Lane change controller for vehicle, system including the same, and method thereof

<u>CROSS-REFERENCE TO RELATED APPLICATION</u>

0001The present application claims priority to and the benefit of Korean Patent Application No. <patcit id="pcit0001" dnum="KR1020180146722"><text>10-2018-0146722</text></patcit>, filed in the Korean Intellectual Property Office on November 23, 2018 and <patcit id="pcit0002" dnum="US62655831B"><text>US Patent Application No. 62/655,831</text></patcit>, filed in the US Patent and Trademark Office on April 11, 2018, the entire contents of which are incorporated herein by reference.

<u>TECHNICAL FIELD</u>

0002The present disclosure relates to a lane change controller for a vehicle, a system including the same, and a method thereof, and more particularly, relates to technologies of determining a condition of a road on which a vehicle is currently traveling and activating a lane change control system of the vehicle.

<u>BACKGROUND</u>

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

0004Recently, with the rapid development of information technology (IT), there has been a growing interest in intelligent vehicles integrated with vision systems. Particularly, advanced safety vehicle technology, such as lane departure, lane keeping, a collision warning system, and a lane change control system, which help in reducing the risk of traffic accidents and performing safe driving, is base technology of intelligent vehicle technology, and more manpower and finances are becoming part of a variety of research and technical development. Particularly, when a driver operates a turn signal with the intention of changing a lane, a lane change control system capable of automatically changing a lane on which a vehicle is traveling controls the vehicle automatically and perform a lane change.

0005Such a 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 to perform the lane change, setting a control path for the lane change, and controlling steering torque along the control path.

0006However, a conventional lane change control system is unable to be applied in all road conditions for safe driving and is able to be used only on a specific road. In other words, the lane change control system is able to be activated on a limited-access road or a highway, but should be deactivated on a general road a pedestrian may enter for safety.

<u>SUMMARY</u>

0007An aspect of the present disclosure provides a lane change controller for a vehicle to increase the efficiency of safe driving by determining a condition of a road on which a vehicle is currently traveling to determine whether it is able to control a lane change and controlling the lane change, a system including the same, and a method thereof.

0008Furthermore, another aspect of the present disclosure provides a lane change controller for a vehicle to increase the convenience of a user by displaying the result of whether it is able to control a lane change, determined according to a condition on which a vehicle is currently traveling, on a screen such that the user recognizes the result, a system including the same, and a method thereof.

0009The technical problems to be solved by the present disclosure 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.

0010According to an aspect of the present disclosure, a lane change controller may include: a processor configured to determine whether it is possible for a vehicle to perform a lane change depending on a road condition, based on information about surrounding circumstances, a storage storing the result of determining whether it is possible to perform the lane change, the result being determined by the processor, and a display device configured to display the result of determining whether it is possible to perform the lane change.

0011The information about the surrounding circumstances may include at least one or more of global positioning system (GPS) receiving information, map information, and information sensing the periphery of the vehicle by a sensor of the vehicle.

0012The processor may be configured to determine whether it is able to determine a driving road based on GPS receiving information or information about map matching using map information and location information by a sensor of the vehicle.

0013The processor may be configured to determine a current road condition as a mode in which it is able to determine the driving road, when it is able to update the GPS receiving information or when it is able to perform the map matching.

0014The processor may be configured to determine whether it is possible to perform the lane change based on the result sensed by the sensor, when it is able to determine the driving road.

0015The processor may be configured to determine whether it is possible to perform the lane change using at least one or more of whether a current driving road is a general road, whether there is a pedestrian or a cyclist on the current driving road, whether there is a median strip, and the number of lanes of the driving road.

0016The processor may be configured to determine a current road condition as a mode in which it is impossible to perform the lane change, when the current driving road is the general road, when there is the pedestrian or the cyclist, or when the current driving road is a first lane.

0017The processor may be configured to determine a current road condition as a mode in which it is possible to perform the lane change, when the current driving road is a limited-access road or a highway, when there is no the pedestrian or the cyclist, when there is the median strip, or when the number of lanes of the driving road is greater than or equal to the predetermined number of lanes.

0018The processor may be configured to determine whether to control the lane change depending on the result of determining whether it is possible to perform the lane change, when receiving a lane change request from a user when the vehicle is traveling.

0019The processor may be configured to control the lane change, when a current road condition is a mode in which it is possible to perform the lane change and when receiving the lane change request from the user.

0020The processor may be configured to store the result of determining whether it is possible to perform the lane change in the storage, when the vehicle is temporarily turned off by an integrated starter generator (ISG) and control the lane change based on the result of determining whether it is possible to perform the lane change, the result being stored in the storage, when the vehicle is turned on.

0021According to another aspect of the present disclosure, a vehicle system may include: a GPS receiver configured to receive GPS information, a sensing module configured to provide information sensing the periphery of a vehicle, and a lane change controller configured to determine whether it is possible for the vehicle to perform a lane change based on the GPS information and the information sensing the periphery of the vehicle.

0022The lane change controller may be configured to display the result of determining whether it is possible to perform the lane change.

0023According to another aspect of the present disclosure, a lane change control method may include: receiving information about surrounding circumstances, determining whether it is possible to perform a lane change depending on a road condition, based on the information about the surrounding circumstances, and displaying the result of determining whether it is possible to perform the lane change.

0024The determining whether it is possible to perform the lane change may include determining a current road condition as a mode in which it is able to determine a driving road, when it is able to update GPS receiving information or when it is able to perform map matching using map information and location information by a sensor of a vehicle.

0025The determining whether it is possible to perform the lane change may include determining whether it is possible to perform the lane change using at least one or more of whether a current driving road is a general road, whether there is a pedestrian or a cyclist on the current driving road, whether there is a median strip, and the number of lanes of the driving road.

0026The determining whether it is possible to perform the lane change may include determining a current road condition as a mode in which it is impossible to perform the lane change, when the current driving road is the general road, when there is the pedestrian or the cyclist, or when the current driving road is a first lane.

0027The determining whether it is possible to perform the lane change may include determining a current road condition as a mode in which it is possible to perform the lane change, when the current driving road is a limited-access road or a highway, when there is no the pedestrian or the cyclist, when there is the median strip, or when the number of lanes of the driving road is greater than or equal to the predetermined number of lanes.

0028The method may further include determining whether to control the lane change depending on the result of determining whether it is possible to perform the lane change, when receiving a lane change request from a user when the vehicle is traveling.

0029The method may further include storing the result of determining whether it is possible to perform the lane change, when a vehicle is temporarily turned off by an ISG and controlling the lane change based on the previously stored result of determining whether it is possible to perform the lane change, when the vehicle is turned on.

0030Further 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.

<u>DRAWINGS</u>

0031In 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 a vehicle system including a lane change controller in one form of the present disclosure;</li><li><figref idref="f0002">FIG. 2</figref> is a drawing illustrating a lane change control method as a road condition is determined in oneform of the present disclosure;</li><li><figref idref="f0003">FIG. 3</figref> is a flowchart illustrating a method for determining a road condition for controlling a lane change of a vehicle in one form of the present disclosure;</li><li><figref idref="f0004">FIG. 4</figref> is a flowchart illustrating a lane change control method for a vehicle according to the result of determining whether it is possible to perform a lane change based on a road condition of <figref idref="f0003">FIG 3</figref>; and</li><li><figref idref="f0005">FIG. 5</figref> is a block diagram illustrating a configuration of a computing system in one form of the present disclosure.</li></ul>

0032The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present disclosure in any way.

<u>DETAILED DESCRIPTION</u>

0033The 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.

0034Hereinafter, some forms of the present disclosure will be described in detail with reference to the accompanying drawings. In adding reference denotations to elements of each drawing, although the same elements are displayed on a different drawing, it should be noted that the same elements have the same denotations. In addition, in describing some forms of the present disclosure, if it is determined that a detailed description of related well-known configurations or functions blurs the gist of some forms of the present disclosure, it will be omitted.

0035In describing elements of some 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.

0036A lane change controller for a vehicle in some forms of the present disclosure may include an advanced driving assistance system (ADAS) for assisting in traveling, an autonomous system, or the like. Furthermore, in some forms of the present disclosure, when a user requests a lane change, the lane change controller may be driven as a lane change assist system for performing steering adjustment or vehicle-speed adjustment and assisting in a lane change function.

0037Hereinafter, a description will be given in detail of forms of the present disclosure with reference to <figref idref="f0001 f0002 f0003 f0004 f0005">FIGS. 1 to 5</figref>.

0038<figref idref="f0001">FIG. 1</figref> is a block diagram illustrating a configuration of a vehicle system including a lane change controller in some forms of the present disclosure.

0039The vehicle system in some forms of the present disclosure may include a lane change controller 100, a sensing module 200, a global positioning system (GPS) receiver 300, a navigation device 400, an input device 500, a steering device 600, and an acceleration and deceleration device 700. The vehicle system of <figref idref="f0001">FIG. 1</figref> may be loaded into the vehicle.

0040The lane change controller 100 may determine whether it is possible for the vehicle to perform a lane change based on GPS information received from the GPS receiver 300, map information received from the navigation device 400, and information sensing the periphery of the vehicle, sensed by the sensing module 200. Whether it is possible for the vehicle to perform the lane change may include a mode in which it is unable to determine a driving road, a mode in which it is possible to perform the lane change, or a mode in which it is impossible to perform the lane change.

0041The lane change controller 100 may be electrically connected with the sensing module 200, the GPS receiver 300, the navigation device 400, the input device 500, the steering device 600, the acceleration and deceleration device 700, and the like. The lane change controller 100 may control the sensing module 200, the GPS receiver 300, the navigation device 400, the input device 500, the steering device 600, and the acceleration and deceleration device 700 and may perform a variety of data processing and various arithmetic operations.

0042The lane change controller 100 of the vehicle may include a communication device 110, a storage 120, a display device 130, and a processor 140.

0043The communication device 110 may be a hardware device implemented with various electronic circuits to transmit and receive a signal over a wireless or wired connection. In some forms of the present disclosure, the communication device 110 may communicate with devices in the vehicle through controller area network (CAN) communication, local interconnect network (LIN) communication, or the like and may communicate with devices outside the vehicle through wireless communication.

0044The storage 120 may store information received from the sensing module 200, the GPS receiver 300, the navigation device 400, and the like and the result of determining whether it is possible to perform a lane change, determined by the processor 140.

0045The storage 120 may include at least one type of storage medium, such as a flash memory type memory, a hard disk type memory, a micro type memory, a card type memory (e.g., a secure digital (SD) card or an extreme digital (XD) card), a random access memory (RAM), a static RAM (SRAM), a read-only memory (ROM), a programmable ROM (PROM), an electrically erasable PROM (EEPROM), a magnetic RAM (MRAM), a magnetic disk, and an optical disk.

0046The display device 130 may display the result of whether it is possible to perform a lane change. The result of whether it is possible to perform the lane change may include a mode in which it is unable to determine a driving road, a mode in which it is possible to perform the lane change, or a mode in which it is impossible to perform the lane change. The display device 130 may be implemented as a head-up display (HUD), a cluster, an audio video navigation (AVN), or the like. Furthermore, the display device 130 may receive a color input or the like directly from a user using a user setting menu (USM) of the cluster. Moreover, the display device 130 may include at least one of a liquid crystal display (LCD), a thin film transistor-LCD (TFT-LCD), a light emitting diode (LED) display, an organic LED (OLED) display, an active matrix OLED (AMOLED) display, a flexible display, a bended display, and a three-dimensional (3D) display. Some thereof may be implemented as transparent displays configured as a transparent type or a semi-transparent type to see the outside. Moreover, the display device 130 may be implemented as a touchscreen including a touch panel to be used as an input device other than an output device.

0047The processor 140 may be electrically connected with the communication device 110, the storage 120, or the display device 130 and may electrically control the respective components. The processor 140 may be an electrical circuit which executes instructions of software and may perform a variety of data processing and calculation described below. The processor 140 may be, for example, an electronic control unit (ECU) or a sub-controller loaded into the vehicle.

0048The processor 140 may determine whether it is possible for the vehicle to perform a lane change based on information about surrounding circumstances. The information about the surrounding circumstances may include at least one or more of GPS information received from the GPS receiver 300, map information received from the navigation device 400, and information sensing the periphery of the vehicle, sensed by the sensing module 200.

0049The processor 140 may determine whether it is able to determine a driving road based on GPS receiving information or information about map matching.

0050Meanwhile, when the reception of GPS receiving information is good and when it is able to perform map matching by map information of the navigation device 400 and location information by the sensing module 200, the processor 140 may determine that it is able to determine the driving road. In other words, although only one of whether GPS receiving information is received and whether it is able to perform map matching by map information (map data) of the navigation device 400 and location information by the sensing module 200 is satisfied, the processor 140 may determine that it is able to determine the driving road. For example, when the GPS receiving information is not temporarily updated, the processor 140 may determine whether it is able to determine the driving road using map matching.

0051In this case, when the map information includes data with respect to latitude and longitude using a geocentric coordinate system, the processor 104 may determine a more accurate vehicle location on a map by converting the map information into the vehicle-centric coordinate system upon map matching, comparing the map information converted into the vehicle-centric coordinate system with information based on the vehicle-centric coordinate system, obtained from the sensing module 200, correcting a relative location, and converting an absolute location of the geocentric coordinate system of the vehicle.

0052When it is able to determine the driving road, the processor 140 may determine whether it is possible to perform a lane change based on the result sensed by the sensing module 200.

0053The processor 140 may determine whether a current driving road is a general road, whether there is a pedestrian or a cyclist on the current driving road, whether there is a median strip, and the number of lanes of the driving road, using the result sensed by the sensing module 200. For example, the processor 140 may determine whether a type (e.g., a general road, a limited-access road, a highway, or the like) of a road, there is a pedestrian or a cyclist, and whether is there is a median strip, based on at least one or more of image data obtained using a camera, light detection and ranging (LiDAR) raw data, and radar data. Furthermore, the processor 140 may determine a type (e.g., a general road, a limited-access road, a highway, or the like) of a road on which the vehicle is currently traveling, based on map information (map data) stored in the navigation device 400 and GPS receiving information (location information). Furthermore, the processor 140 may determine a type of a road using information associated with recognizing a road sign based on a camera, information received from an infrastructure based on vehicle-to-infrastructure (V2I) communication, or the like.

0054Furthermore, the processor 140 may store shape information associated with a type of a road, a pedestrian, a cyclist, a median strip, or the like from image data obtained using the camera, LiDAR raw data, radar data, and the like in the storage 120 in advance. Hereafter, the processor 140 may determine whether a current driving road is a general road, whether there is a pedestrian or a cyclist on the current driving road, whether there is a median strip, and the number of lanes of the driving road, using the stored shape information or the like.

0055In this case, the general road may refer to a road, on which a pedestrian, a bicycle, a motorcycle, or the like may move, including traffic lights and crosswalks. The limited-access road may be a road on which only a car may travel. The highway may be a road where there is no traffic light and crosswalk and whether the vehicle may travel at less than a maximum speed over a minimum speed.

0056The processor 140 may determine whether it is possible to perform a lane change using at least one or more of whether the current driving road is a general road, whether there is a pedestrian or a cyclist on the current driving road, whether there is a median strip, and the number of lanes of the driving road.

0057In other words, when the current driving road is the general road, when there is the pedestrian or the cyclist, or when the current driving road is a first lane, the processor 140 may determine a current road condition as a mode in which it is impossible to perform the lane change.

0058Furthermore, when the current driving road is not the general road (e.g., when the current driving road is a limited-access road or a highway), when there is no the pedestrian or cyclist, when there is the median strip, or when the number of lanes of the driving road is greater than or equal to the predetermined number of lanes, the processor 140 may determine the current road condition as a mode in which it is possible to perform the lane change.

0059When receiving a lane change request from a user when the vehicle is traveling, the processor 140 may determine whether to control a lane change depending on the result of determining whether it is possible to perform the lane change. In other words, when the current road condition is the mode in which it is possible to perform the lane change and when receiving the lane change request from the user, the processor 140 may control the lane change.

0060When the vehicle is temporarily turned off by an integrated starter generator (ISG) upon stopping due to a traffic light, the processor 140 may store the result of determining whether it is possible to perform the lane change in the storage 120. When the vehicle is turned on to start, the processor 140 may control a lane change based on the result of determining whether it is possible to perform the lane change, stored in the storage 120. When the vehicle is turned on after being turned off completely by the user, a mode in which it is unable to determine a driving road may be set to a default.

0061As such, when the vehicle is located in an area, such as an underground parking lot or a tunnel, where the reception of a GPS signal is poor or where it is impossible to perform navigation map matching, when a pedestrian or a cyclist may be entered, and when there is no median strip or when the number of driving lanes is less than two lanes, the processor 140 may determine that it is impossible to perform a lane change. On the other hand, when the reception of the GPS signal is good or when it is possible to perform the navigation map matching, when the pedestrian or the cyclist may not be entered, and when there is the median strip or when the number of driving lanes is greater than or equal to the two lanes, the processor 140 may determine that it is possible to perform a lane change.

0062The sensor module 100 may be configured to obtain information associated with a type of a road on which the vehicle is currently traveling and an external object (e.g., a surrounding vehicle, a pedestrian, a cyclist, a motorcycle, a bicycle, a median strip, the number of lanes of the driving road, or the like) which is traveling on the same lane and a neighboring lane beside a lane on which the vehicle is traveling and sense surrounding circumstances. The information associated with the external object may include a location, a speed, a type, a movement direction, or the like of the external object.

0063To this end, the sensing module 100 may include at least one or more cameras, a radar, a LiDAR, an ultrasonic sensor, an acceleration sensor, a yaw rate sensor, a torque sensor, a wheel speed sensor, and/or the like. Furthermore, at least one or more sensors may be loaded into the front, the rear, or left and right sides of the vehicle. Furthermore, the sensing module 100 may perform sensing at a predetermined period and may provide the sensed result the processor 140.

0064The GPS receiver 300 may receive a GPS signal from a GPS satellite and may deliver the received GPS signal to the lane change controller 100. Thus, the lane change controller 100 may determine a location of a host vehicle using the GPS signal.

0065The navigation device 400 may provide map information or the like according to a location and destination of the vehicle to the lane change controller 100.

0066The input device 500 may be configured to receive a lane change command from the user. In some forms of the present disclosure, the input device 500 may include a turn signal level, a switch, a button, or the like capable of receiving a user input for a lane change.

0067The steering device 600 may be configured to control a steering angle of the vehicle and may include a steering wheel, an actuator interlocked with the steering wheel, and a controller for controlling the actuator.

0068The acceleration and deceleration device 700 may be configured to control a speed of the vehicle and may include a throttle, a brake, and an actuator interlocked with the throttle and the brake, and a controller for controlling the actuator.

0069As such, some forms of the present disclosure may increase the convenience of the user and may perform safe driving by determining a state where it is able to perform a lane change based on a road condition, displaying whether it is possible to perform a lane change such that the user recognizes it, and automatically controlling the lane change when receiving a lane change request from the user in the state where it is possible to perform the lane change.

0070<figref idref="f0002">FIG. 2</figref> is a drawing illustrating a lane change control method as a road condition is determined, in some forms of the present disclosure.

0071Referring to <figref idref="f0002">FIG. 2</figref>, when a vehicle travels on a general road and then enters a limited-access road, a processor 140 of <figref idref="f0001">FIG. 1</figref> may determine a change in road condition to determine whether it is possible to perform a lane change and may display the result on a display device 130 of the vehicle. In <figref idref="f0002">FIG. 2</figref>, when the vehicle enters the limited-access road from the general road, the processor 140 may display a message 132 for "entering a mode where it is possible to perform a lane change" on the display device 130. When the vehicle exits from the limited-access road to the general road, the processor 140 may determine whether it is possible to perform a lane change depending on a change in road condition and may display a message 131 for "entering a mode where it is impossible to perform a lane change" on the display device 130.

0072Hereinafter, a description will be given in detail of a method for determining a road condition for controlling a lane change of a vehicle in some forms of the present disclosure. <figref idref="f0003">FIG. 3</figref> is a flowchart illustrating a method for determining a road condition for controlling a lane change of a vehicle in some forms of the present disclosure.

0073Hereinafter, it is assumed that a lane change controller 100 of <figref idref="f0001">FIG. 1</figref> performs a process of <figref idref="f0003">FIG. 3</figref>. Furthermore, in a description of <figref idref="f0003">FIG. 3</figref>, an operation described as being performed by the lane change controller 100 may be understood as being controlled by a processor 140 of the lane change controller 100.

0074Referring to <figref idref="f0003">FIG. 3</figref>, in operation S101, the lane change controller 100 may receive a GPS signal via a GPS receiver 200 of <figref idref="f0001">FIG. 1</figref> and may update GPS information. In operation S102, the lane change controller 100 may determine whether it is able to determine a condition of a driving road based on the updated result of the GPS information. In this case, the lane change controller 100 may enter a mode in which it is unable to determine a driving road, which is a default mode, as soon as a vehicle is turned on and may periodically update GPS information. When the driving of the vehicle starts, the lane change controller 100 may determine whether the GPS information is normally updated.

0075In other words, in operation S103, when there is the reason why the reception of a GPS signal is poor or why it is possible to match map information of a navigation device 400 of <figref idref="f0001">FIG. 1</figref>, the lane change controller 100 may determine a current road condition is a mode in which it is unable to determine a driving road, which is a state where it is impossible to determine a condition of a road on which the vehicle is current traveling. When GPS information is updated in a place, such as an underground parking lot, a place under a bridge, or a tunnel, where the reception of a GPS signal is poor, since it is difficult to determine a driving road, the lane change controller 100 may determine the current road condition as the mode in which it is unable to determine the driving road. The lane change controller 100 may recognize information associated with a lane, a road marker, and a traffic sign in advance by means of a sensing module 200 of <figref idref="f0001">FIG. 1</figref> and may determine a condition of a road on which the vehicle is currently traveling, using a detailed map which records the recognized information.

0076In operation Sill, the lane change controller 100 may display a mode in which it is unable to determine the driving road on the current driving road on a screen. As such, the lane change controller 100 may display the state where it is unable to determine the driving road on a display device 130 of <figref idref="f0001">FIG. 1</figref>, such that a user knows the reason why it is impossible to perform a lane change.

0077Meanwhile, when the reception of the GPS signal is good and when it is possible to match the map information of the navigation device 400, in operation S104, the lane change controller 100 may determine that it is able to determine a condition of a road on which the vehicle is traveling and may update the result sensed by the sensing module 200.

0078In operation S105, the lane change controller 100 may determine whether the road on which the vehicle is currently traveling is a general road based on the updated result sensed by the sensing module 200. In this case, the lane change controller 100 may determine whether the road on which the vehicle is currently traveling is the general road based on map information provided from the navigation device 400. The lane change controller 100 may determine whether the vehicle enters the general road based on information indicating that the vehicle enters or exit from an interchange (IC) or junction (JC) while driving.

0079When the road on which the vehicle is currently traveling is the general road, in operation S110, the lane change controller 100 may determine the current road condition as a mode in which it is impossible to perform a lane change. When the lane change controller 100 is temporarily turned off by an ISG because the vehicle stops due to a traffic light when the vehicle travels on the general road, it may store information associated with a mode in which it is impossible to perform a lane change or a mode in which it is possible to perform a lane change in a storage 120 of <figref idref="f0001">FIG. 1</figref>. When the vehicle restarts at a later time, the lane change controller 100 may control a lane change based on the mode information stored in the storage 120.

0080On the other hand, when the road on which the vehicle is currently traveling is not the general road, in operation S106, the lane change controller 100 may determine whether there is a pedestrian or a cyclist within the road on which the vehicle is currently traveling, based on the result sensed by the sensing module 200. When there is the pedestrian or the cyclist within the road on which the vehicle is currently traveling, in operation S110, the lane change controller 100 may determine the current road condition as the mode in which it is impossible to perform the lane change. In this case, the lane change controller 100 may determine there is the pedestrian or the cyclist based on information received from a camera or a LiDAR.

0081Meanwhile, when the road on which the vehicle is currently traveling is not the general road and when there is no the pedestrian or cyclist within the road on which the vehicle is currently traveling, in operation S107, the lane change controller 100 may determine there is a median strip on the road where the vehicle is currently traveling, based on the result sensed by the sensing module 200. The lane change controller 100 may determine whether there is a median strip (a guardrail) based on map information received from the navigation device 400 or the sensed result received from the camera, a radar, the LiDAR, or the like.

0082When the road on which the vehicle is currently traveling is not the general road, when there is no the pedestrian or cyclist within the road on which the vehicle is currently traveling, and there is the median strip on the road where the vehicle is currently traveling, in operation S109, the lane change controller 100 may determine the road on which the vehicle is currently traveling as a highway or limited-access road where it is able to drive an autonomous system or a vehicle driving assist system to determine the current road condition as a mode in which it is possible to perform a lane change. Thereafter, in operation Sill, the lane change controller 100 may display the mode in which it is possible to perform the lane change on the road where the vehicle is currently traveling, on the screen.

0083Meanwhile, when there is no the median strip on the road where the vehicle is currently traveling, in operation S108, the lane change controller 100 may determine whether the number of lanes of the road on which the vehicle is currently traveling is greater than or equal to two lines based on the result sensed by the sensing module 200. When the number of the lanes of the road on which the vehicle is currently traveling is greater than or equal to the two lines, in operation S109, the lane change controller 100 may determine the current road condition as the mode in which it is possible to perform the lane change. Thereafter, in operation Sill, the lane change controller 100 may display the mode in which it is possible to perform the lane change from the road on which the vehicle is currently traveling, on the screen. In this case, the lane change controller 100 may recognize the number of lanes based on image information of the camera.

0084On the other hand, when the number of the lanes of the road on which the vehicle is currently traveling is less than the two lines, in operation S110, the lane change controller 100 may determine the current road condition as the mode in which it is impossible to perform the lane change. In operation S111, the lane change controller 100 may display the mode in which it is impossible to perform the lane change from the road on which the vehicle is currently traveling, on the screen.

0085As such, some forms of the present disclosure may classify and determine a mode in which it is impossible to determine a driving road, a mode in which it is impossible to perform a lane change, and a mode in which it is possible to perform a lane change and may display the determined result on the screen, such that the user recognizes the reason why the lane change controller is impossible. In <figref idref="f0003">FIG. 3</figref>, some forms of the present disclosure are exemplified as the lane change controller 100 sequentially determines conditions, for example, whether the vehicle enters the general road, whether the pedestrian or the cyclist is detected, there is the median strip, and the number of the lanes of the driving road. However, forms of the present disclosure are not limited thereto. For example, the lane change controller 100 may consider the conditions, for example, whether the vehicle enters the general road, whether the pedestrian or the cyclist is detected, there is the median strip, and the number of the lanes of the driving road, in parallel, to determine whether it is possible to perform a lane change. For example, the lane change controller 100 may determine whether it is possible to perform a lane change as at least one or more of the conditions, for example, whether the vehicle enters the general road, whether the pedestrian or the cyclist is detected, there is the median strip, and the number of the lanes of the driving road, are satisfied.

0086Hereinafter, a description will be given in detail of a lane change control method for a vehicle according to the result of determining whether it is possible to perform a lane change based on a road condition of <figref idref="f0003">FIG 3</figref>. <figref idref="f0004">FIG. 4</figref> is a flowchart illustrating a lane change control method for a vehicle according to the result of determining whether it is possible to perform a lane change based on a road condition of <figref idref="f0003">FIG 3</figref>.

0087Hereinafter, it is assumed that a lane change controller 100 of <figref idref="f0001">FIG. 1</figref> performs a process of <figref idref="f0004">FIG. 4</figref>. Furthermore, in a description of <figref idref="f0004">FIG. 4</figref>, an operation described as being by the lane change controller 100 may be understood as being controlled by a processor 140 of the lane change controller 100.

0088Referring to <figref idref="f0004">FIG. 4</figref>, When a vehicle is traveling, when receiving a lane change request from a user in operation S201, in operation S202, the lane change controller 100 may determine whether a current road condition is a mode in which it is possible to perform a lane change. In this case, the lane change controller 100 may determine the lane change request from the user via an input device 500 of <figref idref="f0001">FIG. 1</figref>, for example, a turn signal level, a switch, a button, or the like. In other words, the lane change controller 100 may determine the lane change request by receiving a command to perform a lane change in a left or right direction via the input device 500.

0089Furthermore, the lane change controller 100 may periodically determine and store whether the current road condition is the mode in which it is possible to perform the lane change through the process of <figref idref="f0003">FIG. 3</figref>. When receiving the lane change request from the user, in operation S203, the lane change controller 100 may control a lane change based on the previously stored result of determining whether the current road condition is the mode in which it is possible to perform the lane change. When the current road condition is not the mode in which it is possible to perform the lane change, the lane change controller 100 may end the process without performing the lane change.

0090As such, some forms of the present disclosure may increase the convenience of the user by determining an operation, capable of automatically and safely performing a lane change function, depending on a condition of a road on which the vehicle is traveling and notifying the user whether it is possible to perform a lane change. Moreover, some forms of the present disclosure may increase the safety and availability of the system by determining whether it is possible to perform a lane change depending on a condition of a road on which the vehicle is currently traveling and automatically performing the lane change function depending on the result.

0091<figref idref="f0005">FIG. 5</figref> is a block diagram illustrating a configuration of a computing system in some forms of the present disclosure.

0092Referring to <figref idref="f0005">FIG. 5</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 processing 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 some forms of the present disclosure 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 (e.g., 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).

0095An 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.

0096The technology of the present disclosure may determine a condition of a road on which the vehicle is currently traveling to determine whether it is possible to control a lane change and may control the lane change, thus, whenever a condition of a driving road is changed, recognizing it to safely control the lane change.

0097Furthermore, the technology of the present disclosure may increase the convenience of the user by displaying the result of whether it is possible to control the lane change, determined according to a condition of a road on which the vehicle is currently traveling, on the screen such that the user recognize the result.

0098In addition, various effects directly or indirectly ascertained through the present disclosure may be provided.

0099Hereinabove, although the present disclosure has been described with reference to some forms of the present disclosure 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 claimed in the following claims.

0100The description of the disclosure is merely exemplary in nature and, thus, variations that do not depart from the substance of the disclosure are intended to be within the scope of the disclosure. Such variations are not to be regarded as a departure from the spirit and scope of the disclosure.