KR-102962098-B1 - APPARATUS AND METHDO FOR CONTORLLING DRIVING OF VEHICLE

KR102962098B1KR 102962098 B1KR102962098 B1KR 102962098B1KR-102962098-B1

Abstract

A vehicle driving control device according to an embodiment of the present invention includes a sensor that acquires vehicle driving environment information and vehicle driving information, and a control unit that calculates the time required for a collision with a rear-side vehicle when a lane change must be performed while flashing an emergency light based on the driving environment information, and controls the flashing of an emergency light or a turn signal when changing lanes based on the time required for a collision and the vehicle driving information. By controlling the flashing of an emergency light or a turn signal based on the time required for a collision with a rear-side vehicle, the state of the autonomous vehicle is transmitted to the surroundings, and safe autonomous driving can be achieved.

Inventors

정찬희

Assignees

현대자동차주식회사
기아 주식회사

Dates

Publication Date: 20260511
Application Date: 20200804

Claims (18)

A sensor for acquiring vehicle driving environment information and vehicle driving information; and A vehicle driving control device comprising a control unit that calculates the time required for a collision with a rear-side vehicle when a lane change must be performed while flashing an hazard light based on the above driving environment information, and controls the flashing of an hazard light or a turn signal when changing lanes based on the above collision time and the above vehicle driving information.
In claim 1, The state in which a lane change must be performed while flashing the above hazard lights is a vehicle driving control device including a Minimal Risk Management (MRM) state.
In claim 1, The above control unit A vehicle driving control device that controls the vehicle to reduce driving speed by flashing the emergency lights in the driving lane when it is determined that the collision time is less than the first time.
In claim 3, The above control unit A vehicle driving control device that controls the vehicle to perform a lane change by flashing the emergency lights when it is determined that the collision time exceeds a second time which is longer than the first time.
In claim 4, The above control unit A vehicle driving control device that controls the vehicle to stop flashing the emergency lights, flash the turn signals, and perform a lane change when it is determined that the collision time is greater than or equal to the first time and less than or equal to the second time.
In claim 5, The above control unit A vehicle driving control device that determines whether the lane change progress state exceeds a threshold, and if it is determined that the lane change progress state exceeds the threshold, stops the flashing of the turn signal and flashes the hazard light to control the lane change.
In claim 6, The above control unit A vehicle driving control device that determines whether the collision time exceeds a third time, which is longer than the second time, when it is determined that the lane change progress state above does not exceed a threshold.
In claim 7, The above control unit A vehicle driving control device that controls the stopping of the flashing of the turn signal and the flashing of the hazard light to perform a lane change when it is determined that the above collision time exceeds the above third time.
In claim 8, The above control unit A vehicle driving control device that controls the lane change by flashing the turn signal when it is determined that the above collision time does not exceed the third time.
A step of acquiring vehicle driving environment information and vehicle driving information; A step of calculating the time required for a collision with a rear-side vehicle when a lane change must be performed while flashing the hazard lights based on the above driving environment information; and A vehicle driving control method comprising the step of controlling the flashing of hazard lights or turn signals when changing lanes based on the above collision time and above vehicle driving information.
In claim 10, A vehicle driving control method that includes a Minimal Risk Management (MRM) state, wherein the state in which a lane change must be performed while flashing the above hazard lights.
In claim 10, A vehicle driving control method that controls the vehicle to reduce driving speed by flashing the emergency lights in the driving lane when it is determined that the collision time is less than the first time.
In claim 12, A vehicle driving control method that controls the vehicle to perform a lane change while flashing the emergency lights when it is determined that the collision time exceeds a second time which is longer than the first time.
In claim 13, A vehicle driving control method that, when it is determined that the collision time is greater than or equal to the first time and less than or equal to the second time, stops the flashing of the emergency lights and controls the flashing of the turn signals to perform a lane change.
In claim 14, A step of determining whether the lane change progress state exceeds a threshold; and A vehicle driving control method further comprising the step of controlling to stop the flashing of the turn signal and flash the hazard light to perform a lane change when it is determined that the lane change progress state exceeds the threshold.
In claim 15, A vehicle driving control method comprising an additional step of determining whether the collision time exceeds a third time, which is longer than the second time, when it is determined that the lane change progress state above does not exceed a threshold.
In claim 16, A vehicle driving control method that, when it is determined that the collision time exceeds the third time, stops the flashing of the turn signal and flashes the hazard light to perform a lane change.
In claim 17, A vehicle driving control method that controls the vehicle to perform a lane change by flashing the turn signal when it is determined that the above collision time does not exceed the third time.

Description

Apparatus and Method for Controlling Driving of Vehicle The present invention relates to a vehicle driving control device and method. There are instances where a lane change must be performed while flashing hazard lights during autonomous driving mode. For example, in the Minimum Risk Maneuver (MRM) stage of Level 3 autonomous driving, a strategy may be devised to flash hazard lights and stop in the driving lane or change lanes to the shoulder and stop. Therefore, when a lane change must be performed while flashing hazard lights, control of the flashing hazard lights and turn signals must be performed appropriately for the situation. FIG. 1 is a configuration diagram showing the configuration of a vehicle driving control device according to one embodiment of the present invention. FIG. 2 is a diagram showing the lane change progress state according to one embodiment of the present invention. FIG. 3 is a diagram showing the lane change progress state according to another embodiment of the present invention. FIG. 4 is a diagram showing the flashing state of the turn signal and emergency light according to TTC in accordance with one embodiment of the present invention. FIG. 5 is a flowchart illustrating a vehicle driving control method according to one embodiment of the present invention. FIG. 6 is a diagram illustrating the configuration of a computing system for executing a method according to one embodiment of the present invention. Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that in assigning reference numerals to the components of each drawing, the same components are given the same reference numeral whenever possible, even if they are shown in different drawings. Furthermore, in describing the embodiments of the present invention, if it is determined that a detailed description of related known components or functions would hinder understanding of the embodiments of the present invention, such detailed description is omitted. In describing the components of the embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc., may be used. These terms are intended merely to distinguish the components from other components, and the essence, order, or sequence of the components is not limited by the terms. Furthermore, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the present invention pertains. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with their meaning in the context of the relevant technology, and should not be interpreted in an ideal or overly formal sense unless explicitly defined in this application. FIG. 1 is a configuration diagram showing the configuration of a vehicle driving control device according to one embodiment of the present invention. As illustrated in FIG. 1, the vehicle driving control device (100) may include a sensor (110), a camera (120), a navigation system (130), and a control unit (140). The sensor (110) can acquire vehicle driving environment information and vehicle driving information. Here, the driving environment information may include surrounding environment information acquired during vehicle driving. According to an embodiment, the sensor (110) may include a distance sensor, an image sensor, an infrared sensor, etc., capable of acquiring obstacle information, driver state information, and road information around the vehicle. In addition, the vehicle driving information may include information acquired during vehicle driving. According to an embodiment, the sensor (110) may include a vehicle speed sensor, a steering angle sensor, an input sensor, etc., capable of acquiring speed information, steering information, user input information (switch input information), etc. The distance sensor can detect obstacles in front of the vehicle. According to an embodiment, the distance sensor can detect objects outside the vehicle, a preceding vehicle traveling ahead, a road, structures installed around the road, etc. As an example, the distance sensor may include radar or lidar. The image sensor can acquire images of the vehicle's exterior or interior. According to an embodiment, it may include a CCD or CMOS sensor that acquires lane images of the lane in which the vehicle is traveling or images of the vehicle's front, rear, left, and right sides. The infrared sensor can detect driver state information (driver's gaze distraction, whether eyes are closed) by utilizing the driver's infrared information. A vehicle speed sensor may refer to a sensor that detects the driving speed of a vehicle, a steering angle sensor may refer to a sensor that detects the rotational torque of the steering wheel, and an input sensor may refer to a sensor that detects user input information. A stee