WO2015016407A1

WO2015016407A1 - Driver-customized lane keeping support system and lane keeping support method

Info

Publication number: WO2015016407A1
Application number: PCT/KR2013/006969
Authority: WO
Inventors: 이재관; 김문식
Original assignee: 자동차부품연구원
Priority date: 2013-08-01
Filing date: 2013-08-01
Publication date: 2015-02-05

Abstract

In order to improve the quality of a driver's steering sensation and provide a driver-friendly lane keeping support system and a driver-friendly lane keeping support method, the present invention provides a lane keeping support system comprising: a driver's driving tendency storage unit for storing driver's driving tendencies; a lane information extraction unit for extracting lane information of a driving lane; a vehicle motion determination unit for determining vehicle motion; a steering torque calculation unit for calculating steering torque required for lane keeping support using data provided from the driver's driving tendency storage unit, the lane information extraction unit, and the vehicle motion determination unit; and a power steering device unit for generating the calculated steering torque.

Description

Driver's customized lane maintenance support system and lane maintenance support method

The present invention relates to a lane maintenance support system and a lane maintenance support method, and more particularly, to a lane maintenance support system customized for a driver and a lane maintenance support method.

The lane maintenance support system detects left and right lanes by using a front camera, and generates steering assistance to the steering controller to prevent lane departure from the vehicle and maintain lanes based on the lane detection results. to be. Among such lane keeping support systems, a road center tracking control system that performs a lane keeping control function by controlling the center of the road to follow is also being developed.

The conventional lane keeping support system has a problem of controlling the system collectively without considering driving tendencies of various drivers. That is, it is possible to control the lane keeping support system according to the driving tendency of the driver because the steering control has the same steering control responsiveness or the departure distance is adjusted to zero based on the center of the driving lane without considering the driving tendency of various drivers. There is a problem that can give a driver a sense of pressure when driving and the quality of steering sensitivity is deteriorated.

The present invention has been made to solve various problems including the above problems, and aims to improve the driver's steering quality and provide a driver friendly lane maintenance support system and lane maintenance support method. However, these problems are exemplary, and the scope of the present invention is not limited thereby.

According to an aspect of the present invention, a driver-customized lane keeping support system is provided. The lane maintenance support system customized for the driver may include a driving tendency storing unit storing a driving tendency of a driver, a lane information extracting unit extracting lane information of a driving lane, a vehicle motion decision unit determining a movement of a vehicle, the driving tendency storing unit, And a steering torque calculation unit for calculating steering torque necessary for lane keeping support using data provided from the lane information extracting unit and the vehicle motion determining unit, and an electric steering apparatus unit generating the calculated steering torque.

In the driver customized lane maintenance support system, the driving tendency storing unit may include a driving tendency storing unit configured to directly set and store the driving tendency of the driver.

In the driver's customized lane maintenance support system, the driving tendency storing unit may include a driving tendency storing unit configured to automatically store the driving tendency by analyzing a past driving tendency of the driver.

In the driver's customized lane maintenance support system, the driving tendency storage unit may include a driving tendency storage unit configured to store statistical driving tendencies according to gender, age, or personality of the driver.

In the driver's customized lane maintenance support system, the lane information extracting unit may include a sensor unit measuring a curvature of the driving lane, a departure angle from the driving lane, or a departure distance.

In the driver customized lane maintenance support system, the vehicle motion determiner may determine the movement of the vehicle based on the lateral dynamics of the vehicle.

The driver customized lane maintenance support system may further include a HMI (Human Machine Interface) device unit for informing a driver of an operating state of the lane maintenance support system in real time.

According to another aspect of the present invention, a driver-customized lane keeping support method is provided. The lane maintenance support method for the driver may include extracting a driving tendency of a stored driver, extracting lane information of a driving lane, determining a movement of the vehicle, driving tendency of the driver, lane information of the driving lane, and Calculating steering torque necessary for lane keeping support using the data of the movement of the vehicle, and generating the calculated steering torque.

In the driver-specific lane maintenance support method, the driver may directly set and store his driving tendency before extracting the stored driving tendency of the driver.

In the driver customized lane maintenance support method, the method may further include automatically storing the driving tendency by analyzing the past driving tendency of the driver before extracting the stored tendency of the driver.

According to an embodiment of the present invention made as described above, it is possible to automatically load and control the driver's driving tendency data that the driver sets according to his driving tendency or stored in the past, so that the lane maintenance support system is operated. The driver's steering sensitivity problem can be solved, and lane maintenance support system and lane maintenance support method that is customized / friendly to the driver can be implemented. Of course, the scope of the present invention is not limited by these effects.

1 is a block diagram illustrating a lane keeping support system according to an embodiment of the present invention.

2 is a perspective view illustrating a vehicle having a lane keeping support system according to an exemplary embodiment of the present invention.

3 is a conceptual diagram illustrating a driving tendency of a driver applied to the lane keeping support method according to another embodiment of the present invention.

4 is a conceptual diagram illustrating a driving tendency of a driver applied to the lane keeping support method according to another embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various forms, and the following embodiments are intended to complete the disclosure of the present invention, the scope of the invention to those skilled in the art It is provided to inform you completely. In addition, the components may be exaggerated or reduced in size in the drawings for convenience of description.

1 is a block diagram illustrating a lane maintenance support system according to an embodiment of the present invention, Figure 2 is a perspective view illustrating a vehicle having a lane maintenance support system according to an embodiment of the present invention. 1 and 2, the lane maintenance support system 200 according to an embodiment of the present invention is the driving tendency storage unit 230, the lane information extraction unit 240, the vehicle motion determination unit 250, steering It may include a torque calculation unit 260 and the electric steering unit 270, the lane keeping support system 200 is provided in the vehicle.

The driving tendency storage unit 230 stores the driving tendency of the driver. The driving tendency storage unit 230 may include a first driving tendency storage unit configured to directly set and store a driving tendency of the driver. The driving tendency storing unit 230 may include a second driving tendency storing unit configured to automatically store the driving tendency by analyzing a past driving tendency of the driver. The driving tendency storage unit 230 may include a third driving tendency storage unit configured to store statistical driving tendencies according to gender, age, or personality of the driver. The driving tendency storage unit 230 may include a fourth driving tendency storage unit configured to store and set a steering pattern for each main mode (for example, rapid, normal, and gentle). The driving tendency storage unit 230 according to an embodiment of the present disclosure includes at least one of the first driving tendency storage unit, the second driving tendency storage unit, the third driving tendency storage unit, and the fourth driving tendency storage unit. can do .

The lane information extracting unit 240 extracts lane information of the driving lane. The lane information extractor 240 may include a sensor unit configured to measure a curvature of the driving lane, a departure angle or a separation distance of the vehicle from the driving lane (center). The sensor part means a sensor part capable of sensing a structure or a fixture around the vehicle, and includes at least one of a front part (eg, a grill, a bumper, a room mirror) and / or a rear part (eg, a trunk entrance) of the vehicle. It may include a radar 244, a laser 242 or an

image sensor

246, 248 disposed in a portion. Radars and / or lasers may also be disposed at the rear of the vehicle, unlike the exemplary configuration of FIG. 2.

The vehicle motion determiner 250 that determines the movement of the vehicle may determine the movement of the vehicle based on the lateral dynamics of the vehicle. For example, the vehicle motion determiner 250 may include at least one selected from the group consisting of an acceleration sensor, an inertial sensor such as a gyro sensor, a vehicle speed sensor, a steering angle sensor, and the like.

The steering torque calculation unit 260 calculates steering torque required for lane keeping support using data provided from the driving tendency storing unit 230, the lane information extracting unit 240, and the vehicle motion decision unit 250. The electric steering unit 270 generates the steering torque calculated by the steering torque calculating unit 260.

Furthermore, the lane maintenance support system 200 according to an embodiment of the present application further includes a human machine interface (HMI) device unit 280 that informs a driver of an operating state of the lane maintenance support system in real time. It may include. The HMI device 280 may include steering data calculated by the steering torque calculation unit 260 and data provided from the driving tendency storage unit 230, the lane information extracting unit 240, and the vehicle motion decision unit 250 by a driver in a vehicle. Information may be provided to recognize the talk visually and / or audibly. In addition, the HMI device 280 may provide information to recognize whether the driver is inadvertently handled in the steering wheel operation situation of the driver. HMI technology refers to technology applied to the system so that information and situations can be immediately recognized by human vision and / or hearing through graphics, so that appropriate actions can be taken immediately when necessary. The process can be simplified by the interaction of.

The lane keeping support system 200 referred to herein is not an unmanned automatic system but a system that supports a driving lane following function when carelessness is always in mind in a situation where a steering wheel of a driver is in mind. The method proposed in the present invention is a lane keeping support system by allowing the driver to automatically set up and control the driving tendency data previously stored or stored in the lane maintaining support system, which was capable of only conventional collective control or stored in the past. This solves the driver's steering problems that could have arisen during operation and enables the driver to implement a lane support system that is custom / friendly.

Hereinafter, to describe a driver customized lane maintenance support method according to another embodiment of the present application. The lane maintenance support method for the driver may include extracting a driving tendency of a stored driver, extracting lane information of a driving lane, determining a movement of the vehicle, driving tendency of the driver, lane information of the driving lane, and Using the data of the movement of the vehicle, it may include the step of calculating the steering torque necessary for lane maintenance support and generating the calculated steering torque.

The driver's customized lane maintenance support method may further include a step of directly setting and storing a driving tendency of the driver before the driving tendency of the stored driver is extracted. The lane maintenance support method for the driver may further include automatically storing the driving tendency by analyzing the past driving tendency of the driver before extracting the stored tendency of the driver. 3 and 4, these steps are described in more detail.

Referring to FIG. 3, a first driving tendency of a vehicle traveling on a curvature road will be described. In a road having a curvature, an imaginary center line 150 may be assumed between the inner boundary line 140 and the outer boundary line 160 of the road. The first driving tendency of the vehicle is i) to travel relatively close to the outer boundary line 160 of the road before entering the curve (e.g. before reaching the AA line), and ii) In the part (between the AA line and the BB line), the vehicle travels relatively close to the inner boundary line 140 of the road, and iii) in the straight part (for example, when driving the straight road away from the BB line). It may have a pattern to travel relatively close to the outer boundary line 160 of the road.

That is, the first driving tendency of the vehicle is, i) Before entering the curved portion, the distance S1 between the vehicle 210a and the inner boundary line 140 of the road is the virtual center line 150 and the inner boundary line 140. Is greater than the distance C1, and ii) the distance between the vehicle 210b and the inner boundary line 140 of the road at the curved portion is the distance between the imaginary center line 150 and the inner boundary line 140. Smaller than (C1), and iii) out of the curved portion again in the straight portion, the distance S3 between the vehicle 210c and the inner boundary line 140 of the road is between the imaginary center line 150 and the inner boundary line 140. It may have a pattern larger than the distance C1.

This first driving tendency can be expected to reduce the centrifugal force received by the vehicle by relatively reducing the steering angle of the handle 222 in the process of driving the curved portion of the vehicle at high speed. Therefore, the effect of improving the ride comfort of the vehicle occupant and reducing the wear of the tire can be expected. If the driver prefers the first driving tendency, the preferred first driving tendency may be directly set and stored in the driving tendency storage 230 before driving the vehicle. Alternatively, the driving tendency may be automatically stored in the driving tendency storage unit 230 by analyzing past driving tendencies driving in accordance with the first driving tendency.

Referring to FIG. 4, a second driving tendency of a vehicle traveling on a curvature road will be described. In a road having a curvature, an imaginary center line 150 may be assumed between the inner boundary line 140 and the outer boundary line 160 of the road. The second tendency of the vehicle to travel along the virtual centerline 150 of the road before i) entering the curved portion (eg, before reaching the AA line), and ii) the curved portion AA. Between the line and the BB line) may travel along the imaginary center line 150 of the road, and iii) have a pattern of traveling along the imaginary center line 150 of the road again, away from the curved portion.

That is, the second driving tendency of the vehicle is the distance (S1, S2) between the vehicle and the inner boundary line 140 of the road even in the straight portion again before entering the curved portion and ii) the curved portion and iii) the curved portion again. And S3 may have the same pattern as the distance C1 between the virtual center line 150 and the inner boundary line 140.

The second driving tendency may be a centrifugal force received by the vehicle because the steering angle of the steering wheel 222 is relatively larger than that of the first driving tendency in the process of driving the curved portion at a high speed, but the virtual center line 150 of the road Since driving along the road can be expected to give a stable effect to the occupant of the vehicle. Therefore, the second driving tendency may be preferred depending on the driver depending on the angle θ1 of the road and the driving speed of the vehicle. If the driver prefers the second driving tendency, the second driving tendency may be directly set and stored in the driving tendency storage 230 before driving the vehicle. Alternatively, the driving tendency may be automatically stored in the driving tendency storage unit 230 by analyzing past driving tendencies driving in accordance with the second driving tendency.

In addition, the driving propensity to drive a vehicle on the road includes the curvature of the road, the speed of the driving vehicle, the centrifugal force received by the vehicle, the ride comfort of the vehicle, the tire wear of the vehicle, the degree of slippage, the frequency of traffic accidents, the fuel consumption of the vehicle, and the like. In consideration of the variable, the driver may directly set and store the driving tendency storage unit 230. Alternatively, the driving tendency may be automatically stored in the driving tendency storage unit 230 by analyzing past driving tendencies driving in accordance with the driving tendency.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary, and those skilled in the art will understand that various modifications and equivalent other embodiments are possible. Therefore, the true technical protection scope of the present invention will be defined by the technical spirit of the appended claims.

(Explanation of the sign)

200: lane keeping support system

230: driving tendency storage unit

240: lane information extraction unit

250: vehicle motion judgement

260: steering torque calculation unit

270: electric steering unit

280: HMI device unit

Claims

A driving tendency storing unit which stores a driving tendency of the driver;

A lane information extracting unit extracting lane information of the driving lane;

A vehicle motion determiner for determining movement of the vehicle;

A steering torque calculation unit that calculates steering torque required for lane keeping support by using data provided from the driving tendency storing unit, the lane information extracting unit, and the vehicle motion determining unit; And

An electric steering apparatus unit for generating the calculated steering torque;

Including, the driver customized lane maintenance support system.
The method of claim 1,

The driving tendency storing unit includes a driving tendency storing unit configured to directly set and store a driving tendency of the driver.
The method of claim 1,

The driving tendency storing unit includes a driving tendency storing unit configured to automatically store the driving tendency by analyzing a past driving tendency of the driver.
The method of claim 1,

The driving tendency storing unit includes a driving tendency storing unit configured to store statistical driving tendencies according to gender, age, or personality of the driver.
The method of claim 1,

The lane information extracting unit includes a sensor unit for measuring a curvature of the driving lane, a departure angle from the driving lane, or a departure distance.
The method of claim 1,

And the vehicle motion judging unit can determine the movement of the vehicle based on the lateral dynamics of the vehicle.
The method of claim 1,

And a human machine interface (HMI) device unit which notifies the driver of the operating state of the lane keeping support system in real time.
Extracting the driving tendency of the stored driver;

Extracting lane information of a driving lane;

Determining the movement of the vehicle;

Calculating steering torque required for lane keeping support using the driving tendency of the driver, lane information of the driving lane, and data of the movement of the vehicle; And

Generating the calculated steering torque;

Including, the driver customized lane maintenance support method.
The method of claim 8, further comprising, directly before the step of extracting the driving tendency of the stored driver, the driver directly setting and storing the driving tendency of the driver.
The method of claim 8, further comprising automatically storing the driving tendency by analyzing the past driving tendency of the driver before extracting the stored tendency of the driver.