Vehicle control method and device
The present embodiments relate to a vehicle control technology for controlling the behavior of a vehicle by determining whether to yield to a merging vehicle and provide a vehicle control device and method comprising a target selector determining a presence of a pocket lane using precise map information, and selecting a target vehicle driving in the pocket lane, a target information producer producing information about the target vehicle and distance information about a merging section, a yield determiner determining whether to yield to the target vehicle using a payoff matrix produced based on an acceleration variation of the host vehicle and information about a time required for the target vehicle to enter a driving lane where a host vehicle is driving, and a control signal generator generating a control signal for controlling a behavior of the host vehicle based on a result of determining whether to yield.
1 . A vehicle control device, comprising:
a processor configured to:
determine a presence of a pocket lane using precise map information, and select a target vehicle driving in the pocket lane;
produce information about the target vehicle and distance information about a merging section;
determine whether to yield to the target vehicle using a payoff matrix produced based on an acceleration variation of a host vehicle and information about a time required for the target vehicle to enter a driving lane where the host vehicle is driving; and
generate a control signal for controlling a behavior of the host vehicle based on a result of determining whether to yield.
2 . The vehicle control device of claim 1 , wherein the processor is further configured to:
determine whether the pocket lane is present by producing number change information about geometry information included in the precise map information; and
select, as the target vehicle, a vehicle having a shortest relative distance from the host vehicle when the pocket lane is present.
3 . The vehicle control device of claim 1 , wherein the processor is further configured to:
produce relative speed information about the target vehicle and the host vehicle, speed information about the target vehicle, and location information about the target vehicle; and
produce distance information about the merging section based on the location information about the target vehicle.
4 . The vehicle control device of claim 3 , wherein the processor is further configured to:
select a tapering area from the pocket lane; and
produce a distance from the location information about the target vehicle to the tapering area as the distance information about the merging section.
5 . The vehicle control device of claim 1 , wherein the required time information is produced based on expected acceleration information about the target vehicle and the distance information.
6 . The vehicle control device of claim 1 , wherein the processor is further configured to determine whether to yield based on a Nash equilibrium-based behavior determination algorithm preset using the payoff matrix.
7 . The vehicle control device of claim 1 , wherein the payoff matrix is produced based on a target utility function preset to receive a higher payoff as the required time decreases and a host vehicle utility function preset to receive a higher payoff as the acceleration variation of the host vehicle decreases.
8 . The vehicle control device of claim 7 , wherein the processor is further configured to:
determine a payoff value based on the preset target utility function and the preset host vehicle utility function, separately for a case where the target vehicle waits or merges when the host vehicle yields, and a case where the target vehicle waits or merges when the host vehicle does not yield; and
produce the payoff matrix with the payoff value.
9 . The vehicle control device of claim 8 , wherein the processor is further configured to determine whether to yield based on a result of comparison between payoff values.
10 . The vehicle control device of claim 8 , wherein the processor is further configured to:
calculate a probability of whether the host vehicle yields and a probability of whether the target vehicle merges using a probability calculation algorithm preset using the payoff value; and
determine whether to yield based on a result of the probability calculation.
11 . A vehicle control method, comprising:
selecting a target vehicle driving in a pocket lane by determining a presence of the pocket lane using precise map information;
producing information about the target vehicle and distance information about a merging section;
determining whether to yield to the target vehicle using a payoff matrix produced based on an acceleration variation of a host vehicle and information about a time required for the target vehicle to enter a driving lane where the host vehicle is driving; and
generating a control signal for controlling a behavior of the host vehicle based on a result of determining whether to yield.
12 . The vehicle control method of claim 11 , wherein the selecting a target vehicle determines whether the pocket lane is present by producing number change information about geometry information included in the precise map information, and selects, as the target vehicle, a vehicle having a shortest relative distance from the host vehicle when the pocket lane is present.
13 . The vehicle control method of claim 11 , wherein the producing information about the target vehicle and distance information produces relative speed information about the target vehicle and the host vehicle, speed information about the target vehicle, and location information about the target vehicle, and produces distance information about the merging section based on the location information about the target vehicle.
14 . The vehicle control method of claim 13 , wherein the producing information about the target vehicle and distance information selects a tapering area from the pocket lane and produces a distance from the location information about the target vehicle to the tapering area as the distance information about the merging section.
15 . The vehicle control method of claim 11 , wherein the required time information is produced based on expected acceleration information about the target vehicle and the distance information.
16 . The vehicle control method of claim 11 , wherein the determining whether to yield determines whether to yield based on a Nash equilibrium-based behavior determination algorithm preset using the payoff matrix.
17 . The vehicle control method of claim 11 , wherein the payoff matrix is produced based on a target utility function preset to receive a higher payoff as the required time decreases and a host vehicle utility function preset to receive a higher payoff as the acceleration variation of the host vehicle decreases.
18 . The vehicle control method of claim 17 , wherein the determining whether to yield determines a payoff value based on the preset target utility function and the preset host vehicle utility function, separately for a case where the target vehicle waits or merges when the host vehicle yields, and a case where the target vehicle waits or merges when the host vehicle does not yield, and produces the payoff matrix with the payoff value.
19 . The vehicle control method of claim 18 , wherein the determining whether to yield determines whether to yield based on a result of comparison between payoff values.
20 . The vehicle control method of claim 18 , wherein the determining whether to yield calculates a probability of whether the host vehicle yields and a probability of whether the target vehicle merges using a probability calculation algorithm preset using the payoff value, and determines whether to yield based on a result of the probability calculation.