Apparatus and method for controlling lane change in vehicle

CROSS-REFERENCE TO RELATED APPLICATIONS

0001This application claims priority to and the benefit of Korean Patent Application No. <patcit id="pcit0001" dnum="KR1020180107270"><text>10-2018-0107270, filed on September 7, 2018</text></patcit>, which claims priority to and the benefit of <patcit id="pcit0002" dnum="US62655831B"><text>US Patent Application No. 62/655,831, filed on April 11, 2018</text></patcit>, the entirety of each of which are incorporated herein by reference.

FIELD

0002The present disclosure relates to an apparatus and method for adjusting a speed of a vehicle to control a lane change.

BACKGROUND

0003The statements in this section merely provide background information related to the present disclosure and may not constitute prior art.

0004With the development of the auto industry, a lane change control system capable of automatically changing a lane on which a vehicle is traveling has been developed. When a driver operates a turn signal with the intention of changing a lane, the lane change control system may perform a lane change by automatically controlling a vehicle in a horizontal direction toward a direction where the turn signal is turned on. The lane change control system may perform a lane change by determining whether a speed, a location, and the like of a surrounding vehicle are suitable for performing the lane change, setting a control path for the lane change, and controlling steering torque along the control path. The lane change control system may detect a preceding vehicle and a following vehicle and may perform control based on the obtained information.

0005We have discovered that when a driving speed of a vehicle is lower, lane change control may put a driver in danger, and the driver may set a minimum operation speed capable of performing lane change control. In addition, when the minimum operation speed is set, while the vehicle travels at a speed lower than the minimum operation speed, when a lane change command of the driver is generated, we have discovered that a control strategy is desired to accelerate the vehicle to the minimum operation speed or more. When the above-mentioned control strategy is provided, the amount of calculation may be increased and a high performance processor may be desired to process various factors for the vehicle and external environments.

SUMMARY

0006An aspect of the present disclosure provides an apparatus and method for controlling a lane change in a vehicle to provide a strategy for lane change control using simple calculation when a driving speed of the vehicle is lower than a minimum operation speed.

0007The technical problems to be solved by the present inventive concept are not limited to the aforementioned problems, and any other technical problems not mentioned herein will be clearly understood from the following description by those skilled in the art to which the present disclosure pertains.

0008According to an aspect of the present disclosure, an apparatus for controlling a lane change in a vehicle may include: a sensor configured to sense an external vehicle, an input device configured to receive a lane change command from a driver of the vehicle, and a control circuit configured to be electrically connected with the sensor and the input device. The control circuit may be configured to receive the lane change command using the input device, calculate a minimum operation speed for lane change control of the vehicle, and determine whether to accelerate the vehicle based on a distance between a preceding vehicle which is traveling on the same lane as the vehicle and the vehicle, when a driving speed of the vehicle is lower than the minimum operation speed when receiving the lane change command.

0009The control circuit may be configured to compare a distance between the preceding vehicle and the vehicle with a safety distance calculated based on a speed of the preceding vehicle and the driving speed of the vehicle and determine whether to accelerate the vehicle based on the compared result.

0010The control circuit may be configured to control the vehicle such that the driving speed of the vehicle is higher than the minimum operation speed, when a distance between the preceding vehicle and the vehicle is longer than a safety distance calculated based on a speed of the preceding vehicle and the driving speed of the vehicle and perform the lane change control.

0011The control circuit may be configured to control the vehicle to decelerate, when a distance between the preceding vehicle and the vehicle is shorter than a safety distance calculated based on a speed of the preceding vehicle and the driving speed of the vehicle.

0012The control circuit may be configured to calculate a safety distance between the preceding vehicle and the vehicle based on a speed of the preceding vehicle, the driving speed of the vehicle, maximum acceleration of the vehicle, and minimum acceleration of the vehicle and determine whether to accelerate the vehicle based on a distance between the preceding vehicle and the vehicle and the safety distance.

0013The control circuit may be configured to control the vehicle such that the driving speed of the vehicle is higher than the minimum operation speed, when the preceding vehicle is not sensed by the sensor and perform the lane change control.

0014The control circuit may be configured to control the vehicle such that the driving speed of the vehicle is higher than the minimum operation speed, when the minimum operation speed is lower than a speed of the preceding vehicle and perform the lane change control.

0015The control circuit may be configured to determine whether to accelerate the vehicle based on a distance between the preceding vehicle and the vehicle, when the minimum operation speed is higher than or equal to a speed of the preceding vehicle.

0016The control circuit may be configured to calculate the minimum operation speed in response to receiving the lane change command.

0017The control circuit may be configured to calculate the minimum operation speed periodically while the vehicle travels.

0018The control circuit may be configured to, when a following vehicle which is traveling on a target lane corresponding to the lane change command is sensed by the sensor, calculate the minimum operation speed based on a speed of the following vehicle and a distance between the vehicle and the following vehicle.

0019The control circuit may be configured to, when a following vehicle which is traveling on a target lane corresponding to the lane change command is not sensed by the sensor, calculate the minimum operation speed based on a predetermined speed for traveling vehicles and a sensing distance corresponding to a maximum distance sensible by the sensor.

0020According to another aspect of the present disclosure, a method for controlling a lane change in a vehicle may include: receiving a lane change command from a driver of the vehicle, calculating a minimum operation speed for lane change control, and determining whether to accelerate the vehicle based on a distance between a preceding vehicle which is traveling on the same lane as the vehicle and the vehicle, when a driving speed of the vehicle is lower than the minimum operation speed when receiving the lane change command.

0021The method may further include controlling the vehicle such that the driving speed of the vehicle is higher than the minimum operation speed, when a distance between the preceding vehicle and the vehicle is longer than a safety distance calculated based on a speed of the preceding vehicle and the driving speed of the vehicle and performing the lane change control, when the driving speed of the vehicle becomes higher than the minimum operation speed.

0022The method may further include controlling the vehicle to decelerate, when a distance between the preceding vehicle and the vehicle is shorter than a safety distance calculated based on a speed of the preceding vehicle and the driving speed of the vehicle.

0023Further areas of applicability will become apparent from the description provided herein. It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure.

DRAWINGS

0024In order that the disclosure may be well understood, there will now be described various forms thereof, given by way of example, reference being made to the accompanying drawings, in which: <ul id="ul0001" list-style="none" compact="compact"><li><figref idref="f0001">FIG. 1</figref> is a block diagram illustrating a configuration of an apparatus for controlling a lane change in a vehicle;</li><li><figref idref="f0002">FIG. 2</figref> is a drawing illustrating an exemplary operation of an apparatus for controlling a lane change in a vehicle;</li><li><figref idref="f0003">FIG. 3</figref> is a drawing illustrating an exemplary operation of an apparatus for controlling a lane change in a vehicle;</li><li><figref idref="f0004">FIG. 4</figref> is a drawing illustrating an exemplary operation of an apparatus for controlling a lane change in a vehicle;</li><li><figref idref="f0005">FIG. 5</figref> is a drawing illustrating an exemplary operation of an apparatus for controlling a lane change in a vehicle;</li><li><figref idref="f0006">FIG. 6</figref> is a drawing illustrating an exemplary operation of an apparatus for controlling a lane change in a vehicle;</li><li><figref idref="f0007">FIG. 7</figref> is a drawing illustrating an exemplary operation of an apparatus for controlling a lane change in a vehicle;</li><li><figref idref="f0008">FIG. 8</figref> is a drawing illustrating an exemplary operation for determining whether to accelerate a vehicle in an apparatus for controlling a lane change in the vehicle;</li><li><figref idref="f0009">FIG. 9</figref> is a flowchart illustrating a method for controlling a lane change in a vehicle;</li><li><figref idref="f0010">FIG. 10</figref> is a flowchart illustrating a method for controlling a lane change in a vehicle; and</li><li><figref idref="f0011">FIG. 11</figref> is a block diagram illustrating a configuration of a computing system.</li></ul>

0025The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way.

DETAILED DESCRIPTION

0026The following description is merely exemplary in nature and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, corresponding reference numerals indicate like or corresponding parts and features.

0027In addition, in describing an exemplary form of the present disclosure, if it is determined that a detailed description of related well-known configurations or functions blurs the gist of the present disclosure, it will be omitted.

0028In describing elements of forms of the present disclosure, the terms 1^st, 2^nd, first, second, A, B, (a), (b), and the like may be used herein. These terms are only used to distinguish one element from another element, but do not limit the corresponding elements irrespective of the nature, turn, or order of the corresponding elements. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meanings as those generally understood by those skilled in the art to which the present disclosure pertains. Such terms as those defined in a generally used dictionary are to be interpreted as having meanings equal to the contextual meanings in the relevant field of art, and are not to be interpreted as having ideal or excessively formal meanings unless clearly defined as having such in the present application.

0029<figref idref="f0001">FIG. 1</figref> is a block diagram illustrating a configuration of an apparatus for controlling a lane change in a vehicle in one form of the present disclosure.

0030Referring to <figref idref="f0001">FIG. 1</figref>, an apparatus 100 for controlling a lane change in a vehicle (hereinafter referred to as "apparatus 100" for convenience of description) may include a sensor 110, an input device 120, a steering device 130, an acceleration and deceleration device 140, and a control circuit 150. The apparatus 100 of <figref idref="f0001">FIG. 1</figref> may be loaded into the vehicle.

0031The sensor 110 may be configured to sense an external vehicle. The sensor 110 may include, for example, a forward sensor 110 and a blind spot assist (BSA) sensor (or a rear lateral sensor) 110. The sensor 110 may sense a preceding vehicle which is traveling on the same lane as the vehicle and a following vehicle which is traveling on a lane adjacent to the vehicle.

0032The input device 120 may configured to receive a lane change command from a driver of the vehicle. The input device 120 may be implemented with, for example, a turn signal lever, a switch, a button, or the like capable of receiving an input of the driver.

0033The steering device 130 may be configured to control a steering angle of the vehicle. The steering device 130 may include, for example, a steering wheel, an actuator interlocked with the steering wheel, and a controller for controlling the actuator.

0034The acceleration and deceleration device 140 may be configured to control a speed of the vehicle. The acceleration and deceleration device 140 may include, for example, a throttle, a brake, an actuator interlocked with the throttle and the brake, and a controller for controlling the actuator.

0035The control circuit 150 may be electrically connected with the sensor 110, the input device 120, the steering device 130, and the acceleration and deceleration device 140. The control circuit 150 may control the sensor 110, the input device 120, the steering device 130, and the acceleration and deceleration device 140 and may perform a variety of data processing and various arithmetic operations. The control circuit 150 may be, for example, an electronic control unit (ECU) or a sub-controller loaded into the vehicle.

0036According to one form, the control circuit 150 may receive a lane change command using the input device 120. The control circuit 150 may receive a lane change command in a left or right direction via the input device 120 from the driver.

0037According to another form, the control circuit 150 may calculate a minimum operation speed for lane change control. For example, the control circuit 150 may calculate a minimum operation speed in response to receiving a lane change command or may calculate a minimum operation speed periodically while the vehicle travels. Upon lane change control, the apparatus 100 may activate control only when a driving speed of the vehicle is greater than or equal to the minimum operation speed for a safe lane change. An exemplary equation for calculating a minimum operation speed V_smin may be Equation 1 below. <maths id="math0001" num="[equation 1]"><math display="block"><mrow><msub><mi>V</mi><mrow><mi>s</mi><mi>min</mi></mrow></msub><mo>=</mo><mi>a</mi><mo>∗</mo><mfenced><msub><mi>t</mi><mi>B</mi></msub><mo>−</mo><msub><mi>t</mi><mi>G</mi></msub></mfenced><mo>+</mo><msub><mi>v</mi><mi mathvariant="italic">app</mi></msub><mo>−</mo><msqrt><mrow><msup><mi>a</mi><mn>2</mn></msup><mo>∗</mo><msup><mrow><mfenced><msub><mi>t</mi><mi>B</mi></msub><mo>−</mo><msub><mi>t</mi><mi>G</mi></msub></mfenced></mrow><mn>2</mn></msup><mo>−</mo><mn>2</mn><mo>∗</mo><mi>a</mi><mo>∗</mo><mfenced><msub><mi>V</mi><mi mathvariant="italic">app</mi></msub><mo>∗</mo><msub><mi>t</mi><mi>G</mi></msub><mo>∗</mo><msub><mi>S</mi><mi mathvariant="italic">rear</mi></msub></mfenced></mrow></msqrt></mrow></math><img file="EP3552899A1_D0001.tif" /></maths>

0038According to Equation 1 above, the minimum operation speed V_smin may be determined based on S_rear, V_app, a, t_B, and t_G. Herein, each of a, t_B, and t_G may be a kind of environmental variable indicating a predicted behavior of a following vehicle and may correspond to a predefined constant. Each of the distance S_rear between the vehicle and the following vehicle and the speed V_app of the following vehicle may be a value indicating a motion state of the following vehicle and may be measured by the sensor 110.

0039Herein, a sensing distance of the sensor 110 is limited, so there may be a need for calculating the minimum operation speed V_smin for each of when the following vehicle is located within the sensing distance of the sensor 110 and when the following vehicle is not located within the sensing distance of the sensor 110. When the following vehicle is located within the sensing distance, the control circuit 150 may calculate the minimum operation distance V_smin based on the distance S_rear and the speed V_app measured by the sensor 110. When the following vehicle is not located within the sensing distance of the sensor 110, the control circuit 150 may calculate the minimum operation distance V_smin assuming that there is the worst, that is, the following vehicle proceeds at a maximum legal speed immediately over the sensing distance of the sensor 110. In this case, the control circuit 150 may set the distance S_rear to a maximum sensing distance of the sensor 110 and may set the speed V_app to a maximum legal speed of a country where a vehicle is traveling. A description will be given in detail of an exemplary form of calculating the minimum operation speed with reference to <figref idref="f0002">FIGS. 2</figref> and <figref idref="f0003">3</figref>.

0040When a current speed of the vehicle is faster than the minimum operation speed, the control circuit 150 may immediately initiate lane change control. When the current speed of the vehicle is slower than the minimum operation speed, the control circuit 150 may provide various control strategies in consideration of a preceding vehicle.

0041In one form, when a driving speed of the vehicle is lower than the minimum operation speed, the control circuit 150 may determine whether to accelerate the vehicle based on a distance between a preceding vehicle which is traveling on the same lane as the vehicle and the vehicle. In a situation where the vehicle should accelerate its driving speed to reach the minimum operation speed to activate lane change control, the control circuit 150 may divide a surrounding situation into three situations as shown Table 1 below and may provide a control strategy suitable for each situation. The control circuit 150 may suitably accelerate or decelerate the vehicle and may perform lane change control by controlling the steering device 130 and the acceleration and deceleration device 140. <tables id="tabl0001" num="0001"><table frame="all"><title>[Table 1]</title><tgroup cols="2"><colspec colnum="1" colname="col1" colwidth="57mm" /><colspec colnum="2" colname="col2" colwidth="109mm" /><thead><row><entry valign="middle">Case</entry><entry valign="middle">Control strategy</entry></row></thead><tbody><row><entry valign="middle">When there is no preceding vehicle</entry><entry valign="middle">Accelerate the vehicle to V_smin or more and perform lane change control</entry></row><row><entry valign="middle">When V_f &lt; V_smin and when a safety distance is ensured</entry><entry valign="middle">Accelerate the vehicle to V_smin or more and perform lane change control</entry></row><row><entry valign="middle">When V_f &lt; V_smin and when a safety distance is not ensured</entry><entry valign="middle">decelerate the vehicle retry lane change control after a distance from the preceding vehicle is sufficiently ensured or after the following vehicle overtakes the vehicle</entry></row></tbody></tgroup></table></tables>

0042First of all, the control circuit 150 may verify whether the minimum operation speed is higher than a driving speed of the vehicle. When the driving speed is higher than the minimum operation speed, the control circuit 150 may immediately initiate a lane change. When the driving speed is lower than the minimum operation speed, the control circuit 150 may perform lane change control depending on the control strategy disclosed in Table 1 above.

0043The control circuit 150 may verify whether there is a preceding vehicle using the sensor 110. The control circuit 150 may sufficiently accelerate the vehicle when the preceding vehicle is not detected, so it may accelerate the vehicle to the minimum operation speed or more and may change a lane.

0044When the preceding vehicle is detected, the control circuit 150 may verify whether a safety distance is ensured in consideration of a headway between the vehicle and the preceding vehicle. When the safety distance is provided between the preceding vehicle and the vehicle, since there is no collision risk although the vehicle accelerates, the control circuit 150 may accelerate the vehicle to the minimum operation speed or more and may change a lane.

0045When the safety distance is not provided between the preceding vehicle and the vehicle, the control circuit 150 may decelerate the vehicle to provide the safety distance from the preceding vehicle and may retry lane change control.

0046In the above-mentioned control strategy, the control circuit 150 may simply select a suitable control strategy in consideration of the safety distance, resulting in a reduced computational burden to the control circuit 150.

0047In a situation where the vehicle should accelerate its driving speed to reach the minimum operation speed for activating lane change control, the control circuit 150 may divide a surrounding situation into four situations like Table 2 below to determine the four situations and may provide a control strategy suitable for each of the four situations. The control circuit 150 may perform more efficient control when dividing the surrounding situation into the four situations than when dividing the surrounding situation into three situations. <tables id="tabl0002" num="0002"><table frame="all"><title>[Table 2]</title><tgroup cols="2"><colspec colnum="1" colname="col1" colwidth="57mm" /><colspec colnum="2" colname="col2" colwidth="109mm" /><thead><row><entry valign="middle">Case</entry><entry valign="middle">Control strategy</entry></row></thead><tbody><row><entry valign="middle">When there is no preceding vehicle</entry><entry valign="middle">Accelerate the vehicle to V_smin or more and perform lane change control</entry></row><row><entry valign="middle">When speed V_f of the preceding vehicle > V_smin</entry><entry valign="middle">Accelerate the vehicle to V_smin or more and perform lane change control</entry></row><row><entry valign="middle">When V_f < V_smin and when the safety distance is ensured</entry><entry valign="middle">Accelerate the vehicle to V_smin or more and perform lane change control</entry></row><row><entry valign="middle">When V_f < V_smin and when the safety distance is not ensured</entry><entry valign="middle">Decelerate the vehicle Retry lane change control after a distance from the preceding vehicle is sufficiently provided or after the following vehicle overtakes the vehicle</entry></row></tbody></tgroup></table></tables>

0048First of all, the control circuit 150 may verify whether the minimum operation speed is higher than a driving speed of the vehicle. When the driving speed is higher than the minimum operation speed, the control circuit 150 may immediately initiate a lane change. When the driving speed is lower than the minimum operation speed, the control circuit 150 may perform lane change control depending on the control strategy disclosed in Table 2 above.

0049The control circuit 150 may verify whether there is a preceding vehicle using the sensor 110. When the preceding vehicle is not detected, the control circuit 150 may sufficiently accelerate the vehicle, thus accelerating the vehicle to the minimum operation speed or more to change a lane.

0050When the preceding vehicle is detected, the control circuit 150 may verify a speed of the preceding vehicle. When the speed of the preceding vehicle is higher than the minimum operation speed, since there is no collision risk although the control circuit 150 accelerates the vehicle, the control circuit 150 may accelerate the vehicle to the minimum operation speed or more and may change a lane.

0051When the speed of the preceding vehicle is lower than the minimum operation speed, the control circuit 150 may verify whether a safety distance is provided in consideration of a headway between the vehicle and the preceding vehicle. When the safety distance is provided between the preceding vehicle and the vehicle, since there is no collision risk although the control circuit 150 accelerates the vehicle, the control circuit 150 may accelerate the vehicle to the minimum operation speed or more and may change a lane.

0052When the safety distance is not provided between the preceding vehicle and the vehicle, the control circuit 150 may decelerate the vehicle to provide the safety distance from the preceding vehicle and may retry lane change control.

0053A description will be given in detail of each of the above-mentioned control strategies with reference to <figref idref="f0004 f0005 f0006 f0007">FIGS. 4 to 7</figref>.

0054Hereinafter, a description will be given in detail of an operation of calculating the minimum operation speed with reference to <figref idref="f0002">FIGS. 2</figref> and <figref idref="f0003">3</figref>.

0055<figref idref="f0002">FIG. 2</figref> is a drawing illustrating an exemplary operation of an apparatus for controlling a lane change in a vehicle according to an exemplary form of the present disclosure.

0056Referring to <figref idref="f0002">FIG. 2</figref>, a vehicle 200 may include an apparatus 100 of <figref idref="f0001">FIG. 1</figref>. In the description of <figref idref="f0002 f0003 f0004 f0005 f0006 f0007 f0008 f0009">FIGS. 2 to 9</figref>, an operation described as being performed by the vehicle 200 may be understood as being controlled by a control circuit 150 of the apparatus 100.

0057According to one form, when a following vehicle 300 which is traveling on a target lane corresponding to a lane change command is sensed by a sensor of the vehicle 200, the vehicle 200 may calculate a minimum operation speed based on a speed of the following vehicle 300 and a distance between the vehicle 200 and the following vehicle 300. For example, when a distance d1 between the vehicle 200 and the following vehicle 300 is shorter than a maximum sensing distance of a BSA sensor (or a rear lateral sensor), the vehicle 200 may measure a distance S_rear and a speed V_app using the sensor. The vehicle 200 may calculate a minimum operation speed for lane change control based on the measured S_rear and V_app. For example, the vehicle 200 may calculate the minimum operation speed by applying the measured S_rear and V_app to Equation 1 above. When a lane change command is input, the vehicle 200 may calculate a minimum operation speed by detecting the following vehicle 300 in a lane to be changed or may calculate a minimum operation speed by detecting the following vehicle 3000 in a lane adjacent to the vehicle 200.

0058<figref idref="f0003">FIG. 3</figref> is a drawing illustrating an exemplary operation of an apparatus for controlling a lane change in a vehicle according to another form of the present disclosure.

0059Referring to <figref idref="f0003">FIG. 3</figref>, when a following vehicle 300 which is traveling on a target lane corresponding to a lane change command is not sensed by a sensor of a vehicle 200, the vehicle 200 may calculate a minimum operation speed based on a specified speed and a sensing distance of the sensor. For example, when a distance d2 between the vehicle 200 and the following vehicle 300 is longer than a maximum sensing distance of a BSA sensor (or a rear lateral sensor), the vehicle 200 may fail to measure a distance S_rear and a speed V_app using the sensor. In this case, the vehicle 200 may calculate a minimum operation speed V_smin assuming that the following vehicle 300 proceeds at a maximum legal speed immediately over a sensing distance of the sensor. The vehicle 200 may set the distance S_rear to a maximum sensing distance of the sensor and may set the speed V_app to a maximum legal speed of a country where the vehicle 200 is traveling. The vehicle 200 may calculate a minimum operation speed by applying the set S_rear and V_app to Equation 1 above. When a lane change command is input, the vehicle 200 may calculate a minimum operation speed by detecting the following vehicle 300 in a lane to be changed or may calculate a minimum operation speed by detecting the following vehicle 300 in a lane adjacent to the vehicle 200.

0060Hereinafter, a description will be given in detail of a control strategy provided when a preceding vehicle is not detected, with reference to <figref idref="f0004">FIG. 4</figref>.

0061<figref idref="f0004">FIG. 4</figref> is a drawing illustrating an exemplary operation of an apparatus for controlling a lane change in a vehicle according to another form of the present disclosure.

0062Referring to <figref idref="f0004">FIG. 4</figref>, when a preceding vehicle is not sensed by a sensor of a vehicle 200 according to an exemplary form, the vehicle 200 may control its driving speed to be higher than a minimum operation speed and may perform lane change control when the driving speed of the vehicle 200 is higher than the minimum operation speed. When the preceding vehicle is not located within a sensing distance of a forward sensor, the vehicle 200 may fail to detect the preceding vehicle. When the preceding vehicle is not located within the sensing distance of the sensor, since the vehicle 200 sufficiently accelerates its driving speed, it may accelerate the driving speed to a minimum operation speed and may change a lane.

0063Hereinafter, a description will be given of a control strategy when a preceding vehicle is detected, with reference to <figref idref="f0005 f0006 f0007 f0008">FIGS. 5 to 8</figref>.

0064<figref idref="f0005">FIG. 5</figref> is a drawing illustrating an exemplary operation of an apparatus for controlling a lane change in a vehicle according to another exemplary form of the present disclosure.

0065Referring to <figref idref="f0005">FIG. 5</figref>, when a minimum operation speed V_smin is lower than a speed V_f of a preceding vehicle 400, a vehicle 200 may control its driving speed to be higher than the minimum operation speed V_smin and may perform lane change control when the driving speed of the vehicle 200 is higher than the minimum operation speed V_smin. When the preceding vehicle 400 is located within a sensing distance of a forward sensor, the vehicle 200 may detect a speed V_f of the preceding vehicle 400. When the speed V_f of the preceding vehicle 400 is faster than the minimum operation speed V_smin, since the vehicle 200 sufficiently accelerates its driving speed, it may accelerate the driving speed to the minimum operation speed and may change a lane.

0066<figref idref="f0006">FIG. 6</figref> is a drawing illustrating an exemplary operation of an apparatus for controlling a lane change in a vehicle in another form of the present disclosure.

0067Referring to <figref idref="f0006">FIG. 6</figref>, when a minimum operation V_smin is higher than a speed V_f of a preceding vehicle 400, a vehicle 200 may determine whether to accelerate based on a distance between the vehicle 200 and the preceding vehicle 400. When the preceding vehicle 400 is located within a sensing distance of a forward sensor, the vehicle 200 may sense the speed V_f of the preceding vehicle 400. When the speed V_f of the preceding vehicle 400 is slower than the minimum operation speed V_smin, the vehicle 200 is unable to sufficiently accelerate its driving speed, so it may determine whether to accelerate in consideration of a headway between the vehicle 200 and the preceding vehicle 400.

0068The vehicle 200 may compare a distance between the preceding vehicle 400 and the vehicle 200 with a safety distance calculated based on the speed V_f of the preceding vehicle 400 and a driving speed of the vehicle 200 and may determine whether to accelerate based on the compared result. When the distance between the preceding vehicle 400 and the vehicle 200 is longer than the safety distance, the vehicle 200 may control its driving speed to be higher than the minimum operation speed V_smin and may perform lane change control when the driving speed of the vehicle 200 is higher than the minimum operation speed V_smin. The safety distance may be calculated based on the speed V_f of the preceding vehicle 400, a driving speed of the vehicle 200, maximum acceleration, and minimum acceleration. A description will be given in detail of the method of calculating the safety distance with reference to <figref idref="f0008">FIG. 8</figref>. The vehicle 200 may determine whether to accelerate based on the distance between the preceding vehicle 400 and the vehicle 200 and the safety distance. Since the safety distance is sufficient, when there is no probability of collision between the preceding vehicle 400 and the vehicle 200, the vehicle 200 may accelerate the driving speed to the minimum operation speed V_smin and may change a lane.

0069<figref idref="f0007">FIG. 7</figref> is a drawing illustrating an exemplary operation of an apparatus for controlling a lane change in a vehicle according to another form of the present disclosure.

0070Referring to <figref idref="f0007">FIG. 7</figref>, a vehicle 200 may compare a distance between a preceding vehicle 400 and the vehicle 200 with a safety distance calculated based on a speed V_f of the preceding vehicle 400 and a driving speed of the vehicle 200 and may determine whether to accelerate based on the compared result. When the distance between the preceding vehicle 400 and the vehicle 200 is shorter than the safety distance, the vehicle 200 may control its driving speed to decelerate. Since the safety distance is insufficient, when there is a probability of collision between the preceding vehicle 400 and the vehicle 200, the vehicle 200 may perform deceleration control. After the vehicle 200 decelerates, it may determine the safety distance again and may calculate a minimum operation speed V_smin again. The vehicle 200 may provide the safety distance and may allow a following vehicle 300 to overtake the vehicle 200 by accelerating. After the safety distance is sufficiently provided, or after the minimum operation speed V_smin is reset after the following vehicle 300 overtakes the vehicle 200, the vehicle 200 may retry a lane change.

0071<figref idref="f0008">FIG. 8</figref> is a drawing illustrating an exemplary operation for determining whether to accelerate a vehicle in an apparatus for controlling a lane change in the vehicle according to other form of the present disclosure.

0072In one form, a vehicle 810 may calculate a safety distance based on a speed of a preceding vehicle 820, a driving speed of the vehicle 810, maximum acceleration, and minimum acceleration.

0073Referring to <figref idref="f0008">FIG. 8</figref>, the vehicle 810 may recognize the preceding vehicle 820. The vehicle 810 may be spaced apart from the preceding vehicle 820 by a distance d_headway to travel at a speed lower than a minimum operation speed V_smin. The vehicle 810 may calculate a safety distance in which the vehicle 810 does not collide with the preceding vehicle 820 although the vehicle 810 accelerates to the minimum operation speed V_smin. The vehicle 810 may simplify an arithmetic operation for calculating the safety distance and may calculate a safety distance in consideration of the worst to provide safety of a driver.

0074When the vehicle 810 accelerates to a maximum speed and when the preceding vehicle 820 brakes sharply, the vehicle 810 may calculate a distance d_advoidmin in which the vehicle 810 does not collide with the preceding vehicle 820. The distance d_advoidmin may be calculated by the following exemplary Equation 2. <maths id="math0002" num="[equation 2]"><math display="block"><mrow><mi mathvariant="normal">d_avoidmin</mi><mo>=</mo><mfenced><msup><mrow><mfenced open="[" close="]"><mi mathvariant="normal">v</mi><mn mathvariant="normal">2</mn><mi mathvariant="normal">_ini</mi><mo>+</mo><mi mathvariant="normal">a_decell</mi><mo>*</mo><mi mathvariant="normal">t_R</mi></mfenced></mrow><mrow><mo>∧</mo></mrow></msup><mn mathvariant="normal">2</mn><mo>−</mo><msup><mfenced open="[" close="]"><mi mathvariant="normal">v</mi><mn mathvariant="normal">1</mn><mi mathvariant="normal">_ini</mi><mo>+</mo><mi mathvariant="normal">a_accel</mi><mo>*</mo><mi mathvariant="normal">t_R</mi></mfenced><mrow><mo>∧</mo></mrow></msup><mn mathvariant="normal">2</mn></mfenced><mo>/</mo><mfenced><mn mathvariant="normal">2</mn><mo>*</mo><mi mathvariant="normal">a_decell</mi></mfenced><mo>−</mo><mfenced open="[" close="]"><mi mathvariant="normal">v</mi><mn mathvariant="normal">2</mn><mi mathvariant="normal">_ini</mi><mo>+</mo><mn mathvariant="normal">0.5</mn><mo>*</mo><mi mathvariant="normal">a_decell</mi><mo>*</mo><mi mathvariant="normal">t_R</mi></mfenced><mo>*</mo><mi mathvariant="normal">t_R</mi><mo>+</mo><mfenced open="[" close="]"><mi mathvariant="normal">v</mi><mn mathvariant="normal">1</mn><mi mathvariant="normal">_ini</mi><mo>+</mo><mn mathvariant="normal">0.5</mn><mo>*</mo><mi mathvariant="normal">a_accel</mi><mo>*</mo><mi mathvariant="normal">t_R</mi></mfenced><mo>*</mo><mi mathvariant="normal">t_R</mi></mrow></math><img file="EP3552899A1_D0002.tif" /></maths>

0075Herein, v1_ini may denote a speed of the vehicle 810, v2_ini may denote a speed of the preceding vehicle 820, a_accel may denote maximum acceleration upon acceleration, a_decell may denote minimum acceleration upon deceleration, and t_R may denote a time taken for a driver of the vehicle 810 to determine and respond to deceleration of the preceding vehicle 820. For simplicity of calculation, a_accel, a_decell, and t_R may be set as constants.

0076When the vehicle 810 accelerates to the minimum operation speed V_smin, to calculate a distance in which the vehicle 810 and the preceding vehicle 820 are narrowed, the vehicle 810 may calculate a movement distance d_ego_accel of the vehicle 810 and a movement distance d_front_accel of the preceding vehicle 820 while accelerating to the minimum operation speed V_smin. The movement distance d_ego_accel and the movement distance d_front_accel may be calculated by the following exemplary Equation 3. <maths id="math0003" num="[equation 3]"><math display="block"><mrow><mtable columnalign="left" width="auto"><mtr><mtd><mi mathvariant="normal">t_ego_accel</mi><mo>=</mo><mfenced><msub><mi mathvariant="normal">V</mi><mi mathvariant="normal">smin</mi></msub><mo>−</mo><msub><mi mathvariant="normal">V</mi><mi mathvariant="normal">ego</mi></msub></mfenced><mo>/</mo><mi mathvariant="normal">a_acc_mild</mi></mtd></mtr><mtr><mtd><mi mathvariant="normal">d_ego_accel</mi><mo>=</mo><mfenced open="[" close="]"><msub><mi mathvariant="normal">V</mi><mi mathvariant="normal">ego</mi></msub><mo>+</mo><msub><mi mathvariant="normal">V</mi><mi mathvariant="normal">smin</mi></msub></mfenced><mo>*</mo><mn mathvariant="normal">0.5</mn><mo>*</mo><mfenced><msub><mi mathvariant="normal">V</mi><mi mathvariant="normal">smin</mi></msub><mo>−</mo><msub><mi mathvariant="normal">V</mi><mi mathvariant="normal">ego</mi></msub></mfenced><mo>/</mo><mi mathvariant="normal">a_acc_mild</mi></mtd></mtr><mtr><mtd><mi mathvariant="normal">d_front_accel</mi><mo>=</mo><mi mathvariant="normal">v</mi><mn mathvariant="normal">2</mn><mi mathvariant="normal">_ini</mi><mo>*</mo><mfenced><msub><mi mathvariant="normal">V</mi><mi mathvariant="normal">smin</mi></msub><mo>−</mo><msub><mi mathvariant="normal">V</mi><mi mathvariant="normal">ego</mi></msub></mfenced><mo>/</mo><mi mathvariant="normal">a_acc_mild</mi></mtd></mtr></mtable></mrow></math><img file="EP3552899A1_D0003.tif" /></maths>

0077Herein, V_ego may denote speed before acceleration of the vehicle 810, and a_acc_mild may denote typical acceleration of the vehicle 810 upon autonomous driving. For simplicity of calculation, a_acc_mild may be set as a constant. It may be assumed that the preceding vehicle 820 moves at a constant speed.

0078The vehicle 810 may set a margin distance d_margin of n seconds (e.g., 2 seconds) in preparation for rapid deceleration of the preceding vehicle 820. d_margin may be calculated by the following exemplary Equation 4. <maths id="math0004" num="[equation 4]"><math display="block"><mrow><mi mathvariant="normal">d_margin</mi><mo>=</mo><msub><mi mathvariant="normal">V</mi><mi mathvariant="normal">smin</mi></msub><mo>*</mo><mi mathvariant="normal">n</mi></mrow></math><img file="EP3552899A1_D0004.tif" /></maths>

0079The vehicle 810 may calculate a safety distance d_initial using the calculated values. d_initial may be calculated by the following exemplary Equation 5. <maths id="math0005" num="[equation 5]"><math display="block"><mrow><mi>d_initial</mi><mo>=</mo><mi>d_avoidmin</mi><mo>+</mo><mi>d_ego_accel</mi><mo>−</mo><mi>d_front_accel</mi><mo>+</mo><mi>d_margin</mi></mrow></math><img file="EP3552899A1_D0005.tif" /></maths>

0080The vehicle 810 may compare the calculated safety distance d_initial with the distance d_headway between the vehicle 810 and the preceding vehicle 820. When the safety distance d_initial is shorter than the distance d_headway between the vehicle 810 and the preceding vehicle 820, the vehicle 810 may control its speed to be higher than a minimum operation speed and may perform lane change control when the speed of the vehicle 810 is higher than the minimum operation speed. When the safety distance d_initial is longer than the distance d_headway between the vehicle 810 and the preceding vehicle 820, the vehicle 810 may perform deceleration control and may retry a lane change later.

0081<figref idref="f0009">FIG. 9</figref> is a flowchart illustrating a method for controlling a lane change in a vehicle according to another exemplary form of the present disclosure.

0082Hereinafter, it may be assumed that an apparatus 100 of <figref idref="f0001">FIG. 1</figref> performs a process of <figref idref="f0009">FIG. 9</figref>. Furthermore, in a description of <figref idref="f0009">FIG. 9</figref>, an operation described as being performed by an apparatus may be understood as being controlled by a control circuit 150 of the apparatus 100.

0083Referring to <figref idref="f0009">FIG. 9</figref>, in operation 910, the apparatus may receive a lane change command from a driver of a vehicle. For example, the apparatus may verify an intention for the driver to perform a lane change, through a turn signal lever, a button, a switch, or the like.

0084In operation 920, the apparatus may calculate a minimum operation speed for lane change control. For example, the apparatus may calculate the minimum operation speed based on a measurement value for a following vehicle when the following vehicle is detected or based on a setting value when the following vehicle is not detected.

0085In operation 930, the apparatus may determine whether a driving speed of the vehicle is less than the minimum operation speed when receiving the lane change command. For example, the apparatus may compare the calculated minimum operation speed with a current speed of the vehicle.

0086When the driving speed of the vehicle is less than the minimum operation speed, in operation 940, the apparatus may determine whether to accelerate the vehicle based on a distance between a preceding vehicle and the vehicle. For example, the apparatus may compare a headway with a safety distance to determine whether to accelerate the vehicle. The vehicle may change a lane after acceleration control or may retry lane change control after deceleration control.

0087When the driving speed of the vehicle is greater than or equal to the minimum operation speed, in operation 950, the apparatus may perform lane change control. For example, when it is verified that the driving speed is greater than or equal to the minimum operation speed, the apparatus may immediately initiate lane change control.

0088<figref idref="f0010">FIG. 10</figref> is a flowchart illustrating a method for controlling a lane change in a vehicle in other form of the present disclosure.

0089Hereinafter, it may be assumed that an apparatus 100 of <figref idref="f0001">FIG. 1</figref> performs a process of <figref idref="f0010">FIG. 10</figref>. Furthermore, in a description of <figref idref="f0010">FIG. 10</figref>, an operation described as being performed by an apparatus may be understood as being controlled by a control circuit 150 of the apparatus 100.

0090Referring to <figref idref="f0010">FIG. 10</figref>, in operation 1005, the apparatus may receive a lane change command. In operation 1010, the apparatus may calculate a minimum operation speed V_smin for lane change control. In operation 1015, the apparatus may determine whether the minimum operation speed V_smin is greater than a driving speed V_ego of the vehicle. When the minimum operation speed V_smin is less than or equal to the driving speed V_ego of the vehicle, in operation 1020, the apparatus may perform a lane change. When the minimum operation speed V_smin is greater than the driving speed V_ego of the vehicle, in operation 1025, the apparatus may determine whether there is a preceding vehicle. When there is no preceding vehicle, in operation 1030, the apparatus may accelerate the driving speed V_ego of the vehicle to the minimum operation speed V_smin or more and may change the lane. When there is the preceding vehicle, in operation 1035, the apparatus may determine whether a speed of the preceding vehicle is less than the minimum operation speed V_smin. When the speed of the preceding vehicle is greater than or equal to the minimum operation speed V_smin, in operation 1040, the apparatus may accelerate the driving speed V_ego of the vehicle to the minimum operation speed V_smin or more and may change the lane. When the speed of the preceding vehicle is less than the minimum operation speed V_smin, in operation 1045, the apparatus may determine whether a distance between the preceding vehicle and the vehicle is less than a safety distance. When the distance between the preceding vehicle and the vehicle is greater than or equal to the safety distance, in operation 1050, the apparatus may accelerate the driving speed V_ego of the vehicle to the minimum operation speed V_smin or more and may change the lane. When the distance between the preceding vehicle and the vehicle is less than the safety distance, in operation 1055, the apparatus may perform deceleration control.

0091<figref idref="f0011">FIG. 11</figref> is a block diagram illustrating a configuration of a computing system according to another exemplary form of the present disclosure.

0092Referring to <figref idref="f0011">FIG. 11</figref>, a computing system 1000 may include at least one processor 1100, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage 1600, and a network interface 1700, which are connected with each other via a bus 1200.

0093The processor 1100 may be a central processing unit (CPU) or a semiconductor device for performing processing of instructions stored in the memory 1300 and/or the storage 1600. Each of the memory 1300 and the storage 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a read only memory (ROM) and a random access memory (RAM).

0094Thus, the operations of the methods or algorithms described in connection with the forms disclosed in the specification may be directly implemented with a hardware module, a software module, or combinations thereof, executed by the processor 1100. The software module may reside on a storage medium (i.e., the memory 1300 and/or the storage 1600) such as a RAM, a flash memory, a ROM, an erasable and programmable ROM (EPROM), an electrically EPROM (EEPROM), a register, a hard disc, a removable disc, or a compact disc-ROM (CD-ROM). An exemplary storage medium may be coupled to the processor 1100. The processor 1100 may read out information from the storage medium and may write information in the storage medium. Alternatively, the storage medium may be integrated with the processor 1100. The processor and storage medium may reside in an application specific integrated circuit (ASIC). The ASIC may reside in a user terminal. Alternatively, the processor and storage medium may reside as a separate component of the user terminal.

0095The apparatus according to the exemplary forms of the present disclosure may enhance the convenience of a driver and may provide safety of lane change control by determining whether to accelerate a vehicle in consideration of a distance between a preceding vehicle and the vehicle when a driving speed of the vehicle is lower than a minimum operation speed.

0096Furthermore, the apparatus according to the exemplary forms of the present disclosure may reduce the amount of calculation required for determination by comparing a value calculated through simple calculation with a distance between the preceding vehicle and the vehicle and determining whether to accelerate the vehicle.

0097In addition, various effects directly or indirectly ascertained through the present disclosure may be provided.

0098Hereinabove, although the present disclosure has been described with reference to exemplary forms and the accompanying drawings, the present disclosure is not limited thereto, but may be variously modified and altered by those skilled in the art to which the present disclosure pertains without departing from the spirit and scope of the present disclosure.