Lane keeping control device, vehicle system including same, and control method thereof

Abstract

To provide a controller for lane keeping that determines a direction of a driver's steering and its torque value and can support the driver's intended driving mode, a vehicle system including the same, and a method therefor.SOLUTION: A controller for lane keeping includes a processor that supports a deviated driving mode by determining a driver's intention based on a steering direction of the driver and a steering torque value of the driver during lane-keeping control; and a storage that stores data and algorithms for driving by the processor.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to a lane keeping control device, a vehicle system including the same, and a method thereof, and more particularly to a technology capable of supporting a deflection driving mode while reflecting the driver's intention during lane keeping control. [Background technology]

[0002] When controlling LFA (Lane Following Assist), a target gaze distance proportional to the vehicle speed is set on the target route, and the target turning radius to reach that point is calculated and followed.

[0003] Conventional lane keeping control technology controls distance maintenance by utilizing the degree of offset of the target gaze distance from the target route, and since it controls by following only the center of the road without taking into account the characteristics of the road or the driver, the driver's intentions are often ignored. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent Publication No. 2021-98401 Summary of the Invention [Problem to be solved by the invention]

[0005] An embodiment of the present invention aims to provide a lane keeping control device that can determine the steering direction and torque value of a driver and support the driver's intended deflection driving mode, a vehicle system including the same, and a method thereof. The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned can be clearly understood by those skilled in the art from the following description. [Means for solving the problem]

[0006] A lane keeping control device according to one embodiment of the present invention may include a processor that determines the driver's intention based on the driver's steering direction and the driver's steering torque value during lane keeping control and supports a deflection driving mode, and a storage unit in which data and algorithms driven by the processor are stored.

[0007] In one embodiment, the processor is capable of determining whether the road is a straight road.

[0008] In one embodiment, the processor can determine whether the driver's intent to veer is sustained.

[0009] In one embodiment, the processor can calculate an offset, which is the distance between the vehicle and a target route set in the center of the road on which the vehicle is traveling, if the driver's intention to deflect is persistent.

[0010] In one embodiment, the processor may proceed to the bias run mode if the offset is within a predetermined range.

[0011] In one embodiment, the processor may determine if the driver's steering torque is greater than a predetermined threshold when entering the bias driving mode.

[0012] In one embodiment, the processor may maintain a target path set in the center of a road on which the host vehicle is traveling when the driver's steering torque is equal to or less than the predetermined threshold.

[0013] In one embodiment, the processor may calculate a difference between the driver's steering torque and the predetermined threshold value when the driver's steering torque is greater than the predetermined threshold value.

[0014] In one embodiment, the processor can calculate a target route offset for correcting the target route using the difference between the driver's steering torque and the threshold, the time the driver maintains steering, and the difference between the target route and the vehicle's current position.

[0015] In one embodiment, the processor can calculate a target route offset for correcting the target route by multiplying the difference between the driver's steering torque and the threshold value by the time the driver maintains steering, and dividing the result by the product of the threshold value and the difference between the target route and the current position of the vehicle.

[0016] In one embodiment, the processor may modify the target path by moving it to the left or right by the target path offset.

[0017] In one embodiment, the processor can determine whether a vehicle is present in the left or right lane ahead within a predetermined distance when the vehicle is traveling within a roadway and on a straight road.

[0018] In one embodiment, the processor can determine that the driver's intent to veer is persistent if there is no vehicle in the left or right lane within a predetermined distance ahead.

[0019] In one embodiment, when a vehicle is present in the left or right lane within a predetermined distance ahead, the processor can compare the speed of the vehicle closest to the vehicle among the vehicles present in the left or right lane within a predetermined distance ahead.

[0020] In one embodiment, the processor may determine that the driver's intent to veer is persistent if the speed of the vehicle closest to the host vehicle is greater than the speed of the host vehicle.

[0021] In one embodiment, the processor can determine whether the vehicle closest to the host vehicle is veering into the host vehicle's lane if the speed of the vehicle closest to the host vehicle is less than or equal to the speed of the host vehicle.

[0022] In one embodiment, the processor can determine that the driver's intention to veering is temporary if the vehicle closest to the host vehicle is veering into the host vehicle's lane, and can determine that the driver's intention to veering is persistent if the vehicle closest to the host vehicle is not veering into the host vehicle's lane.

[0023] In one embodiment, when the host vehicle is deflecting to overtake a vehicle ahead or a vehicle in the left or right lane that is traveling closest to the host vehicle, the processor may determine that the driver's intention to deflect is temporary and may not support the deflection driving mode.

[0024] A vehicle system according to one embodiment of the present invention may include a sensing device that detects lane information and information about a preceding vehicle, and a lane keeping control device that, during lane keeping control, determines the intention of the preceding driver based on the driver's steering direction and the steering torque value of the preceding driver based on the detection results of the sensing device, and supports a deflection driving mode.

[0025] A lane keeping control method according to one embodiment of the present invention may include a step of detecting lane information and forward vehicle information, and a step of determining the driver's intention based on the lane information, the forward vehicle information, the driver's steering direction, and the driver's steering torque value during lane keeping control, and supporting a deflection driving mode. [Effects of the Invention]

[0026] This technology determines the steering direction and torque value of the driver and supports the driver's intended deflection driving mode, thereby minimizing unnecessary driver steering intervention.

[0027] In addition, various other effects may be provided that can be directly or indirectly grasped from this document. [Brief explanation of the drawings]

[0028] [Figure 1] 1 is a block diagram showing the configuration of a vehicle system including a lane keeping control device according to an embodiment of the present invention; [Figure 2] 10 is an example screen for explaining whether or not a driver's intention is persistent according to an embodiment of the present invention. [Figure 3a] FIG. 10 shows an example screen for changing the target route to the left in accordance with one embodiment of the present invention. [Figure 3b] FIG. 10 shows an example screen for changing the target route to the left in accordance with one embodiment of the present invention. [Figure 4a] FIG. 10 shows an example screen for changing the target route to the right in accordance with one embodiment of the present invention. [Figure 4b] FIG. 10 shows an example screen for changing the target route to the right in accordance with one embodiment of the present invention. [Figure 5] 4 is a flowchart showing a process of lane keeping control according to an embodiment of the present invention. [Figure 6a] FIG. 10 is a diagram showing an example screen at the time of driver override according to one embodiment of the present invention. [Figure 6b] 10 is a graph showing torque values during driver override according to an embodiment of the present invention. [Figure 7a] 10A and 10B are diagrams illustrating an example screen in a case where a target route has been corrected but the target route and the driver's intended route differ from each other, according to an embodiment of the present invention. [Figure 7b] 10 is a graph showing torque values when the target route is corrected but the target route and the driver's intended route are different from each other, according to an embodiment of the present invention; [Figure 8a] FIG. 10 is a diagram showing an example screen when the target route and the driver's intended route coincide with each other as a result of the target route correction according to one embodiment of the present invention. [Figure 8b]10 is a graph showing torque values when the target route and the driver's intended route are matched by correcting the target route according to an embodiment of the present invention. [Figure 9] 2 is a flowchart illustrating a lane keeping control method according to an embodiment of the present invention. [Figure 10] 4 is a flowchart illustrating a method for determining whether a driver's intention to veer into a direction is persistent, according to an embodiment of the present invention; [Figure 11] FIG. 1 illustrates a computer system according to one embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0029] Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. When assigning reference numerals to components in each drawing, it should be noted that the same components are assigned the same numerals as much as possible even when they appear in different drawings. Furthermore, when describing embodiments of the present invention, if a detailed description of related known structures or functions is deemed to hinder understanding of the embodiments of the present invention, the detailed description will be omitted.

[0030] When describing components of embodiments of the present invention, terms such as "first," "second," "A," "B," "(a)," and "(b)" may be used. These terms are merely used to distinguish the component from other components and do not limit the nature, order, or sequence of the components. Furthermore, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person of ordinary skill in the art to which the present invention pertains. Terms defined in commonly used dictionaries should be interpreted to have a meaning consistent with the meaning given in the context of the relevant art, and should not be interpreted in an idealized or overly formal sense unless expressly defined in this application.

[0031] Hereinafter, an embodiment of the present invention will be described in detail with reference to FIGS.

[0032] FIG. 1 is a block diagram showing the configuration of a vehicle system including a lane keeping control device 100 according to one embodiment of the present invention.

[0033] Referring to FIG. 1, a vehicle system according to one embodiment of the present invention may include a lane keeping control device 100, a sensing device 200, a steering control device 300, a braking control device 400, and an engine control device 500.

[0034] The lane keeping control device 100 according to an embodiment of the present invention may be implemented inside a vehicle. In this case, the lane keeping control device 100 may be integrated with an internal control unit of the vehicle, or may be implemented as a separate device and connected to the vehicle control unit via a separate connection means.

[0035] The lane keeping control device 100 can determine the driver's intention based on the driver's steering direction and the driver's steering torque value during lane keeping control and can support a deflection driving mode. The lane keeping control device 100 of the present invention can be applied to an LFA (Lane Following Assist) system.

[0036] Referring to FIG. 1, the lane keeping control device 100 may include a communication unit 110 , a storage unit 120 , a display unit 130 , and a processor 140 .

[0037] The communication unit 110 is a hardware device implemented by various electronic circuits for transmitting and receiving signals wirelessly or via a wired connection, and can transmit and receive information to and from devices in the vehicle based on an in-vehicle network communication technology. For example, in-vehicle network communication technology may include Controller Area Network (CAN) communication, Local Interconnect Network (LIN) communication, Flex-Ray communication, etc.

[0038] The communication unit 110 can also communicate with servers, infrastructure, other vehicles, and the like outside the vehicle through a wireless Internet connection or short-range communication technology. Here, wireless communication technologies can include wireless LAN (WLAN), wireless broadband (Wibro), Wi-Fi (Wi-Fi™), and World Interoperability for Microwave Access (Wimax™). Also, short-range communication technologies can include Bluetooth (Bluetooth™), ZigBee, Ultra Wideband (UWB), Radio Frequency Identification (RFID), and Infrared Data Association (IrDA).

[0039] For example, the communication unit 110 may communicate with an in-vehicle device such as the sensing device 200 to share data. In this case, the data may include image data of the front view, the speed of an obstacle (e.g., a vehicle) ahead, its position within the roadway, etc.

[0040] The storage unit 120 may store the detection results of the sensing device 200, and data and / or algorithms required for the operation of the processor 140.

[0041] For example, the storage unit 120 may store information about an obstacle detected by the sensing device 200, such as a preceding vehicle.

[0042] The storage unit 120 may include at least one type of storage medium selected from memories such as flash memory type, hard disk type, micro type, and card type (e.g., Secure Digital Card (SD card) or eXtream Digital Card (XD card)), and random access memory (RAM), static RAM (SRAM), read-only memory (ROM), programmable ROM (PROM), electrically erasable PROM (EEPROM), magnetic RAM (MRAM), magnetic disk, and optical disk type memories.

[0043] The display unit 130 may include an input means for receiving control commands from a user and an output means for outputting the operating status and results of the device 100. Here, the input means may include key buttons, a mouse, a joystick, a jog shuttle, a stylus pen, etc. The input means may also include soft keys implemented on the display.

[0044] The display unit 130 may be realized by a head-up display (HUD), a cluster, an audio video navigation (AVN), a human machine interface (HMI), a user select menu (USM), or the like.

[0045] The output means may include a display and audio output means such as a speaker. In this case, if the display is provided with a touch sensor such as a touch film, a touch sheet, or a touch pad, the display may operate as a touch screen, and the input means and the output means may be integrated. In the present invention, the output means may display a target route, a changed target route, the start of lane keeping control, the end of lane keeping control, etc.

[0046] In this case, the display may include at least one of a liquid crystal display (LCD), a thin film transistor liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, a field emission display (FED), and a 3D display.

[0047] The processor 140 may be electrically connected to the communication unit 110, the storage unit 120, the display unit 130, etc., and may be an electrical circuit that can electrically control each component and execute software instructions, thereby performing various data processing and calculations, which will be described later.

[0048] The processor 140 can process signals transmitted between the components of the lane keeping control device 100. The processor 140 can be, for example, an ECU (Electronic Control Unit), an MCU (Micro Controller Unit), or other lower-level controller installed in the vehicle.

[0049] During lane keeping control, the processor 140 can support the deflection driving mode by determining the continuity of the driver's intention for deflection driving based on the driver's steering direction and the driver's steering torque value.

[0050] The processor 140 can determine whether the road is a straight road and whether the driver's intention to turn is sustained.

[0051] When the host vehicle is traveling within a roadway and on a straight road, the processor 140 can determine whether a vehicle is present in the left lane or the right lane ahead within a predetermined distance. When the host vehicle is traveling on a road without lanes or on a curved road, the processor 140 can not support the deflection driving mode for safety reasons.

[0052] The processor 140 may determine that the driver's intention to veer is persistent if there is no vehicle in the left or right lane ahead within a predetermined distance. In this case, the predetermined distance may be set in advance based on experimental values. In addition, if there is no vehicle in the left or right lane ahead within a predetermined distance, the processor 140 may determine that the driver temporarily desires to veer to overtake because there is no need for the host vehicle to overtake.

[0053] When a vehicle is present in the left or right lane within a predetermined distance ahead, the processor 140 can compare the speed of the vehicle closest to the vehicle among the vehicles present in the left or right lane within a predetermined distance ahead.

[0054] Processor 140 can determine that the driver's intention to veer is persistent if the speed of the vehicle closest to the host vehicle is faster than the speed of the host vehicle.

[0055] If the speed of the vehicle closest to the host vehicle is equal to or less than the speed of the host vehicle, the processor 140 can determine whether the vehicle closest to the host vehicle is veering into the host vehicle's lane.

[0056] The processor 140 may determine that the driver's intention to veer is temporary if the vehicle closest to the host vehicle is veered into the host vehicle's lane, and may determine that the driver's intention to veer is persistent if the vehicle closest to the host vehicle is not veered into the host vehicle's lane. FIG. 2 is an example screen for explaining whether the driver's intention is persistent according to an embodiment of the present invention. Referring to FIG. 2, for example, when the host vehicle 10 is traveling at 50 km / h and a vehicle 20 ahead of the host vehicle 10 on the left is traveling at 40 km / h but veered near the host vehicle 10, the lane keeping control device 100 may determine that the driver of the host vehicle 10 is temporarily intending to veer. When the vehicle 30 traveling in the right lane of the host vehicle 10 is traveling at 40 km / h, which is slower than the vehicle 10, and the vehicle 30 is not veered near the host vehicle 10, the lane keeping control device 100 may determine that the driver of the host vehicle 10 persistently intends to veer.

[0057] In this way, when the vehicle is deflecting to overtake a vehicle ahead or a vehicle in the left or right lane that is traveling closest to the vehicle, the processor 140 can determine that the driver's intention to deflect is temporary and not support the deflection mode.

[0058] When the road is straight and the driver's intention to deflect is persistent, processor 140 can calculate an offset, which is the distance between the vehicle and a target route set in the center of the road on which the vehicle is traveling. When the offset is within a predetermined range, processor 140 can proceed to the deflection mode.

[0059] When proceeding to the deflection driving mode, the processor 140 may determine whether the driver's steering torque is greater than a predetermined threshold value. In this case, the predetermined threshold value may be set in advance based on experimental values.

[0060] When the steering torque of the driver is equal to or less than a predetermined threshold, the processor 140 can maintain the target route C0 set in the center of the road on which the host vehicle is traveling.

[0061] When the driver's steering torque is greater than a predetermined threshold, the processor 140 can calculate a difference value between the driver's steering torque and the threshold (Tq-threshold).

[0062] The processor 140 can calculate a target route offset for correcting the target route using the difference between the driver's steering torque and a threshold, the time the driver maintains steering, and the difference between the target route and the vehicle's current position, as shown in the following equation (1).

[0063] [Number 1] Target path offset (TqOffset) = (Tq-threshold) * Ts(time) / threshold * (C1-C0)

[0064] As shown in the above [Equation 1], processor 140 can calculate the target route offset for correcting the target route by multiplying the difference between the driver's steering torque and the threshold value by the time the driver maintains steering, and dividing the result by the product of the threshold value and the difference between the target route and the vehicle's current position.

[0065] Processor 140 can modify the target route by moving it to the left or right by the target route offset. Figures 3a and 3b are diagrams showing example screens for changing the target route to the left according to one embodiment of the present invention, and Figures 4a and 4b are diagrams showing example screens for changing the target route to the right according to one embodiment of the present invention.

[0066] Referring to FIG. 3A, the lane keeping control device 100 initially sets the center path of the road as a target path C0 during lane keeping control. Then, when the driver intervenes in steering, i.e., when the driver attempts to turn left, the lane keeping control device 100 shifts the target path C0 to the left by M0 and sets a new target path C1. At this time, the target path C1 is not centered within the road, but is biased to the left. Referring to FIG. 3B, it can be seen that the target path C1, which has been changed as in FIG. 3A, is further shifted to the left to set a new target path C2.

[0067] Referring to FIG. 4a, the lane keeping control device 100 sets the center path of the road as a target path C0 at the beginning of lane keeping control. Then, when the driver intervenes in steering, that is, when the driver attempts to turn to the right, the lane keeping control device 100 shifts the target path C0 to the left and sets a new target path C1. At this time, the target path C1 is not the center of the road but is biased to the right. Referring to FIG. 4b, it can be seen that the target path C1, which has been changed as in FIG. 4a, is further shifted to the right and a new target path C2 is set.

[0068] The sensing device 200 may include one or more sensors that detect obstacles located around the vehicle, for example, a preceding vehicle, and measure the distance and / or relative speed to the obstacle.

[0069] The sensing device 200 may include a plurality of sensors for detecting an external object from the vehicle, and may acquire information regarding the position, speed, direction of movement, and / or type of external object (e.g., vehicle, pedestrian, bicycle, motorcycle, etc.). To this end, the sensing device 200 may include a camera, an ultrasonic sensor, a radar, a laser scanner, and / or a corner radar, a lidar, an acceleration sensor, a yaw rate sensor, a torque measurement sensor, and / or a wheel speed sensor, a steering angle sensor, etc. In this embodiment, a forward view may be captured using a front camera and provided to the processor 140. As a result, the processor 140 may acquire lane information, position information of a leading vehicle in the road, etc. from the captured forward view image data.

[0070] The steering control device 300 may be configured to control the steering angle of the vehicle and may include a steering wheel, an actuator coupled to the steering wheel, and a controller that controls the actuator.

[0071] The braking control device 400 may be configured to control the braking of the vehicle and may include a controller that controls the brakes.

[0072] The engine control unit 500 may be configured to control the engine operation of the vehicle and may include a controller to control the speed of the vehicle.

[0073] FIG. 5 is a flowchart illustrating a lane keeping control process according to one embodiment of the present invention.

[0074] 5, the lane keeping controller 100 calculates a target route based on image data acquired by a front camera and determines the driver's intention. That is, the lane keeping controller 100 determines whether the driver intends to continuously change direction based on surrounding conditions (e.g., whether the vehicle ahead is overtaking, whether the vehicle ahead is deviating, etc.).

[0075] If it is determined that the driver has a persistent intention to deviate, the lane keeping control device 100 corrects the target route by moving it to the right or left according to the driver's steering torque and steering direction.

[0076] As a result, the lane keeping control device 100 can minimize the driver's steering intervention by controlling the vehicle to travel along the corrected target route.

[0077] 6a and 6b are graphs showing an example screen and torque values during driver override according to one embodiment of the present invention.

[0078] Referring to FIG. 6a, it can be seen that the target route 501 determined by the lane keeping control device 100 is different from the target route 503 determined by the driver's steering control, and referring to FIG. 6b, it can be seen that there is a large difference between the driver's steering torque and the LFA steering torque.

[0079] 7a and 7b are graphs showing an example screen and torque values when a target route is modified but the target route and the driver's intended route differ from each other, according to an embodiment of the present invention.

[0080] Referring to Figure 7a, when the lane keeping control device 100 starts to correct the target path 501, it is corrected to a path 502 that is close to the target path 503 due to the driver's steering, and referring to Figure 7b, it can be seen that the difference between the driver's steering torque and the LFA steering torque is smaller than in Figure 6b.

[0081] 8a and 8b are graphs showing an example screen and torque values when the target route and the driver's intended route are matched due to a target route correction, according to one embodiment of the present invention.

[0082] 8a, when the lane keeping control device 100 has completed correcting the target route 501, the target route 503 determined by the driver's steering coincides with the target route 501. Referring to FIG. 8b, it can be seen that the driver's steering torque coincides with the LFA steering torque.

[0083] As described above, conventional lane keeping control devices generate the center path of the road as a target route, and then follow only the center of the road without considering the driver's characteristics, which results in frequent lateral steering intervention by the driver. However, the present invention supports the driver's intended deflection driving mode and reflects the driver's intention, thereby minimizing frequent lateral steering intervention and enabling stable lane keeping control.

[0084] Hereinafter, a lane keeping control method according to an embodiment of the present invention will be described in detail with reference to Figures 9 and 10. Figure 9 is a flowchart illustrating a lane keeping control method according to an embodiment of the present invention. Figure 10 is a flowchart illustrating a method for determining whether a driver's intention for swerving is persistent according to an embodiment of the present invention.

[0085] In the following, it is assumed that the lane keeping control device 100 of Figure 1 performs the processes of Figures 9 and 10. Also, in the description of Figures 9 and 10, it is understood that the operations described as being performed by the device are controlled by the processor 140 of the lane keeping control device 100.

[0086] 9, the lane keeping control device 100 starts lane keeping control (LFA) and determines whether the road is a straight section and whether the driver's intention to turn around is persistent (S100). A method for determining whether the road is a straight section and whether the driver's intention is persistent will be described in detail later with reference to FIG. 10.

[0087] If the road is a straight section and the driver's intention is persistent, the lane keeping controller 100 acquires lane information using the front camera (S200). That is, the lane keeping controller 100 can extract lane information from the forward image data captured by the front camera.

[0088] The lane keeping control device 100 recognizes the lane from the lane information acquired by the front camera, obtains the center of the driving lane in the lane, and sets the center of the driving lane as the target path. Next, the lane keeping control device 100 calculates the vehicle offset (C1 - C0), which is the difference between the center of the driving lane (target path) and the current vehicle position (S300).

[0089] The lane keeping control device 100 determines whether the vehicle offset from the target path satisfies a predetermined range (-Am < vehicle offset < Am) (S400). At this time, when the vehicle offset is outside the predetermined range, the lane keeping control device 100 does not assist the deviation driving mode, and when the vehicle offset is within a certain range, the lane keeping control device 100 assists the deviation driving mode. For example, Am can be 0.1.

[0090] Next, when the vehicle offset satisfies the predetermined range, the lane keeping control device 100 determines whether the driver's steering torque (Tq) exceeds a threshold value (S500).

[0091] When the driver's steering torque exceeds the threshold value, the lane keeping control device 100 calculates the torque value (Tq - threshold) that exceeds the threshold value (S600), calculates the target path offset using the torque value (Tq - threshold) that exceeds the threshold value, and reflects it so that the target path moves by the amount of the target path offset (S700). At this time, the lane keeping control device 100 does not immediately move the target path C0 to the driver's intended path C1 by the driver's steering control, but gradually moves it as shown in [Equation 1].

[0092] When the steering torque from the target path becomes greater than the threshold value (Tq > threshold), the lane keeping control device 100 can calculate the target path offset as shown in [Equation 1] above.

[0093] That is, the lane keeping control device 100 calculates the target route offset (TqOffset) by dividing the product of the torque value (Tq-threshold) exceeding the threshold value and the elapsed time (Ts) by the product of the threshold value (threshold) and the difference (C1-C0) between the target route C0 and the driver's intended route C1.

[0094] The lane keeping control device 100 can move the target route by the target route offset calculated as in [Equation 1]. As a result, the lane keeping control device 100 can minimize the driver's steering intervention by changing the target route by the target route offset (S800).

[0095] On the other hand, when the offset from the target route is equal to or less than the threshold (C0<_threshold), the target route offset is maintained at the previous value, and the target route is not changed but maintained as the existing route (S900).

[0096] In this way, the target route is continuously changed on a straight road to generate a target route that reflects the driver's intentions, thereby minimizing the driver's steering intervention.

[0097] Hereinafter, with reference to FIG. 10, the process in which the lane keeping control device 100 determines whether the driver's intention is persistent (step S100 in FIG. 9) will be described.

[0098] The lane keeping control device 100 determines whether the vehicle is currently traveling within a roadway (S101).

[0099] If the vehicle is currently traveling within a road, the lane keeping control device 100 determines whether the vehicle is currently traveling on a straight road (S102).

[0100] If the vehicle is not traveling within a lane or the road on which the vehicle is traveling is not a straight road, the lane keeping controller 100 may determine that the driver's intention to veer is temporary (S107). That is, the lane keeping controller 100 may determine that the driver only desires veer temporarily and does not desire continuous veer. In the present invention, it may be determined whether the driver desires continuous veer, and if the driver desires continuous veer, the lane keeping controller 100 may support veer.

[0101] When the vehicle is traveling on a straight road, the lane keeping controller 100 determines whether a vehicle is present in the left lane and the right lane ahead within a predetermined distance (e.g., 30 m) (S103). At this time, the lane keeping controller 100 can determine whether a vehicle is present ahead based on the detection result of the sensing device 200.

[0102] If there is no vehicle in the left or right lane ahead within a predetermined distance, the lane keeping controller 100 can determine that the driver's intention to veer is persistent (S107). That is, when there is no vehicle in the left or right lane ahead, the lane keeping controller 100 can determine that the driver's intention to veer is persistent, rather than a temporary veer to overtake a vehicle ahead.

[0103] If a vehicle is present within a predetermined distance in the left lane and right lane ahead, the lane keeping control device 100 determines whether the speed of the vehicle traveling at the closest distance among the vehicles present within the predetermined distance in the left lane and right lane ahead is higher than the speed of the vehicle itself (S104).

[0104] If the speed of the closest vehicle is faster than the speed of the vehicle, the lane keeping control device 100 can determine that the driver's intention to veer is persistent (S106).

[0105] If the speed of the closest vehicle is equal to or less than the speed of the own vehicle, the lane keeping control device 100 determines whether the closest vehicle is deviating in the own lane (S105).

[0106] If the vehicle traveling closest to the vehicle is deviating into the own lane, the lane keeping control device 100 can determine that the driver's intention to deviate is persistent (S106).

[0107] On the other hand, if the vehicle traveling closest to the vehicle is not deviating into the own lane, the lane keeping control device 100 can determine that the driver's intention to deviate is temporary (S107).

[0108] In this way, the lane keeping control device 100 can recognize when the driver wants to temporarily turn around to overtake a vehicle ahead, and if the driver wants to temporarily turn around, it can not support the turning around mode.

[0109] FIG. 11 illustrates a computer system according to one embodiment of the present invention.

[0110] Referring to FIG. 11, computer system 1000 may include at least one processor 1100, memory 1300, user interface input device 1400, user interface output device 1500, storage 1600, and network interface 1700, coupled via bus 1200.

[0111] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that performs processing on instructions stored in the memory 1300 and / or the storage 1600. The memory 1300 and the storage 1600 may include various volatile or non-volatile storage media. For example, the memory 1300 may include a read only memory (ROM) 1310 and a random access memory (RAM) 1320.

[0112] Thus, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in software modules executed by processor 1100, or in a combination of the two. The software modules may reside in a storage medium (i.e., memory 1300 and / or storage 1600) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, a hard disk, a removable disk, or a CD-ROM.

[0113] An exemplary storage medium may be coupled to processor 1100 such that processor 1100 can read information from, and write information to, the storage medium. In the alternative, the storage medium may be integral to processor 1100. The processor and the storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. In the alternative, the processor and the storage medium may reside as discrete components in a user terminal.

[0114] The above description is merely an illustrative example of the technical concept of the present invention, and various modifications and variations may be made by a person having ordinary skill in the art to which the present invention pertains without departing from the essential characteristics of the present invention.

[0115] Therefore, the embodiments disclosed in the present invention are for illustrative purposes only and are not intended to limit the technical idea of the present invention. The scope of protection of the present invention should be interpreted by the appended claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present invention. [Explanation of symbols]

[0116] 10 Your vehicle 20 Left vehicle 30 vehicles 100 Lane keeping control device 110 Communications Department 120 Storage area 130 Display section 140 processors 200 Sensing Device 300 Steering control device 400 Braking control device 500 Engine control unit 501, 503 Target route 502 Routes 1000 Computer Systems 1100 processor 1200 Bus 1300 memory 1310 ROM 1320 RAM 1400 , user interface input device 1500 User interface output device 1600 Storage 1700 Network Interface

Claims

1. a processor that, during lane keeping control, determines the driver's intention based on the driver's steering direction and the steering torque value of the driver, and supports a biased driving mode in which the vehicle travels along a biased route that is not centered within the road; a storage unit in which data and algorithms driven by the processor are stored; The processor determines whether the driver's intention to travel is continuous based on the driver's steering direction and the driver's steering torque value; A lane keeping control device characterized in that the processor determines whether a vehicle is present in the left or right lane ahead within a predetermined distance when the vehicle is traveling within a roadway and on a straight road.

2. The lane keeping control device according to claim 1, wherein the processor determines whether the road is a straight road.

3. 2. The lane keeping control device according to claim 1, wherein the processor calculates an offset, which is a distance between the vehicle and a target route set at the center of the road on which the vehicle is traveling, when the driver's intention to veer is persistent.

4. 4. The lane keeping control device of claim 3, wherein the processor proceeds to the deflection driving mode if the offset is within a predetermined range.

5. 2. The lane keeping control device according to claim 1, wherein the processor determines whether the driver's steering torque is greater than a predetermined threshold when proceeding to the deflection driving mode.

6. 6. The lane keeping control device according to claim 5, wherein the processor maintains the target route set in the center of the road on which the vehicle is traveling when the driver's steering torque is equal to or less than the predetermined threshold.

7. The lane keeping control device according to claim 5, wherein the processor calculates a difference between the driver's steering torque and the predetermined threshold value when the driver's steering torque is greater than the predetermined threshold value.

8. 8. The lane keeping control device according to claim 7, wherein the processor calculates a target route offset for correcting the target route using a difference between the driver's steering torque and the threshold value, a time during which the driver maintains steering, and a difference between the target route and the current position of the vehicle.

9. 9. The lane keeping control device according to claim 8, wherein the processor corrects the target route by moving it to the left or right by the amount of the target route offset.

10. 2. The lane keeping control device according to claim 1, wherein, when a vehicle is present in the left lane or the right lane within a predetermined distance ahead, the processor compares the speed of the vehicle with the speed of the vehicle closest to the vehicle among the vehicles present in the left lane or the right lane within the predetermined distance ahead.

11. 11. The lane keeping control device according to claim 10, wherein the processor determines that the driver's intention to veer is persistent based on the driver's steering direction and the driver's steering torque value when the speed of the vehicle closest to the host vehicle is faster than the speed of the host vehicle.

12. 11. The lane keeping control device according to claim 10, wherein the processor determines whether the vehicle closest to the host vehicle is deviating into the host vehicle's lane when the speed of the vehicle closest to the host vehicle is equal to or less than the speed of the host vehicle.

13. 13. The lane keeping control device according to claim 12, wherein the processor determines, when the vehicle closest to the host vehicle is deviating into the host vehicle's lane, that the driver's intention to deviate is temporary based on the driver's steering direction and the driver's steering torque value, and, when the vehicle closest to the host vehicle is not deviating into the host vehicle's lane, determines, when the vehicle closest to the host vehicle is not deviating into the host vehicle's lane, that the driver's intention to deviate is continuous based on the driver's steering direction and the driver's steering torque value.

14. 2. The lane keeping control device according to claim 1, wherein, when the host vehicle is driving to overtake a preceding vehicle or is deflecting to overtake a vehicle in the left or right lane that is driving closest to the host vehicle, the processor determines that the driver's intention for the deflecting is temporary based on the driver's steering direction and the driver's steering torque value, and does not support the deflecting mode.

15. a sensing device that detects lane information and forward vehicle information; and a lane keeping control device that, during lane keeping control, determines the driver's intention based on the steering direction of the driver and the steering torque value of the driver based on the detection result of the sensing device, and supports a biased driving mode in which the vehicle travels along a biased (biased) route that is not centered within the road, The processor determines whether the driver's intention to travel is continuous based on the driver's steering direction and the driver's steering torque value; The vehicle system is characterized in that the processor determines whether a vehicle is present in the left or right lane ahead within a predetermined distance when the vehicle is traveling within a roadway and on a straight road.

16. Detecting lane information and forward vehicle information; and a step of determining the driver's intention based on the lane information, the forward vehicle information, the driver's steering direction, and the driver's steering torque value during lane keeping control, and supporting a biased driving mode in which the vehicle travels along a biased (biased) route that is not centered within a roadway by determining the driver's intention based on the forward vehicle information, the driver's steering direction, and the driver's steering torque value, The processor determines whether the driver's intention to travel is continuous based on the driver's steering direction and the driver's steering torque value; A lane keeping control method characterized in that the processor determines whether a vehicle is present in the left or right lane ahead within a predetermined distance when the vehicle is traveling within a roadway and on a straight road.

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