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EP-3552906-B1 - LANE CHANGE CONTROLLER FOR VEHICLE, SYSTEM INCLUDING THE SAME, AND METHOD THEREOF

EP3552906B1EP 3552906 B1EP3552906 B1EP 3552906B1EP-3552906-B1

Inventors

  • KIM, JUN SOO
  • JEONG, JIN SU
  • JEON, JAE YONG

Dates

Publication Date
20260513
Application Date
20190211

Claims (15)

  1. A lane change controller (100), comprising: a processor (140) configured to determine whether a vehicle can perform a lane change corresponding to a road condition based on information about surrounding circumstances; a storage (120) configured to store a result of the determination that the vehicle can perform the lane change corresponding to the road condition based on the information about the surrounding circumstances; and a display (130) configured to display the result of the determination, characterized in that the processor (140) is configured to determine a mode in which it is unable to determine the road condition, when a GPS receiving information is not updated and a map matching is not performed.
  2. The lane change controller (100) of claim 1, wherein the information about the surrounding circumstances comprises at least one of global positioning system (GPS) receiving information, map information, or information sensing the periphery of the vehicle by a sensor of the vehicle.
  3. The lane change controller (100) of claim 1, wherein the processor (140) is configured to: determine whether it is able to determine the road condition based on the GPS receiving information or information about map matching that uses map information and location information by a sensor.
  4. The lane change controller (100) of claim 3, wherein the processor (140) is configured to: determine that the road condition is able to be determined, when the GPS receiving information is updated or the map matching is performed.
  5. The lane change controller (100) of claim 3, wherein the processor (140) is configured to: determine whether to perform the lane change based on a result sensed by the sensor when the road condition is able to be determined.
  6. The lane change controller (100) of claim 5, wherein the processor (140) is configured to: determine whether to perform the lane change based on at least one of whether a current driving road is a general road on which a pedestrian, a bicycle, or a motorcycle passes, including traffic lights and crosswalks, whether a pedestrian or a cyclist is on the current driving road, whether there is a median strip, or a number of lanes of the driving road.
  7. The lane change controller (100) of claim 6, wherein the processor (140) is configured to: determine not to perform the lane change when the current driving road is the general road, when the pedestrian or the cyclist is on the current driving road, or when the current driving road is a first lane.
  8. The lane change controller (100) of claim 6, wherein the processor (140) is configured to: determine to perform the lane change, when the current driving road is a limited-access road or a highway, when the pedestrian or the cyclist is not on the current driving road, when there is the median strip, or when the number of lanes of the driving road is greater than or equal to a predetermined number of lanes.
  9. The lane change controller (100) of claim 1, wherein the processor (140) is configured to: determine whether to control the lane change based on the result of determination when a lane change request is received from the vehicle.
  10. The lane change controller (100) of claim 9, wherein the processor (140) is configured to: control the lane change when the lane change is determined to be able to be performed, and when the lane change request is received from the vehicle.
  11. The lane change controller (100) of claim 9, wherein the processor (140) is configured to: store the result of the determination in the storage (120) when the vehicle is temporarily turned off by an integrated starter generator (ISG); and control the lane change based on the result of determination, when the vehicle is turned on.
  12. A vehicle system, comprising: a GPS receiver (300) configured to receive GPS information; a sensing module (200) configured to provide information regarding sensing a periphery of a vehicle; and the lane change controller (100) according to any one of claims 1 to 11, that is configured to determine whether to perform a lane change based on the GPS information and the information regarding sensing the periphery of the vehicle.
  13. A lane change control method, the method comprising: receiving information about surrounding circumstances (S101); determining whether a lane change can be performed corresponding to a road condition based on the information about the surrounding circumstances (S102); storing a result of the determination that the lane change can be performed corresponding to the road condition based on the information about the surrounding circumstances; determining a mode in which it is unable to determine the road condition, when a GPS information is not updated and a map matching is not performed (S 103); and displaying a result of the determination of whether to perform the lane change and the mode in which it is unable to determine a type of a driving road (S111).
  14. The method of claim 13, wherein determining whether to perform the lane change comprises: determining whether to perform the lane change based on at least one of whether a current driving road is a general road on which a pedestrian, a bicycle, or a motorcycle passes, including traffic lights and crosswalks (S105), whether a pedestrian or a cyclist is on the current driving road (S106), whether there is a median strip (S107), or a number of lanes of the driving road (S108);
  15. The method of claim 14, wherein determining whether to perform the lane change comprises: determining not to perform the lane change when the current driving road is the general road, when the pedestrian or the cyclist is on the current driving road, or when the current driving road is a first lane; and determining to perform the lane change when the current driving road is a limited-access road or a highway, when the pedestrian or the cyclist is not on the current driving road, when there is the median strip, or when the number of lanes of the driving road is greater than or equal to a predetermined number of lanes.

Description

TECHNICAL FIELD The present disclosure relates to a lane change controller for a vehicle, a system including the same, and a method thereof, and more particularly, relates to technologies of determining a condition of a road on which a vehicle is currently traveling and activating a lane change control system of the vehicle. BACKGROUND The statements in this section merely provide background information related to the present disclosure and may not constitute prior art. Recently, with the rapid development of information technology (IT), there has been a growing interest in intelligent vehicles integrated with vision systems. Particularly, advanced safety vehicle technology, such as lane departure, lane keeping, a collision warning system, and a lane change control system, which help in reducing the risk of traffic accidents and performing safe driving, is base technology of intelligent vehicle technology, and more manpower and finances are becoming part of a variety of research and technical development. Particularly, when a driver operates a turn signal with the intention of changing a lane, a lane change control system capable of automatically changing a lane on which a vehicle is traveling controls the vehicle automatically and perform a lane change. Such a lane change control system may perform a lane change by determining whether a speed, a location, and the like of a surrounding vehicle are suitable to perform the lane change, setting a control path for the lane change, and controlling steering torque along the control path. However, a conventional lane change control system is unable to be applied in all road conditions for safe driving and is able to be used only on a specific road. In other words, the lane change control system is able to be activated on a limited-access road or a highway, but should be deactivated on a general road a pedestrian may enter for safety. US 2015/148985 A1 describes a vehicle driving assistance device, including: a collecting unit which collects vehicle safety information including positional information of a vehicle; a determining unit which determines a kind of driving road on which the vehicle is driven using the positional information; and a control unit which activates at least one driving assistance function related with the kind of driving road, among a plurality of driving assistance functions which is implemented in the vehicle and an automatic activating method of a vehicle driving assistance function by the vehicle driving assistance device. DE 10 2016 215 565 A1 describes a driver assistance system and method for the automatic detection and assessment of a possible overtaking maneuver, comprising the steps: automatic detection of a current position and driving distance of the vehicle, detection of a current state of the drive train and a possible callable power, and calculation of the probability and/or the safety of a possible overtaking maneuver based on the current position and route of the vehicle and the status of the powertrain. US 2017/240172 A1 relates to a travel control device. A lane change controller determines whether lane change is available or unavailable on the basis of a detection result of an obstacle by a radar and an obstacle recognizer in response to detection of a winker operation by an operation detection unit. A lane keep controller continues lane keep control if the operation detection unit detects the winker operation during the lane keep control and if the lane change controller determines that the lane change is unavailable. EP 2 978 648 A1 describes a lateral collision avoidance control system. The system is operable to: monitor a position of a vehicle with respect to a first lane of a road occupied by the vehicle; detect the existence of an obstacle representing a collision hazard in a second lane adjacent the first; and detect on intention of the driver of the vehicle to change from the first lane to the second lane, the system being operable to provide feedback to the driver if the system detects the existence of the collision hazard in the second lane and in addition the system detects an intention of the driver to change from the first lane to the second lane. SUMMARY The present invention provides a lane change controller for a vehicle to increase the efficiency of safe driving by determining a condition of a road on which a vehicle is currently traveling to determine whether it is able to control a lane change and controlling the lane change, a system including the same, and a method thereof. Furthermore, the present invention provides a lane change controller for a vehicle to increase the convenience of a user by displaying the result of whether it is able to control a lane change, determined according to a condition on which a vehicle is currently traveling, on a screen such that the user recognizes the result, a system including the same, and a method thereof. A lane change controller according to the present invention