KR-20260063280-A - Method And Apparatus for Generating Rear-Side Lane for Vehicle

KR20260063280AKR 20260063280 AKR20260063280 AKR 20260063280AKR-20260063280-A

Abstract

A method and apparatus for generating a lane behind a vehicle based on forward lane recognition information and the position information of the vehicle are disclosed. According to one aspect of the present disclosure, a method for generating a rear lane of a moving vehicle is provided, comprising: a process of obtaining coordinate values for a point i (where i is an integer greater than or equal to 1 and less than or equal to N) on the lane using one or more sensors attached to the vehicle when the point i is located in front of the vehicle; a process of updating the coordinate values for the point i to match the vehicle coordinate system at the current time based on the position information of the vehicle at the time when the coordinate values for the point i were obtained and the position information of the vehicle at the current time; and a process of generating a rear lane using the coordinate values for the first point to the Nth point when the first point to the Nth point are located behind the vehicle.

Inventors

이성욱

Assignees

현대자동차주식회사
기아 주식회사

Dates

Publication Date: 20260507
Application Date: 20241030

Claims (13)

A method for generating a rear lane of a moving vehicle based on points 1 through N (where N is a natural number greater than or equal to 2) on a lane, A process of obtaining coordinate values for the first point using one or more sensors attached to the vehicle when the i-th point (where i is a natural number less than or equal to N) is located in front of the vehicle; A process of updating the coordinate values for the i-th point (where i is a natural number less than or equal to N) to match the vehicle coordinate system at the current time, based on the position information of the vehicle at the time when the coordinate values for the i-th point (where i is a natural number less than or equal to N) were obtained and the position information of the vehicle at the current time; and A process of generating a rear lane using coordinate values for the first to N points when the first to N points are located behind the vehicle. A method including
In paragraph 1, The above rear lane is in the form of a curve, but, The process of generating the above rear lane is, A method, which is a process of generating a lane such that the error with the coordinate values of the first point to the Nth point is minimized.
In paragraph 2, The above curve is a method that is a cubic curve.
In paragraph 2, The process of obtaining the coordinate values for the above i-th point is, A method, which is a process of measuring the position of point i at preset time intervals and obtaining one or more coordinate values for point i.
In paragraph 4, The process of generating the above rear lane is, A process of calculating the average of one or more coordinate values for the above i-th point; and A process of generating a rear lane using the average coordinate values for each of the above-mentioned first to Nth points. A method including
In paragraph 4, The process of generating the above rear lane is, A process of calculating the mean and variance of one or more coordinate values for the above i-th point; and The method includes a process of generating a curve such that the error with the average coordinate values for the first to the Nth point is minimized, A method in which the magnitude of the error between the i-th point and the curve is inversely proportional to the reciprocal of the variance of the coordinate values for the i-th point.
In paragraph 1, The process of obtaining the coordinate values for the above i-th point is, A process of determining whether the lane recognition reliability of a sensor attached to the front of the vehicle is below a preset threshold value; and A process of not collecting coordinate values for the i-th point when the lane recognition reliability is below the threshold value. A method including
In paragraph 1, The process of obtaining the coordinate values for the above i-th point is, A process for determining whether the curvature of the aforementioned forward lane is greater than or equal to a preset reference value; and A process of not collecting coordinate values for the i-th point when the above curvature is greater than or equal to the above reference value. A method including
In paragraph 1, The process of obtaining the coordinate values for the above i-th point is, A process of determining whether the lateral offset of the aforementioned front lane is included in a preset reference range; and A process of not collecting coordinate values for the i-th point if the above lateral offset is not included in the above reference range. A method including
In paragraph 1, The process of obtaining the coordinate values for the above i-th point is, A process for determining whether the speed of the above vehicle falls within a preset standard range; and A process of not collecting coordinate values for the i-th point if the above speed is not included in the above standard range. A method including
In paragraph 1, The process of obtaining the coordinate values for the above i-th point is, A process for determining whether the heading angle of the above vehicle is less than or equal to a preset reference value; and A process of not collecting coordinate values for the i-th point when the above heading angle is less than or equal to the above reference value A method including
In paragraph 1, The process of obtaining the coordinate values for the above i-th point is, A process for determining whether the yaw rate of the above vehicle is less than or equal to a preset reference value; and A process of not collecting coordinate values for the i-th point when the above yaw rate is less than or equal to the above reference value. A method including
As a device for generating a rear lane of a moving vehicle, At least one memory for storing instructions; and Includes at least one processor, The above at least one processor executes the above instructions, When the i-th point on the lane (where i is an integer greater than or equal to 1 and less than or equal to N) is located in front of the vehicle, one or more sensors attached to the vehicle are used to obtain coordinate values for the i-th point, and Based on the position information of the vehicle at the time when the coordinate values for the i-th point were obtained and the position information of the vehicle at the current time, the coordinate values for the i-th point are updated to match the vehicle coordinate system at the current time, and A device for generating a rear lane using coordinate values for the first to N points when the first to N points are located behind the vehicle.

Description

Method and Apparatus for Generating Rear-Side Lane for Vehicle The present disclosure relates to a method and apparatus for generating a rear lane of a vehicle. More specifically, the present disclosure relates to a method and apparatus for generating a rear lane based on front lane recognition information and position information of the ego vehicle. The following description merely provides background information related to the present embodiment and does not constitute prior art. Autonomous vehicles need to predict the future paths of objects (targets) present in their vicinity for path planning and collision avoidance decisions. For example, if objects such as other vehicles, pedestrians, or personal mobility devices are present around an autonomous vehicle, the vehicle must predict their future paths to warn the driver or perform evasive maneuvers before a collision occurs. Line information is utilized importantly in predicting the target's path and determining the relative driving path and lateral distance between the ego vehicle and the target. A target vehicle traveling at high speed while maintaining a constant distance within the lane is highly likely to continue traveling along the lane in the future. Therefore, in such situations, predicting the target's future path along the lane can improve the accuracy of path prediction. Conventional lane recognition technology requires lane images acquired from a camera. To generate reliable lane information while driving, a camera sensor capable of acquiring lane images is required. Conventional autonomous vehicles could only recognize the lane ahead because the camera for acquiring lane information during driving was positioned only at the front. Since conventional autonomous vehicles could not acquire rear lane information while driving, they could not perform path prediction and collision avoidance judgments based on lane information for targets located behind them. FIG. 1 is a block diagram schematically showing a lane generation device according to one embodiment of the present disclosure. FIG. 2 is an exemplary diagram showing a plurality of points on a lane collected by a lane generator according to one embodiment of the present disclosure. FIGS. 3a to 3d are exemplary diagrams illustrating a method for a lane generator according to one embodiment of the present disclosure to collect coordinates for a first point on a lane. FIGS. 4a to 4d are exemplary diagrams illustrating a method of generating a rear lane using rear lane coordinates by a lane generator according to one embodiment of the present disclosure. FIG. 5 is a flowchart illustrating the process of a lane generator according to one embodiment of the present disclosure generating a rear lane. FIG. 6 is a flowchart illustrating the process of determining whether a lane generator collects lane coordinates in another embodiment of the present disclosure. FIGS. 7a and 7b are illustrative diagrams to show that the performance of a rear collision warning/assistance system can be improved by using a lane generator according to the present disclosure. FIG. 8 is a block diagram schematically illustrating an exemplary computing device that can be used to implement a method or device according to the present disclosure. Some embodiments of the present disclosure are described in detail below 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 present disclosure, if it is determined that a detailed description of related known components or functions could obscure the essence of the present disclosure, such detailed description is omitted. In describing the components of the embodiments according to the present disclosure, symbols such as first, second, i), ii), a), b), etc., may be used. These symbols are intended only to distinguish the components from other components, and the essence, order, or sequence of the components is not limited by the symbols. When a part in the specification is described as 'comprising' or 'having' a component, this means that, unless explicitly stated otherwise, it does not exclude other components but may include additional components. The detailed description set forth below, together with the accompanying drawings, is intended to describe exemplary embodiments of the present disclosure and is not intended to represent the only embodiment in which the present disclosure can be practiced. FIG. 1 is a block diagram schematically showing a lane generation device (100) according to one embodiment of the present disclosure. The lane generation device (100) includes a memory (110) and a processor (120). The lane generation device (100) may be implemented in the form of an embedded device, a server, an electronic device within an autonomous driving sys