Method and vehicle for performing vehicle lane change triggering function

Abstract

According to one preferred embodiment of the present invention, a vehicle having a vehicle lane change triggering function is characterized by comprising: a steering angle sensor detecting a steering operation through a steering wheel; and a control unit electrically connected to the steering angle sensor, wherein the control unit detects a change amount of a steering angular velocity and steering torque of the vehicle on the basis of an output of the steering angle sensor, and if the detected steering angular velocity and steering torque meet a reference condition, flashes a turn signal light and activates a vehicle lane change function.

Description

Method and vehicle for performing a vehicle lane change triggering function

[0001] The present invention relates to a method for triggering a lane change in a vehicle.

[0002] Project number: 20259700 Implementing agency: Ministry of SMEs and Startups Research management specialized agency: Korea Institute of Startups and Entrepreneurship Development Project name: 2024 TIPS Overseas Marketing Project name: Expandable Safety Dualization Solution (SleVCU) Host agency: ADIUS Co., Ltd. Research period: June 1, 2024 - March 31, 2025 Contribution ratio: 1 / 1

[0003] Advanced Driver Assistance Systems (ADAS) are systems that allow a vehicle to recognize and assess various situations that may occur while driving, and automatically control the braking and steering systems. These ADAS systems utilize vehicle detection information detected by sensors to select the vehicle in front as a control target and automatically control the driving speed and distance between vehicles through acceleration and deceleration control. The Lane Keeping Assist System (LKAS) adjusts the driving direction to assist in maintaining the lane, and navigation information (map data, GPS, etc.) are integrated to significantly reduce the burden on the driver while driving. Currently, a multi-function switch is used to change the car's lane, but a function that can replace it in case of failure is required.

[0004] A preferred embodiment of the present invention relates to a method for activating an automatic lane change function in an advanced driver assistance system without using a multi-function switch.

[0005] As a preferred embodiment of the present invention, a vehicle equipped with a vehicle lane change triggering function includes: a steering angle sensor that detects steering operation through a steering wheel; and a control unit electrically connected to the steering angle sensor; wherein the control unit detects changes in a steering angle, steering angular velocity, steering torque, and vehicle yaw rate of the vehicle based on an output of the steering angle sensor, and when the detected changes meet a reference condition, blinks a turn signal and activates the vehicle lane change function.

[0006] As a preferred embodiment of the present invention, the reference condition is characterized in that the steering operation through the steering wheel is performed twice counterclockwise within a preset time.

[0007] As a preferred embodiment of the present invention, the reference condition is characterized in that the steering wheel is turned clockwise twice within a preset time.

[0008] As a preferred embodiment of the present invention, the control unit is characterized in that, if it is determined that the steering operation through the steering wheel has moved counterclockwise twice within a preset time based on at least two or more of the detected steering angle, steering angular velocity, steering torque, and change amount values ​​of the vehicle yaw rate, the control unit blinks the left turn signal of the vehicle and changes the vehicle to the left lane.

[0009] As a preferred embodiment of the present invention, the control unit is characterized in that, if it is determined that the steering operation through the steering wheel has moved clockwise twice within a preset time based on at least two or more of the detected steering angle, steering angular velocity, steering torque, and change amount values ​​of the vehicle yaw rate, the control unit blinks the right turn signal of the vehicle and changes the vehicle to the right lane.

[0010] As a preferred embodiment of the present invention, the vehicle is characterized by having EPS (Electric Power Steering).

[0011] As a preferred embodiment of the present invention, the vehicle is characterized in that it is autonomously driving at a preset speed or higher.

[0012] As a preferred embodiment of the present invention, a method for performing a vehicle lane change triggering function in a vehicle is characterized by including the steps of: determining whether a precondition for activating a triggering function that activates a vehicle lane change function is satisfied in a control unit; if the precondition is satisfied, determining whether a reference condition for activating a triggering function that activates a vehicle lane change function is satisfied in the control unit; and if the reference condition is satisfied, activating a vehicle lane change function among advanced driver assistance features (ADAS) in the control unit.

[0013] In a preferred embodiment of the present invention, the control unit is characterized in that, if it is determined that the steering operation through the steering wheel moves counterclockwise from the steering wheel origin by a preset angle or more once and then moves counterclockwise from the steering wheel origin by a preset angle or more within a preset time thereafter, thereby moving counterclockwise twice in total, based on at least two of the detected steering angle, steering angular velocity, steering torque, and change in vehicle yaw rate values, the control unit blinks the left turn signal of the vehicle and performs a change to the left lane.

[0014] In a preferred embodiment of the present invention, the control unit is characterized in that, based on the detected steering angle, steering angular velocity, steering torque, and change amount values ​​of the vehicle yaw rate, if it is determined that the steering operation through the steering wheel moves clockwise from the steering wheel origin by a preset angle or more once, and then moves counterclockwise from the steering wheel origin again by a preset angle or more within a preset time thereafter, for a total of two times, the control unit blinks the right turn signal of the vehicle and changes to the right lane.

[0015] According to a preferred embodiment of the present invention, the lane change triggering function can be used as a replacement function in the event of a malfunction in the vehicle's multi-function switch. Furthermore, the lane change triggering function is activated in a continuous motion that prevents the driver from taking their hands off the steering wheel, thereby ensuring safety.

[0016] FIG. 1 is an internal block diagram of a vehicle (100) equipped with an automatic lane change triggering function, as a preferred embodiment of the present invention.

[0017] FIG. 2 illustrates an example of implementing an automatic lane change triggering function in a control unit as a preferred embodiment of the present invention.

[0018] FIG. 3 is a flowchart illustrating a preferred embodiment of the present invention, in which a control unit implements a vehicle lane change triggering function.

[0019] Figures 4 and 5 illustrate a preferred embodiment of the present invention, showing an example of disabling automatic lane change triggering in a control unit.

[0020] Figures 6 to 7 illustrate a preferred embodiment of the present invention, showing an example of disabling automatic lane change triggering in a control unit.

[0021] As a preferred embodiment of the present invention, a vehicle equipped with a vehicle lane change triggering function includes: a steering angle sensor that detects steering operation through a steering wheel; and a control unit electrically connected to the steering angle sensor; wherein the control unit detects changes in a steering angle, steering angular velocity, steering torque, and vehicle yaw rate of the vehicle based on an output of the steering angle sensor, and when the detected changes meet a reference condition, blinks a turn signal and activates the vehicle lane change function.

[0022] The following explanation is provided with reference to the attached drawings.

[0023] FIG. 1 is an internal block diagram of a vehicle (100) equipped with an automatic lane change triggering function, as a preferred embodiment of the present invention.

[0024] The vehicle (100) includes a sensor unit (110), a control unit (120), and an electronic power steering system (EPS) (130). As a preferred embodiment of the present invention, the vehicle (100) includes a passenger car and a commercial vehicle, and supports an automobile lane change function among advanced driver assistance systems (ADAS).

[0025] The sensor unit (110) includes a plurality of sensors that generate electric signals or data values ​​corresponding to the internal operating status and external environmental status of the vehicle (100). Examples of the sensors include a steering wheel sensor, a speed sensor, a distance detection sensor, a gravity sensor, and a steering sensor. The steering sensor includes a steering torque sensor that detects steering torque and a steering angle sensor that detects steering angle. The steering torque sensor can detect steering torque generated according to the rotation of the steering wheel. The steering angle sensor can detect the steering angle. The steering angle is a movement angle at which the spindle of the steering wheel turns when the vehicle (100) changes direction, and can indicate, for example, the maximum value of the inner wheel at which the vehicle (100) turns. The steering torque sensor and the steering angle sensor are collectively referred to as a TAS (Torque Angle Sensor).

[0026] The control unit (120) can be implemented using a processor and memory, and controls at least one other hardware configuration or software configuration of the vehicle (100), and also performs data processing and calculation.

[0027] The control unit (120) includes an electronic control unit (ECU) for a vehicle that receives an electrical signal detected by the sensor unit (110) and outputs a digital control signal for driving various actuators on the output side. The control unit (120) generates a control signal according to the value measured by the sensor unit (110) and performs control. For example, the control unit (120) can control the steering of the vehicle by using a value measured by a steering sensor, a value measured by a yaw rate sensor, the speed of the vehicle, etc.

[0028] Based on the output of the steering angle sensor of the vehicle (100), the steering angular velocity and steering torque change amount of the vehicle are detected. Then, the control unit (120) blinks the turn signal and activates the vehicle line change function when the detected steering angular velocity and steering torque meet the reference conditions. The control unit (120) may also be implemented to further check the change amount values ​​of the steering angle and the vehicle yaw rate to determine whether to activate the vehicle line change function.

[0029] The control unit (120) supports the car lane change function among advanced driver assistance systems (ADAS). For an example of this, refer to FIG. 2.

[0030] An electronic power steering system (EPS) (130) can change the driving direction of a vehicle (100). The electronic power steering system (EPS) (130) can change the driving direction of the vehicle (100) in response to the driver's steering operation through the steering wheel.

[0031] FIG. 2 illustrates an example of implementing an automobile lane change triggering function in a control unit as a preferred embodiment of the present invention, and FIG. 3 illustrates a flowchart of implementing an automobile lane change triggering function in a control unit.

[0032] The control unit determines whether the triggering function, which activates the lane-changing function, satisfies the prerequisites for activation. To this end, the control unit determines whether the vehicle is autonomously traveling at a preset speed or higher. In a preferred embodiment of the present invention, the control unit may activate the triggering function, which activates the lane-changing function, only if the vehicle is autonomously traveling at a preset speed or higher and the lane-keeping function is activated.

[0033] If the vehicle does not reach the preset speed or is not operating autonomously, the triggering function that activates the lane change function is deactivated. The preset speed can be set based on the maximum and minimum speeds on highways and dedicated automobile roads, depending on each country's road traffic laws. For example, an example of a preset speed is 70 km / h.

[0034] If the prerequisite (first condition) for activating the triggering function that activates the vehicle lane change function is satisfied (S310), the control unit determines whether the reference condition (second condition) for activating the triggering function that activates the vehicle lane change function is satisfied (S320). The reference condition for activating the triggering function is determined by whether the change in the steering angular velocity and steering torque of the vehicle detected through steering operation via the steering wheel meets the reference condition. If the reference condition is satisfied, the control unit activates the vehicle lane change function (S330).

[0035] Referring to FIG. 2, the control unit determines whether the reference condition is met based on at least two changes among the change values ​​of the steering angle, steering angular velocity, steering torque, and vehicle yaw rate in two same directions within a preset time period. For example, whether the reference condition is met is determined based on steering operation through the steering wheel twice in a clockwise direction (201b, 202b) or counterclockwise direction (201a, 202a) within a preset time period. In this case, the preset time period is set based on a time period within 1,000 ms, and after this time period, the vehicle lane change is automatically ignored. However, it should be noted that the preset time period can be set variously according to the road traffic laws of each country.

[0036] In a preferred embodiment of the present invention, the control unit determines whether the vehicle is autonomously driving at a preset speed or higher on a highway or dedicated automobile road and whether the lane keeping function is activated. Then, if the prerequisite conditions are satisfied, the control unit activates the lane change function when the steering wheel is turned once clockwise or counterclockwise and then twice in the same direction within a preset time in the direction of the intended lane. Furthermore, the control unit may indicate the activation of the lane change function on a display, output an audio signal, or provide a vibration to indicate the activation of the lane change function.

[0037] In a preferred embodiment of the present invention, it is assumed that the driver starts to operate the steering wheel clockwise from the steering wheel origin at a time ta, moves the steering wheel clockwise and returns to the steering wheel origin at a time tb, and then moves the steering wheel clockwise from the steering wheel origin and returns to the steering wheel origin at a time tc.

[0038] In a preferred embodiment of the present invention, the control unit determines that the reference condition is satisfied when t= tgap1+ tgap2 is within a preset time. tgap1= tb-ta, and tgap2=tc-tb.

[0039] In another preferred embodiment of the present invention, it is assumed that the driver starts to operate the steering wheel counterclockwise from the steering wheel origin at a time ta', moves the steering wheel counterclockwise and returns to the steering wheel origin at a time tb', and then moves the steering wheel counterclockwise from the steering wheel origin and returns to the steering wheel origin at a time tc'.

[0040] In a preferred embodiment of the present invention, the control unit determines that the reference condition is satisfied when t'= tgap1'+ tgap2' is within a preset time. tgap1'=tb'-ta' and tgap2'=tc'-tb'.

[0041] The tgap2 and tgap2' criteria are explained again as follows.

[0042] In a preferred embodiment of the present invention, the control unit determines that the reference condition is met when it detects that the driver operates the steering wheel clockwise once (201b) and returns to the steering wheel origin based on at least two data from among the steering angle, steering angular velocity, steering torque, and change amount values ​​of the vehicle yaw rate, and then moves clockwise again within a preset time from the time of returning to the steering wheel origin (S202b) and then returns to the steering wheel origin again. Then, if the reference condition is met, the control unit activates the vehicle lane change function, blinks the right turn signal of the vehicle (203a), and controls the vehicle to change to the right lane (204a). The steering wheel origin obtains data through a steering angle sensor, and determines the average value of the steering data values ​​3 to 2 seconds prior to the time at which it is determined that one operation has begun as the origin.

[0043] In a preferred embodiment of the present invention, the control unit determines that the reference condition is satisfied when it detects that the driver operates the steering wheel counterclockwise once (201a) and returns to the steering wheel origin based on at least two data from among the change values ​​of the steering angle, the steering angular velocity, the steering torque, and the yaw rate of the vehicle, and then moves counterclockwise again within a preset time from the time of returning to the steering wheel origin (S202a) and then returns to the steering wheel origin again. Then, if the reference condition is satisfied, the control unit activates the vehicle lane change function, blinks the left turn signal of the vehicle (203b), and controls the vehicle to change to the left lane (204b).

[0044] Figures 4 and 5 illustrate a preferred embodiment of the present invention, showing an example of disabling automatic lane change triggering in a control unit.

[0045] Figures 4 and 5 are examples in which the control unit determines that the reference condition for vehicle lane change is not satisfied based on at least two data among the change values ​​of steering angle, steering angular velocity, steering torque, and vehicle yaw rate detected within a preset time, for example, 1000 ms, and thus vehicle lane change triggering is not activated.

[0046] Figure 4 shows an example in which one rotation in the counterclockwise direction is detected for a preset time, and Figure 5 shows an example in which one rotation in the clockwise direction is detected for a preset time.

[0047] The control unit detects the values ​​of steering angle (801), steering angle velocity (802), steering torque (803), and vehicle yaw rate (804) for a preset period of time.

[0048] Referring to FIG. 4, the control unit detects tgap1' (810) based on the values ​​of the steering angle (401), steering angular velocity (402), steering torque (403), and vehicle yaw rate (404) within a preset time, and prepares for vehicle line change triggering (Ready). However, since the data values ​​of the steering angle (801), steering angular velocity (802), steering torque (803), and vehicle yaw rate (804) that would determine that the user moves the steering wheel counterclockwise after tb' and then returns to the steering wheel origin are not detected, the control unit determines that the vehicle line change triggering condition is not satisfied.

[0049] Referring to FIG. 5, the control unit detects tgap1 (810) based on the values ​​of the steering angle (501), steering angular velocity (502), steering torque (503), and vehicle yaw rate (504) within a preset time, and prepares for vehicle line change triggering (Ready). However, since the steering angle, steering angular velocity, steering torque, and vehicle yaw rate data values ​​that can determine that the user moves the steering wheel clockwise after tb and then returns to the steering wheel origin are not detected, the control unit determines that the vehicle line change triggering condition is not satisfied.

[0050] Figures 6 to 7 illustrate a preferred embodiment of the present invention, showing an example of disabling automatic lane change triggering in a control unit.

[0051] Referring to FIG. 6, the control unit detects tgap1' (810) based on the steering angle (601a), steering angular velocity (602a), steering torque (603a), and vehicle yaw rate (604a) values, and prepares for vehicle lane change triggering. Then, the control unit detects tgap2' (820) based on the steering angle (601b), steering angular velocity (602b), steering torque (603b), and vehicle yaw rate (604b) values ​​detected after tb, and determines that the steering wheel has been operated counterclockwise twice. The control unit determines that the basic condition for lane change triggering is satisfied because the sum of tgap1' (810) and tgap2' (820) is within a preset time, for example, 1000 ms, and triggers the lane change.

[0052] Referring to FIG. 7, the control unit detects tgap1 (810) based on the steering angle (701a), steering angular velocity (702a), steering torque (703a), and vehicle yaw rate (704a) values, and prepares for vehicle lane change triggering. Then, the control unit detects tgap2 (820) based on the steering angle (701b), steering angular velocity (702b), steering torque (603b), and vehicle yaw rate (604b) values ​​detected after tb, and determines that the steering wheel has been operated clockwise twice. The control unit determines that the sum of tgap1 (810) and tgap2 (820) is within a preset time, for example, 1000 ms, and thus satisfies the basic condition for lane change triggering, and triggers the lane change.

[0053] Methods according to embodiments of the present invention may be implemented in the form of program commands that can be executed by various computer means and recorded on a computer-readable medium. The computer-readable medium may include program commands, data files, data structures, etc., either singly or in combination. The program commands recorded on the medium may be those specifically designed and constructed for the present invention, or may be known and usable by those skilled in the art of computer software.

[0054] Although the present invention has been described with reference to limited embodiments and drawings, the present invention is not limited to the above embodiments, and those skilled in the art to which the present invention pertains can make various modifications and variations based on this description.

Claims

1. A steering angle sensor that detects steering operation through the steering wheel; and A control unit electrically connected to the above steering angle sensor; The above control unit A vehicle equipped with a vehicle lane change triggering function, characterized in that it supports a vehicle lane change function among advanced driver assistance systems (ADAS), detects changes in steering angular velocity and steering torque of the vehicle based on the output of the steering angle sensor, and blinks a turn signal and activates the vehicle lane change function when the detected steering angular velocity and steering torque meet a reference condition.

2. In paragraph 1, The above vehicle is a vehicle equipped with an automatic lane change triggering function, characterized in that it is equipped with EPS (Electric Power Steering).

3. In paragraph 1, the reference condition is A vehicle equipped with a lane change triggering function, characterized in that the steering wheel is turned counterclockwise twice within a preset time.

4. In paragraph 1, the reference condition is A vehicle equipped with a lane change triggering function, characterized in that the steering wheel is turned clockwise twice within a preset time.

5. In the first paragraph, the control unit A vehicle equipped with a lane change triggering function, characterized in that, based on the detected steering angular velocity and steering torque change amount values, if it is determined that the steering operation through the steering wheel moves counterclockwise from the steering wheel origin by a preset angle or more once, and then moves counterclockwise from the steering wheel origin by a preset angle or more again within a preset time after the movement, thereby moving counterclockwise a total of two times, the left turn signal of the vehicle is blinked and a change to the left lane is performed.

6. In the first paragraph, the control unit A vehicle equipped with a lane change triggering function, characterized in that, based on the detected steering angular velocity and steering torque change amount values, if it is determined that the steering operation through the steering wheel moves clockwise from the steering wheel origin by a preset angle once or more, and then moves clockwise from the steering wheel origin by a preset angle or more again within a preset time after the movement, moving clockwise twice in total, the right turn signal of the vehicle blinks and a change to the right lane is performed.

7. In paragraph 1, A vehicle equipped with a lane change triggering function characterized in that the vehicle is autonomously driving at a speed higher than a preset speed.

8. A step for determining whether the prerequisites for activating the triggering function that activates the automatic lane change function in the control unit are satisfied; If the above prerequisites are satisfied, a step of determining whether a reference condition is satisfied for activating a triggering function that activates the automatic lane change function in the control unit; and A method for performing a vehicle lane change triggering function in a vehicle, characterized in that it includes a step of activating a vehicle lane change function among advanced driver assistance systems (ADAS) in the control unit when the above criteria are satisfied.

9. In paragraph 8, the prerequisite is A method for performing a lane change triggering function in a vehicle, characterized in that the vehicle is autonomously driving at a preset speed or higher.

10. In paragraph 8, the control unit A method for performing a vehicle lane change triggering function in a vehicle, characterized in that the method detects a change in steering angular velocity and steering torque of the vehicle based on the output of a steering angle sensor that detects steering operation through a steering wheel, and determines whether the above-mentioned reference condition is satisfied based on the detected steering angular velocity and steering torque.

11. In paragraph 10, the standard condition is A method for performing a vehicle lane change triggering function in a vehicle, characterized in that the steering operation through the steering wheel is performed twice counterclockwise within a preset time.

12. In paragraph 10, the standard condition is A method for performing a vehicle lane change triggering function in a vehicle, characterized in that the steering operation through the steering wheel is performed twice clockwise within a preset time.

13. In the 10th paragraph, the control unit A method for performing a vehicle lane change triggering function in a vehicle, characterized in that, based on the values ​​of the detected steering angular velocity and steering torque change, if it is determined that the steering operation through the steering wheel moves counterclockwise from the steering wheel origin by a preset angle or more once, and then moves counterclockwise from the steering wheel origin by a preset angle or more again within a preset time after the movement, thereby moving counterclockwise a total of two times, the left turn signal of the vehicle is blinked and a change to the left lane is performed.

14. In the 10th paragraph, the control unit A method for performing a vehicle lane change triggering function in a vehicle, characterized in that, based on the values ​​of the detected steering angular velocity and steering torque change, if it is determined that the steering operation through the steering wheel moves clockwise from the steering wheel origin by a preset angle or more once, and then moves counterclockwise from the steering wheel origin by a preset angle or more again within a preset time after the movement, a total of two times, the right turn signal of the vehicle is blinked and a change to the right lane is performed.

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