KR101390909B1 - A system to detect and to decide the lateral lane change intention of drivers - Google Patents

A system to detect and to decide the lateral lane change intention of drivers Download PDF

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KR101390909B1
KR101390909B1 KR1020120010641A KR20120010641A KR101390909B1 KR 101390909 B1 KR101390909 B1 KR 101390909B1 KR 1020120010641 A KR1020120010641 A KR 1020120010641A KR 20120010641 A KR20120010641 A KR 20120010641A KR 101390909 B1 KR101390909 B1 KR 101390909B1
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vehicle
lane change
driver
state information
intention
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KR20130089351A (en
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유시복
우진명
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자동차부품연구원
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/10—Interpretation of driver requests or demands
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W10/00—Conjoint control of vehicle sub-units of different type or different function
    • B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18163—Lane change; Overtaking manoeuvres
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W50/08—Interaction between the driver and the control system
    • B60W50/14—Means for informing the driver, warning the driver or prompting a driver intervention
    • B60W2050/143—Alarm means
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2540/00—Input parameters relating to occupants
    • B60W2540/18—Steering angle
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/10—Path keeping
    • B60Y2300/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/18—Propelling the vehicle
    • B60Y2300/18008—Propelling the vehicle related to particular drive situations
    • B60Y2300/18166—Overtaking, changing lanes

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
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  • Combustion & Propulsion (AREA)
  • Traffic Control Systems (AREA)

Abstract

본 발명은 운전자 차선변경 의도 판단 시스템에 관한 것으로서, 차량 상태정보를 바탕으로, 운전자의 차선변경 의도 여부를 판단하는 시스템을 제공함에 그 목적이 있다.
이러한 목적을 달성하기 위한 본 발명은, 차선 변경에 따른 차량 상태정보를 취득하고, 취득한 차량 상태정보를 바탕으로, 차량의 조향에 관한 정보를 추정하는 차량 상태정보 취득부; 및 HMM(Hidden Markov Model)에 상기 차량 상태정보 취득부를 통해 추정된 차량의 조향 및 위치에 관한 정보를 적용하여, 운전자의 의도를 판단하는 운전자 의도 판단부; 를 포함한다. An object of the present invention is to provide a system for determining a driver's intention to change lanes on the basis of vehicle state information.
According to an aspect of the present invention, there is provided an information processing apparatus comprising: a vehicle state information acquiring unit that acquires vehicle state information according to a lane change and estimates information about a steering of the vehicle based on the acquired vehicle state information; A driver's intention determining unit for determining an intention of the driver by applying information about a steering and a position of the vehicle estimated through the vehicle state information acquisition unit to an HMM (Hidden Markov Model); .

Description

운전자 차선변경 의도 판단 시스템{A SYSTEM TO DETECT AND TO DECIDE THE LATERAL LANE CHANGE INTENTION OF DRIVERS}BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a driver's lane change intention determination system,

본 발명은 운전자 차선변경 의도 판단 시스템에 관한 것으로서, 더욱 상세하게는 차량 상태정보를 바탕으로, 운전자의 차선변경 의도 여부를 판단하는 시스템에 관한 것으로서, 차량의 횡방향 제어 시스템(LDWS, LKAS, BSD, LCDAS 등)을 포함한 첨단 능동 안전 시스템(ASV)에 활용될 수 있다.More particularly, the present invention relates to a system for determining a driver's intention to change lanes on the basis of vehicle state information, and more particularly, to a system for determining a lane-changing intention of a driver based on vehicle lateral direction control systems (LDWS, LKAS, BSD , LCDAS, etc.), which can be used in advanced active safety systems (ASV).

일반적으로 첨단 안전 차량 기술로는 예방안전기술, 사고회피기술, 자율주행기술, 충돌안전기술, 편의성 향상 기술, 차량 정보화 기술 등이 있는데 예방안전과 관련된 기술은 FVCWS(Forward vehicle collision warning system), LDWS(Lane departure warning system), LCDAS(Lane change dicision system), SOWS(Side obstacle warning system) 등이 있다. In general, advanced safety vehicle technologies include preventive safety technology, accident avoidance technology, autonomous driving technology, collision safety technology, convenience enhancement technology, and vehicle information technology. Preventive safety related technologies include forward vehicle collision warning system (FVCWS), LDWS (Lane departure warning system), LCDAS (Lane change dicision system) and SOWS (Side obstacle warning system).

한편, 차량의 차선 이탈에 따른 경보를 발생시키는 장치와 관련해서는, 한국공개특허 10-2004-0035142호(이하, '선행문헌') 외에 다수 출원 및 공개되어 있다. On the other hand, in relation to a device for generating an alarm in accordance with a departure of a lane of a vehicle, many applications and disclosures have been made in addition to Korean Patent Laid-Open No. 10-2004-0035142 (hereinafter referred to as "prior art document").

선행문헌에 따른 장치는, 주행도로의 전방 영상을 검출하여 영상신호를 출력하는 CCD카메라와, 차량의 측방 하부의 차선을 감지하기 위한 다수개의 포토커플러들과, 상기 CCD카메라로부터 출력된 영상신호를 분석하여 주행도로의 차선을 검출하며 검출된 차선영상으로부터 운행차량이 주행도로를 이탈하였는가 판단할 뿐만 아니라 상기 다수개의 포토커플러들의 출력값을 통해 차선이탈 상태를 판단하는 제어부와, 상기 제어부의 판단결과에 따라 운전자에게 차선이탈 상태를 경고하는 경고부; 를 포함하여 이루어진다. The apparatus according to the prior art includes a CCD camera for detecting a forward image of a driving road and outputting a video signal, a plurality of photocouplers for detecting a lane of a lower side of the vehicle, A control unit for detecting a lane on the driving road by analyzing the driving lane and determining whether the driving vehicle has departed from the driving lane based on the detected lane image and determining the lane departure state based on the output values of the plurality of photocouplers; An alarm unit for warning the driver of the lane departure state; .

이 기술들은 차량의 레이더 센서 및 전/후/좌/우의 카메라를 이용하여 운전자에게 앞 차량의 거리, 차선의 인식, 측/후방의 물체확인 정보를 통하여 경고를 주어 충돌의 위험을 미연에 방지할 수 있도록 할 수 있는 기능이다. These technologies use a radar sensor and a front / rear / left / right camera of the vehicle to warn the driver of the distance of the front vehicle, recognition of the lane, and object identification information on the side / rear to prevent the risk of collision This is a function that can be done.

그러나, 선행문헌을 포함한 이러한 기술들은 운전자의 의도 여부와는 상관없이 경고 정보를 제공하기 때문에 불필요한 정보까지도 제공이 되어 운전을 방해한다는 문제점들이 제기되어 왔다. However, these technologies including prior art documents provide warning information irrespective of the intention of the driver, so that unnecessary information is also provided, which hinders operation.

본 발명은 상기와 같은 문제점을 감안하여 안출된 것으로, 차량 상태정보를 바탕으로, 운전자의 차선변경 의도 여부를 판단하는 시스템을 제공함에 그 목적이 있다. SUMMARY OF THE INVENTION It is an object of the present invention to provide a system for determining whether a driver intends to change lanes on the basis of vehicle state information.

이러한 기술적 과제를 달성하기 위한 본 발명은 에 관한 것으로서, 차선 변경에 따른 차량 상태정보를 취득하고, 취득한 차량 상태정보를 바탕으로, 차량의 조향에 관한 정보를 추정하는 차량 상태정보 취득부; 및 HMM(Hidden Markov Model)에 상기 차량 상태정보 취득부를 통해 추정된 차량의 조향 및 위치에 관한 정보를 적용하여, 운전자의 의도를 판단하는 운전자 의도 판단부; 를 포함한다. According to an aspect of the present invention, there is provided a vehicle state information acquisition system comprising: a vehicle state information acquisition unit that acquires vehicle state information according to a lane change and estimates information about the steering of the vehicle based on the acquired vehicle state information; A driver's intention determining unit for determining an intention of the driver by applying information about a steering and a position of the vehicle estimated through the vehicle state information acquisition unit to an HMM (Hidden Markov Model); .

또한 상기 차량 상태정보는, 차량의 방향 신호(Turn signal), 회전 각속도(Yaw rate), VX(차량 body Fixed 좌표상의 X방향 속도) 및 VY(차량 body Fixed 좌표상의 Y방향 속도) 정보를 포함하는 것을 특징으로 한다. In addition, the vehicle status information, the direction signal (Turn signal), the rotational angular velocity (Yaw rate), V X (vehicle body Fixed coordinates on the X velocity), and V Y (vehicle Y direction speed on the body Fixed coordinates) of the vehicle information, .

또한 상기 차량의 조향에 관한 정보는, 조향각(Steering Angle), 조향 각속도(Steering Angle velocity) 및 측위(Lateral position) 정보를 포함하는 것을 특징으로 한다. Further, the information on the steering of the vehicle includes a steering angle, a steering angle velocity, and a lateral position information.

또한 상기 운전자 의도 판단부는, 상기 차량 상태정보 취득부를 통해 취득한 차량 상태정보 및 추정된 차량의 조향에 관한 정보를 HMM(Hidden Markov Model) 알고리즘 분석에 적용하여 값을 산출하는 분석 모듈; 및 상기 분석 모듈을 통한 산출 값을 바탕으로, 운전자의 의도 유무 및 경고 유무를 판단하는 판단 모듈; 을 포함하는 것을 특징으로 한다. Also, the driver's intention determining unit may include an analysis module that calculates a value by applying the vehicle state information acquired through the vehicle state information acquisition unit and information on the estimated steering of the vehicle to an HMM (Algorithm for Hidden Markov Model) algorithm analysis; And a determination module for determining whether there is a driver's intention or warning based on the calculated value through the analysis module; And a control unit.

또한 상기 분석 모듈은, [수식 1] 을 통하여, 취득한 차량 상태정보 및 추정된 차량의 조향에 관한 정보를 HMM(Hidden Markov Model) 알고리즘 분석에 적용하여 값을 산출하는 것을 특징으로 한다. Further, the analysis module calculates the value by applying the acquired vehicle state information and the information about the estimated steering of the vehicle to the HMM algorithm analysis through the equation (1).

[수식 1] [Equation 1]

Figure 112012008730117-pat00001
Figure 112012008730117-pat00001

또한 상기 판단 모듈은, 상기 분석 모듈을 통한 산출 값이 1미만일 경우 차선유지(LKN)로 구분하고, 1이상 2미만일 경우 일반 차선변경(LCN)으로, 2이상일 경우 긴급 차선변경(LCE)으로 구분하는 것을 특징으로 한다. In addition, the determination module may classify the lane marking (LKN) when the calculated value is less than 1, the general lane change (LCN) when the value is less than 1 and less than 2, and the lane change .

그리고 상기 판단 모듈은, 차선유지(LKN)로 구분된 경우, 의도가 없는 차선변경으로 판단하며, 일반 차선변경(LCN) 및 긴급 차선변경(LCE)으로 구분된 경우, 의도에 의한 차선변경으로 판단하는 것을 특징으로 한다. The determination module determines that the lane change is unintentional if it is classified as lane keeping (LKN). If the lane change is classified into an ordinary lane change (LCN) and an emergency lane change (LCE) .

상기와 같은 본 발명에 따르면, 첨단 안전 차량 및 지능형 차량의 시스템에 활용되는 경우, 운전자의 의도에 따른 안전 주행 및 경고 정보 제공이 가능하며, 시스템 개발에 따른 운전자 의도 판단 알고리즘 추가 시, 보다 정확한 정보 제공으로 사용자의 안전을 향상시킬 수 있는 효과가 있다.According to the present invention as described above, safe driving and warning information can be provided according to the intention of a driver when used in a system of advanced safety vehicles and intelligent vehicles. In addition, when adding a driver's intention determination algorithm according to system development, Thereby improving the safety of the user.

그리고 본 발명에 따르면, 불필요한 정보 제공에 의한 운전 방해 요인을 줄임으로써 좀 더 효율적인 경고 정보를 제공할 수 있는 효과도 있다. According to the present invention, more efficient warning information can be provided by reducing the driving disturbance factor by providing unnecessary information.

도 1 은 본 발명에 따른 운전자 차선변경 의도 판단 시스템을 개념적으로 도시한 전체 구성도.
도 2 는 본 발명에 따른 입력되는 차량 상태정보 및 조향에 관한 정보를 통한 운전자의 의도 유무를 보이는 일예시도. BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall configuration conceptually showing a driver's lane change intention determining system according to the present invention; FIG.
FIG. 2 is an exemplary view showing the intention of a driver through inputting vehicle state information and steering information according to the present invention; FIG.

본 발명의 구체적 특징 및 이점들은 첨부도면에 의거한 다음의 상세한 설명으로 더욱 명백해질 것이다. 이에 앞서 본 발명에 관련된 공지 기능 및 그 구성에 대한 구체적인 설명이 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 경우에는, 그 구체적인 설명을 생략하였음에 유의해야 할 것이다.Specific features and advantages of the present invention will become more apparent from the following detailed description based on the accompanying drawings. It is to be noted that the detailed description of known functions and constructions related to the present invention is omitted when it is determined that the gist of the present invention may be unnecessarily blurred.

이하, 첨부된 도면을 참조하여 본 발명을 상세하게 설명한다. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described in detail with reference to the accompanying drawings.

본 발명에 따른 운전자 차선변경 의도 판단 시스템에 관하여 도 1 내지 도 2 를 참조하여 설명하면 다음과 같다. A driver lane change intention determining system according to the present invention will be described with reference to Figs. 1 and 2. Fig.

도 1 은 본 발명에 따른 운전자 차선변경 의도 판단 시스템(S)을 개념적으로 도시한 전체 구성도이며, 도 2 는 본 발명에 따른 입력되는 차량 상태정보 및 조향에 관한 정보를 통한 운전자의 의도 유무를 보이는 일예시도이다. FIG. 1 is an overall configuration diagram conceptually showing a driver's lane change intention determination system S according to the present invention. FIG. 2 is a graph showing the intention of a driver through inputting vehicle state information and steering information according to the present invention. It is an example of a visible work.

도시된 바와 같이 차량 상태정보 취득부(100), 운전자 의도 판단부(200) 및 경고 발생부(300)를 포함하여 이루어진다.A vehicle state information acquiring unit 100, a driver's intention determining unit 200, and an alarm generating unit 300, as shown in FIG.

차량 상태정보 취득부(100)는 차선 변경에 따른 운전자의 조작신호 또는 조작신호에 의한 차량의 신호 데이터를 바탕으로 차량 상태정보를 취득하고, 취득한 차량 상태정보를 바탕으로, 차량의 조향에 관한 정보를 추정한다. The vehicle state information acquiring unit 100 acquires the vehicle state information based on the driver's operation signal or the signal data of the vehicle based on the operation signal according to the lane change, and based on the acquired vehicle state information, .

이때, 상기 차량 상태정보는, 차량의 방향 신호(Turn signal), 회전 각속도(Yaw rate), VX(차량 body Fixed 좌표상의 X방향 속도) 및 VY(차량 body Fixed 좌표상의 Y방향 속도) 등의 정보를 포함하며, 상기 차량의 조향에 관한 정보는, 조향각(Steering Angle), 조향 각속도(Steering Angle velocity) 및 측위(Lateral position) 등의 정보를 포함한다.
In this case, the vehicle status information, the direction signal (Turn signal) of the vehicle, the rotational angular velocity (Yaw rate), V X (vehicle body Fixed coordinates on the X velocity), and V Y (vehicle Y direction speed on the body Fixed coordinates), etc. And the information on the steering of the vehicle includes information such as a steering angle, a steering angle velocity, and a lateral position.

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운전자 의도 판단부(200)는 차량 상태정보 취득부(100)를 통해 추정된 차량의 조향 및 위치에 관한 정보를 이용하여 운전자의 의도를 판단한다.
구체적으로, 운전자 의도 판단부(200)는, 상기 차량 상태정보 취득부(100)를 통해 취득한 차량 상태정보 및 추정된 차량의 조향에 관한 정보를 바탕으로, 차선유지(LKN), 차선변경(LCN), 긴급 차선변경(LCE) 중, 어느 하나로 구분한다.
이때, 상기 차선유지(LKN)로 구분된 경우 운전자 의도 판단부(200)는 의도가 없는 차선변경으로 판단하며, 일반 차선변경(LCN) 및 긴급 차선변경(LCE)으로 구분된 경우, 의도에 의한 차선변경으로 판단한다.
또한, 의도가 없는 차선변경으로 판단된 차선유지(LKN)로 구분된 경우, 경고 발생부(300)를 통해 경고를 발생시킬 수 있다.
한편, 본 발명에 따른 운전자 의도 판단부(200)는 차량 상태정보 취득부(100)를 통해 추정된 차량의 조향 및 위치에 관한 정보를 HMM(Hidden Markov Model)에 적용하여 운전자 의도를 판단할 수도 있다.
The driver's intention determining unit 200 determines the intention of the driver based on the estimated information about the steering and the position of the vehicle through the vehicle state information obtaining unit 100. [
Specifically, the driver's intention determining unit 200 determines whether or not a lane change (LKN), a lane change (LCN), and a lane change based on the vehicle state information acquired through the vehicle state information acquisition unit 100 and the information about the estimated steering of the vehicle ), Emergency lane change (LCE).
In this case, when the lane marking is divided into the lane keeping (LKN), the driver's intention determining unit 200 determines that there is no intentional lane change, and if the lane change is classified into an ordinary lane change (LCN) and an emergency lane change (LCE) It is determined that the lane change has been made.
In addition, when the lane mark is divided into the lane-keeping (LKN), which is determined to be a lane change without intention, a warning can be generated through the warning generator 300.
Meanwhile, the driver's intention determining unit 200 according to the present invention can determine the driver's intention by applying the information about the steering and the position of the vehicle estimated through the vehicle state information obtaining unit 100 to the HMM (Hidden Markov Model) have.

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그리고, 경고 발생부(300)는 상기 운전자 의도 판단부(200)를 통해 판단된 의도 유무에 따라 경고를 발생시킨다. 즉, 의도가 없는 차선변경의 경우, 경고를 발생시킨다.
The warning generating unit 300 generates a warning according to the intention determined through the driver's intention determining unit 200. That is, in the case of a lane change without intention, a warning is issued.

이상으로 본 발명의 기술적 사상을 예시하기 위한 바람직한 실시예와 관련하여 설명하고 도시하였지만, 본 발명은 이와 같이 도시되고 설명된 그대로의 구성 및 작용에만 국한되는 것이 아니며, 기술적 사상의 범주를 일탈함이 없이 본 발명에 대해 다수의 변경 및 수정이 가능함을 당업자들은 잘 이해할 수 있을 것이다. 따라서, 그러한 모든 적절한 변경 및 수정과 균등물들도 본 발명의 범위에 속하는 것으로 간주되어야 할 것이다. While the present invention has been particularly shown and described with reference to preferred embodiments thereof, it will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. It will be appreciated by those skilled in the art that numerous changes and modifications may be made without departing from the invention. Accordingly, all such appropriate modifications and changes, and equivalents thereof, should be regarded as within the scope of the present invention.

S: 운전자 차선변경 의도 판단 시스템
100: 차량 상태정보 취득부 200: 운전자 의도 판단부
210: 분석 모듈 220: 판단 모듈
300: 경고 발생부S: Driver lane change intention judgment system
100: Vehicle condition information acquisition unit 200: Driver's intention determining unit
210: Analysis module 220: Judgment module
300:

Claims (7)

차량의 횡방향 제어 시스템에 활용하기 위한 운전자 차선변경 의도 판단 시스템에 있어서,
차선 변경에 따른 운전자의 조작신호 또는 조작신호에 의한 차량의 신호 데이터를 바탕으로 차량 상태정보를 취득하고, 취득한 차량 상태정보를 바탕으로, 차량의 조향에 관한 정보를 추정하는 차량 상태정보 취득부(100);
상기 차량 상태정보 취득부(100)를 통해 추정된 차량의 조향 및 위치에 관한 정보를 적용하여, 운전자의 의도를 판단하는 운전자 의도 판단부(200); 및
상기 운전자 의도 판단부(200)를 통해 판단된 의도 유무에 따라 경고를 발생시키는 경고 발생부(300); 를 포함하되,
상기 운전자 의도 판단부(200)는,
상기 차량 상태정보 취득부(100)를 통해 취득한 차량 상태정보 및 추정된 차량의 조향에 관한 정보를 바탕으로, 차선유지(LKN), 차선변경(LCN), 긴급 차선변경(LCE) 중, 어느 하나로 구분하되,
상기 차선유지(LKN)로 구분된 경우 의도가 없는 차선변경으로 판단하며, 일반 차선변경(LCN) 및 긴급 차선변경(LCE)으로 구분된 경우, 의도에 의한 차선변경으로 판단하는 것을 특징으로 하며, 의도가 없는 차선변경으로 판단된 차선유지(LKN)로 구분된 경우, 상기 경고 발생부(300)를 통해 경고를 발생시키는 것을 특징으로 하며,
상기 차량 상태정보는,
차량의 방향 신호(Turn signal), 회전 각속도(Yaw rate), VX(차량 body Fixed 좌표상의 X방향 속도) 및 VY(차량 body Fixed 좌표상의 Y방향 속도) 정보를 포함하는 것을 특징으로 하며,
상기 차량의 조향에 관한 정보는,
조향각(Steering Angle), 조향 각속도(Steering Angle velocity) 및 측위(Lateral position) 정보를 포함하는 것을 특징으로 하는 운전자 차선변경 의도 판단 시스템.1. A driver's lane change intention determining system for use in a lateral control system of a vehicle,
A vehicle state information acquisition section (e.g., a vehicle state information acquisition section) for acquiring vehicle state information based on signal data of the vehicle based on an operation signal of the driver or an operation signal in accordance with the lane change and estimating information about the steering of the vehicle 100);
A driver's intention determining unit (200) for determining an intention of the driver by applying information about a steering and a position of the vehicle estimated through the vehicle state information acquiring unit (100); And
An alarm generating unit 300 for generating an alarm according to the intention determined through the driver intention determining unit 200; , ≪ / RTI &
The driver's intention determining unit (200)
Lane change (LCN), and emergency lane change (LCE) based on the vehicle state information acquired through the vehicle state information acquisition unit (100) and the information about the estimated steering of the vehicle However,
It is determined that the lane change is unintentional if it is divided into the lane-keeping (LKN), and when the lane change is divided into the general lane change (LCN) and the emergency lane change (LCE) (LKN), which is determined to be an unintentional lane change, generates a warning through the warning generating unit 300,
The vehicle status information includes:
It characterized in that it comprises a direction signal (Turn signal) of the vehicle, the rotational angular velocity (Yaw rate), V X (vehicle body Fixed coordinates on the X velocity), and V Y (vehicle Y direction speed on the body Fixed coordinate) information, and
The information on the steering of the vehicle may include,
A steering angle, a steering angle, a steering angle, a steering angle, and a lateral position of the driver's lane. 삭제delete 삭제delete 삭제delete 삭제delete 삭제delete 삭제delete
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