unit of an internal combustion engine, an electronic brake control unit or an electronic steering wheel control unit.

[0115] That means the control 140The electronic control unit of the internal combustion engine management system, which includes the internal combustion engine control unit for adjusting fuel injection according to the engine condition and driving conditions, and the transmission control unit for automatic transmission control, can control the vehicle's speed. Furthermore, the control system can 140 The electronic brake control unit, which adjusts the braking force of the hydraulic cylinder used in the hydraulic brake device or the brake motor used in the electronic brake device, controls the braking distance of the vehicle.

[0116] The multiple sensors 150 , which are in the driving control device 100 The vehicle's sensors can capture driving information, such as vehicle speed and steering angle, and transmit this information to the control system. 140The sensor sends 150 can detect the illumination state of the turn signal and transmit the detected state to the control unit. 140 send. However, this can, for example, involve sending information about the indicator light status from the indicator itself to the control unit. 140 include.

[0117] By controlling the driving of the host vehicle when turning right according to the status information of the vehicle traffic light, the information about another vehicle and the status information of the pedestrian crossing traffic light, the right turn at the intersection can thus be carried out more safely.

[0118] The following describes in detail the vehicle's driving control procedure according to the status information of the vehicle traffic light, the information about another vehicle and the status information of the pedestrian crossing traffic light, with reference to the associated drawings.

[0119] Fig. Figure 9 is a flowchart that presents a method for controlling a right turn when a traffic light turns green, according to embodiments of the disclosure. Fig. 10 is a flowchart that presents a method for controlling a right turn when a traffic light for vehicles turns red or yellow, according to embodiments of the disclosure, and 11 a flowchart that represents a method for controlling a right turn when an image is obscured by another vehicle positioned in a left lane, according to embodiments of the disclosure;

[0120] Fig. 9 to Fig. 11 are based on the assumption that the steps S110 until S140 , which with reference to Fig. 8 were described, and thus a repeated description is omitted, and the procedure for controlling the host vehicle for the step S150will be described in detail.

[0121] The control 140 the driving control device 100 The vehicle's camera can detect the lane from the front image, which is provided by the camera. 110 The system determines whether the vehicle is in the right-turn lane. The step to determine if it is the right-turn lane can be initiated when approaching intersection c to the specified distance.

[0122] The control 140 It can detect whether the right turn signal is activated when the host vehicle approaches the intersection along the right-turn lane to the specified distance. If the right turn signal is activated, the control system can 140 determine that the right turn has been recorded.

[0123] As in Fig. As shown in 9, the control 140The information about the illumination status of the traffic light is obtained by processing the front image captured by the camera. 110 was won, recognize ( S210 ).

[0124] If the traffic light for vehicles, as determined from the vehicle image, is green, the vehicles in the left lane will proceed straight ahead, and the pedestrian crossing traffic light will be red before entering the intersection, and therefore the host vehicle can proceed to the right.

[0125] According to an example, the control 140 , if the traffic light for vehicles is green (YES in S210), control the host vehicle to decelerate to a predetermined speed and turn right. For example, the predetermined speed can be set to 30 km / h to allow the driver to react to an unforeseen situation. However, this is only an example, and the revelation is not limited to it. If necessary, the predetermined speed can be set differently. If the host vehicle's current speed is slower than the predetermined speed, the control can 140 perform a control maneuver to maintain the current speed.

[0126] If the host vehicle turns right while the traffic light for vehicles turns green, the control 140 detect whether a pedestrian is hit on the crossing when turning right ( S220This is intended to prevent accidents caused by pedestrians when the pedestrian crossing light is green, or by pedestrians attempting an unauthorized crossing when the pedestrian crossing light is red. If the pedestrian is hit (YES in S220 ), can the control 140 to perform a control maneuver to wait for the pedestrian while he is walking in the roadway ( S230 ).

[0127] According to another example, the control 140 Detect the illumination status of the pedestrian crossing traffic light in the front view when the host vehicle turns right while the traffic light for vehicles is green. Alternatively, the control can 140 Light status information from at least one of the pedestrian crossing traffic lights located at the pedestrian crossing, via the communication device 130 received. When the pedestrian crossing lights are green, the control system can... 140so that pausing and control are maintained or interrupted depending on whether the pedestrian is detected.

[0128] Back to the step S210 - if the traffic light is red or yellow (NO in S210 ), can the control 140 the driving control device 100 the vehicle controls the host vehicle so that it stops, as in Fig. 10 is shown ( S310 The control 140 can detect a stop line in the front view and perform a control to stop before the stop line.

[0129] When the traffic light for vehicles is switched to red or yellow, the control system can... 140 Light status information from the pedestrian crossing traffic lights located at the pedestrian crossing, before entering the intersection via the communication device 130received. When the pedestrian crossing lights are green, the control system can... 140 perform a control action to maintain the stopped state of the host vehicle until the pedestrian crossing lights are red ( S330 ).

[0130] When the light state of the pedestrian crossing traffic lights changes to red (NO in S320 ), can the control 140 Then, information about the change in the lighting state of at least one of the pedestrian crossing traffic lights is received. The control system... 140 can be based on the image taken by the image sensor 110 The system is used to determine whether the pedestrian is being detected at the pedestrian crossing ( S340 This is intended to prevent accidents caused by pedestrians attempting to cross illegally when the pedestrian crossing light is red. If the pedestrian is struck, the system can be activated. 140to perform a control maneuver to wait for the pedestrian while he is walking in the roadway ( S330 ).

[0131] If no pedestrian is detected (NO in S340 ), can the control 140 determine whether the left side of the front image, which is taken by the camera 110 the host vehicle is won, is obscured by another vehicle ( S350 The control 140 can use the information about another vehicle that was detected by the radar 120 The system captures information to determine whether a portion of the front view is obscured by another vehicle. Information such as the position and size of another vehicle can be used to determine if another vehicle is within the camera's field of view. 110in relation to the host vehicle. Alternatively, the control system can use image processing on the front image to detect whether another vehicle is in the left area.

[0132] If the left area in the front view is not obscured by another vehicle (NO in S350 ), can the control 140 control the host vehicle so that it slows down to a predetermined speed and turns right ( S360 ).

[0133] If the left area in the front view is obscured by another vehicle, as in Fig. 11 is shown (YES in S350 ), can the control 140 Detect whether V2V communication with another vehicle is possible ( S410 The control 140 can be accessed via the communication device 130 Request V2V communication from another vehicle.

[0134] According to an example, the control140 , if there is no response to the request from the other vehicle or if V2V communication is not possible (NO in S410 ), control the host vehicle to turn right at the specified speed while issuing a warning regarding the pedestrian's approach from the left ( S420 , S430 The driving control device 100The vehicle may also have an output device that includes at least one display, one speaker, and one haptic module. The output device can provide a visual warning via the display, an audible warning via the speaker, or a tactile warning via the haptic module to indicate that a pedestrian may appear from the left. This allows the driver to steer the vehicle to the right at the prescribed speed while preparing for the possibility of the pedestrian suddenly appearing on the left.

[0135] If a response to the V2V communication is received from the other vehicle (YES in S410 ), can the control 140 The front image information obtained from the front camera of another vehicle can be retrieved. Alternatively, the control unit can... 140Retrieve information on whether the pedestrian in the front view is being captured by another vehicle (S440).

[0136] If no pedestrian is detected in the front view of another vehicle (NO in S450 ), can the control 140 control the host vehicle so that it turns right at the specified speed ( S430 ). If the pedestrian is captured in the front view of another vehicle (YES in S450 ), can the control 140 perform a control to maintain the stopped state until the pedestrian leaves the path of the host vehicle. 1 has crossed ( S460 ).

[0137] By controlling the driving of the host vehicle when turning right according to the status information of the vehicle traffic light, the information about another vehicle and the status information of the pedestrian crossing traffic light, the right turn at the intersection can thus be carried out more safely.

[0138] The disclosure described above can be embodied as computer-readable code on a medium on which a program is recorded. Computer-readable medium includes all types of recording devices in which data that can be read by a computer is stored. Examples of computer-readable media include hard disk drives (HDDs), solid-state drives (SSDs), silicon disk drives (SDDs), ROMs, RAMs, CD-ROMs, magnetic tapes, floppy disks, optical data storage devices, and the like, and also include those implemented in the form of a carrier wave (for example, a transmission over the internet).

[0139] According to one aspect of the disclosure, it is possible, as described above, to provide the vehicle's driving control device capable of safely performing a right turn at an intersection by controlling the driving of the host vehicle during a right turn according to status information from a vehicle traffic light, information about another vehicle, and status information from a pedestrian crossing signal, and a method and system for doing so.

[0140] The above description and accompanying drawings serve only to illustrate the technical concept of the disclosure, and a person skilled in the art in the field to which the disclosure relates will be able to make various modifications and variations, such as combining, separating, substituting, and changing configurations, without deviating from the essential features of the disclosure. Accordingly, the disclosed embodiments are not intended to limit the technical concept of the disclosure but rather to describe its scope. That is to say, within the scope of the disclosure, all components can be operated in a selective combination with one or more others. The scope of protection of the disclosure should be derived from the following claims, and all technical ideas within the scope of their equivalents are to be considered as included within the scope of the present disclosure. QUOTES INCLUDED IN THE DESCRIPTION

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

[0000] KR 1020180120075

[0001]

Claims

[1] Device for assisting the driving of a vehicle (1), comprising: an image sensor (110) arranged in the vehicle (1) such that it has a field of view in front of the vehicle (1) and is designed to record image data; a radar (120) arranged in the vehicle such that it has a detection range outside the vehicle (1) and is configured to collect detection data in order to detect an object in the vicinity of the vehicle (1); and a controller (140) comprising at least one processor (115) configured to process the image data acquired by the image data sensor (110) and the acquisition data acquired by the radar (120), where the control (140) is set up for: Obtaining status information from a traffic light (3) based on the processing of image data in response to a right-turn action detected at an intersection; and Control of the vehicle (1) so that it turns right after it has stopped or slowed down to a predetermined speed, based on the status information of the vehicle traffic light (3), information about another vehicle (2) in a left lane, which is detected based on the processing of the acquisition data, and status information of a pedestrian crossing traffic light (4) obtained from an external device. [2] Device according to claim 1, wherein the control (140) is configured to detect the right turn action in response to the fact that a lane in which the vehicle (1) is driving and which is detected on the basis of the processing of the image data is a right turn lane and a right turn signal of the vehicle (1) is switched on. [3] Device according to claim 1 or 2, wherein the control (140) is configured to control the vehicle (1) in response to the fact that the traffic light (3) is green, so that it decelerates to the specified speed and turns right. [4] Device according to one of claims 1 to 3, wherein the control (140) is configured to control the vehicle (1) in such a way that it stops when turning right, in response to the fact that a pedestrian (p) is detected based on the processing of the image data. [5] Device according to any one of claims 1 to 4, wherein the control (140) is configured to control the vehicle (1) in response to the fact that the vehicle traffic light (3) is red or yellow, so that it stops. [6] Device according to one of claims 1 to 5, wherein the control (140) is configured to control the vehicle (1) in such a way that it maintains a stopped state in response to the fact that the pedestrian crossing traffic light (4) of a pedestrian crossing, which is positioned before entering the intersection (c), turns green. [7] Device according to any one of claims 1 to 6, wherein the control (140) is configured to: Controlling a vehicle (1) to maintain a stopped state in response to the detection, based on the processing of image data, of a pedestrian (p) when the pedestrian crossing signal (4) of a pedestrian crossing positioned before entering the intersection (c) is red; and Steering the vehicle so that it turns right at the specified speed in response to the fact that the pedestrian (p) is not hit. [8] Device according to any one of claims 1 to 7, wherein the control (140) is configured to control the vehicle (1) in response to the fact that a pedestrian (p) is not detected while a left area of ​​an image corresponding to the image data is obscured by the other vehicle (2), to turn at the specified speed while issuing a warning regarding the appearance of the pedestrian (p) from the left side. [9] Device according to any one of claims 1 to 8, wherein the control (140) is configured to receive information from the other vehicle (2) as to whether the pedestrian (p) is detected in a front image of the other vehicle (2), in response to the fact that a left area of ​​an image corresponding to the image data is obscured by the other vehicle (2). [10] Method for assisting the driving of a vehicle (1), comprising: Acquisition of image data by a camera which is arranged in the vehicle (1) in such a way that it has a field of view outside the vehicle (1), Acquisition of detection data by a radar (120) arranged in the vehicle (1) such that it has a detection field outside the vehicle (1), Capturing a right turn at an intersection (c); Obtaining status information from a traffic light (3) based on processing the image data; Obtaining information about another vehicle (2) in a left lane based on processing the captured data; Receiving status information from a vehicle traffic light (4) from a communication device outside the vehicle (1); and Steering the vehicle in such a way that it turns right after it has stopped or slowed down to a predetermined speed, based on the status information of the vehicle traffic light (3), the information about the other vehicle (2) and the status information of the pedestrian crossing traffic light (4). [11] Method according to claim 10, wherein the detection of the right turn action at the intersection comprises (c): Detecting the right turn action in response to the fact that a lane in which the vehicle (1) is traveling and which is detected based on the processing of the image data is a right turn lane, and a right turn signal of the vehicle (1) is activated. [12] Method according to claim 10 or 11, comprising controlling the vehicle: Steering the vehicle (1) so that it slows down to the specified speed and turns right in response to the fact that the traffic light (3) is green. [13] Method according to claim 12, comprising controlling the vehicle (1): Steering the vehicle (1) in such a way that it stops when turning right, in response to the detection of a pedestrian (p) based on the processing of the image data. [14] Method according to any one of claims 10 to 13, comprising controlling the vehicle (1): Steering the vehicle (1) in such a way that it stops in response to the fact that the vehicle traffic light (3) is red or yellow. [15] Method according to any one of claims 10 to 14, comprising controlling the vehicle (1): Controlling the vehicle in such a way that it maintains a stopped state in response to the pedestrian crossing signal (4) of a pedestrian crossing positioned before entering the intersection (c) turning green. [16] Method according to any one of claims 10 to 14, comprising controlling the vehicle (1): Controlling the vehicle (1) to maintain a stopped state in response to the detection, based on the processing of the image data, of a pedestrian (p) when the pedestrian crossing signal (4) of a pedestrian crossing positioned before entering the intersection (c) is red; and Steering the vehicle (1) so that it turns right at the specified speed in response to the fact that the pedestrian (p) is not hit. [17] Method according to claim 16, comprising controlling the vehicle (1): Controlling the vehicle (1) in such a way that it turns at the specified speed while issuing a warning regarding the appearance of the pedestrian (p) from a left-hand side, in response to the fact that the pedestrian (p) is not detected while a left-hand portion of an image corresponding to the image data is obscured by the other vehicle (2). [18] Method according to any one of claims 10 to 17, further comprising: Receiving information about whether the pedestrian (p) is captured in a front image of the other vehicle (2) from the other vehicle (2) in response to the other vehicle (2) obscuring a left portion of an image corresponding to the image data. [19] Device for assisting the driving of a vehicle (1), comprising: an image sensor (110) arranged in the vehicle such that it has a field of view in front of the vehicle (1) and is designed to record image data; a radar (120) arranged in the vehicle such that it has a detection range outside the vehicle (1) and is configured to collect detection data in order to detect an object in the vicinity of the vehicle; and a domain control unit (DCU) (141) configured to process the image data acquired by the image sensor (110) and the detection data acquired by the radar (120) and to control at least one driver assistance system provided in the vehicle (1), where the DCU (141) is configured for: Obtaining status information from a traffic light (3) based on the processing of image data in response to a right-turn action detected at an intersection (c); based on the image data and / or the detection data; and Control of the vehicle (1) so that it turns right after it has stopped or slowed down to a predetermined speed, based on the status information of the vehicle traffic light (3), information about another vehicle (2) in a left lane detected by the radar (120), and status information of a pedestrian crossing traffic light (4) obtained from an external device. [20] Device according to claim 19, wherein the DCU (141) is configured to control the vehicle (1) in response to the fact that the traffic light (3) is green, so that it decelerates to the specified speed and turns right.

Images