본 실시 예는 수신된 통신정보 또는 생성된 센싱정보에 기초하여 옆차로에서 주행중인 옆차량과의 상대거리정보 및 상대속도정보를 감지하는 감지부;와 옆차량과의 상대거리정보 및 상대속도정보에 기초하여 충돌소요시간(Time To Collision, TTC)을 산출하고, 충돌소요시간에 기초하여 옆차로로 이동가능여부를 판단하는 제1판단부;와 옆차로로 이동이 가능한 것으로 판단되면, 옆차로와 자차로를 구분하는 차선에 인접하도록 자차량을 제어하는 제1제어부;와 옆차량과의 종방향상대거리정보 및 종방향상대속도정보를 이용하여 접근소요시간(Time To Reach, TTR)을 산출하고, 접근소요시간에 기초하여 옆차로로 이동가능여부를 재판단하는 제2판단부; 및 옆차로로 이동이 가능한 것으로 재판단되면, 옆차로로 이동하도록 자차량을 제어하는 제2제어부;를 포함하는 주행차로 변경장치에 관한 것이다.
A driving lane changing apparatus of a host vehicle comprises a microcontroller. The microcontroller detects information about one or more vehicles traveling in a neighboring lane from a current lane of the host vehicle based on sensing information generated by a sensor of the host vehicle, determines whether the host vehicle is allowed to move to the neighboring lane based on the sensing information, controls the host vehicle to move adjacently to a line distinguishing between the current lane of the host vehicle and the neighboring lane, calculates longitudinal relative distance information between the host vehicle and the one or more vehicles at a preset time point in which the host vehicle moves to the line, and re-determines whether the host vehicle is allowed to move to the neighboring lane based on the calculated longitudinal relative distance information at the preset time point.
DRIVING LANE CHANGING APPARATUS AND DRIVING LANE CHANGING METHOD
주행차로 변경장치 및 주행차로 변경방법
2024-01-29
Patent
Electronic Resource
Korean
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion |
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