Vehicle control device and method

1 . A vehicle control device comprising:

a processor configured to:

determine whether of a possibility of a lane change of a vehicle based on an existence of a surrounding vehicle in a lane to be changed if a lane change operation of the vehicle initiates in a vehicle following control situation;

determine, if the lane change of the vehicle is possible, a required acceleration for changing a following target in the vehicle following control situation depending on a lane change state of the vehicle based on at least one of vehicle behavior information, lane information, or surrounding vehicle detection information; and

control the vehicle to follow the following target according to the determined required acceleration,

wherein the processor determines whether a second target for the vehicle following control exists on a lane to be changed based on the surrounding vehicle detection information, and determines the required acceleration for changing the following target by comparing a second required acceleration information determined based on the second target and a first required acceleration information determined based on a first target for vehicle following control in a driving lane in response to the existence of the second target,

wherein, if the second required acceleration information is greater than or equal to the first required acceleration information, the processor determines the required acceleration for changing the following target as the first required acceleration information, and

wherein, if the second required acceleration information is greater than or equal to a minimum required acceleration information required in the vehicle following control situation and the first required acceleration information is a positive number, the processor determines the required acceleration for changing the following target by applying a ratio information preset for each lane change state to the second required acceleration information.

2 . The vehicle control device of claim 1 , wherein, if another vehicle exists within a specific range preset based on the surrounding vehicle detection information, the processor determines that the lane change of the vehicle is not possible.

3 . The vehicle control device of claim 1 ,

wherein the processor determines the required acceleration for changing the following target as a required acceleration for the first target for the vehicle following control in the driving lane in response to the non-existence of the second target.

4 . A vehicle control device comprising a processor configured to:

determine whether of a possibility of a lane change of a vehicle based on an existence of a surrounding vehicle in a lane to be changed if a lane change operation of the vehicle initiates in a vehicle following control situation;

determine, if the lane change of the vehicle is possible, a required acceleration for changing a following target in the vehicle following control situation depending on a lane change state of the vehicle based on at least one of vehicle behavior information, lane information, or surrounding vehicle detection information; and

control the vehicle to follow the following target according to the determined required acceleration,

wherein the processor determines whether a second target for the vehicle following control exists on a lane to be changed based on the surrounding vehicle detection information, and determines the required acceleration for changing the following target by comparing a second required acceleration information determined based on the second target and a first required acceleration information determined based on a first target for vehicle following control in a driving lane in response to the existence of the second target,

wherein, if the second required acceleration information is less than the first required acceleration information, the processor determines the required acceleration for changing the following target using the second required acceleration information and a minimum required acceleration information required in the vehicle following control situation, and

wherein, if the second required acceleration information is greater than or equal to the minimum required acceleration information and the first required acceleration information is a positive number, the processor determines the required acceleration for changing the following target by applying a ratio information preset for each lane change state to the second required acceleration information.

5 . The vehicle control device of claim 4 , wherein, if the second required acceleration information is less than the minimum required acceleration information, the processor determines the required acceleration for changing the following target as the first required acceleration information.

6 . The vehicle control device of claim 4 , wherein the processor classifies the lane change state based on a degree of departure of the vehicle from the driving lane, and determines the required acceleration for changing the following target by applying ratio information preset for each lane change state to the second required acceleration information, and

wherein the ratio information is set to increase as the degree of departure from the driving lane increases.

7 . The vehicle control device of claim 4 , wherein, if the second required acceleration information is greater than or equal to the minimum required acceleration information and the first required acceleration information is a negative number, the processor determines the required acceleration for changing the following target by summing the first required acceleration information and the second required acceleration information with a preset ratio for each lane change state.

8 . The vehicle control device of claim 7 , wherein the processor classifies the lane change state based on a degree of departure of the vehicle from the driving lane, and determines the required acceleration for changing the following target by applying ratio information preset for each lane change state, and

wherein the ratio is set so that as the degree of departure from the driving lane increases, a proportion of the second required acceleration increases and a proportion of the first required acceleration decreases.

9 . A vehicle control method comprising:

determining whether of a possibility of a lane change of a vehicle if a lane change operation of the vehicle initiates in a vehicle following control situation;

determining, if the lane change of the vehicle is possible, a required acceleration for changing a following target in the vehicle following control situation depending on a lane change state of the vehicle based on at least one of vehicle behavior information, lane information, or surrounding vehicle detection information; and

controlling the vehicle to follow the following target according to the determined required acceleration,

wherein determining the required acceleration comprises:

determining whether a second target for the vehicle following control exists on a lane to be changed based on the surrounding vehicle detection information; and

determining the required acceleration for changing the following target by comparing a second required acceleration information determined based on the second target and a first required acceleration information determined based on a first target for vehicle following control in a driving lane in response to the existence of the second target,

wherein determining the required acceleration comprises, if the second required acceleration information is greater than or equal to the first required acceleration information, determining the required acceleration for changing the following target as the first required acceleration information, and

wherein determining the required acceleration comprises, if the second required acceleration information is greater than or equal to a minimum required acceleration information required in the vehicle following control situation and the first required acceleration information is a positive number, determining the required acceleration for changing the following target by applying a ratio information preset for each lane change state to the second required acceleration information.

10 . The vehicle control method of claim 9 , wherein determining whether of the possibility of the lane change comprises determining that the lane change of the vehicle is not possible if another vehicle exists within a specific range preset based on the surrounding vehicle detection information.

11 . The vehicle control method of claim 9 , wherein determining the required acceleration comprises:

determining the required acceleration for changing the following target as a required acceleration for the first target for the vehicle following control in the driving lane in response to the non-existence of the second target.

12 . The vehicle control method of claim 9 , wherein determining the required acceleration comprises, if the second required acceleration information is less than the first required acceleration information, determining the required acceleration for changing the following target using the second required acceleration information and the minimum required acceleration information.

13 . The vehicle control method of claim 12 , wherein determining the required acceleration comprises, if the second required acceleration information is less than the minimum required acceleration information, determining the required acceleration for changing the following target as the first required acceleration information.

14 . The vehicle control method of claim 12 , wherein determining the required acceleration comprises, if the second required acceleration information is greater than or equal to the minimum required acceleration information and the first required acceleration information is a negative number, determining the required acceleration for changing the following target by summing the first required acceleration information and the second required acceleration information with a preset ratio for each lane change state.