Driver assistance system and control method thereof
Disclosed is a driver assistance system, which performs lane following assist control to keep a vehicle in the center of a lane by generating a required steering torque by a lane following assist system, including a controller configured to determine whether a driving situation is a situation in which steering intervention of a driver is required when the lane following assist control is performed, and adjust at least one of an attenuation amount of a required steering torque and a threshold value of a driver override determination for determining a driver override when the driving situation is the situation in which the steering intervention of the driver is required.
1. A driver assistance system, which performs lane following assist control to keep a vehicle in the center of a lane by generating a required steering torque by a lane following assist system, comprising
a controller configured to determine whether a driving situation is a situation in which steering intervention of a driver is required when the lane following assist control is performed, and adjust an attenuation amount of a required steering torque and a threshold value of a driver override determination for determining a driver override when the driving situation is the situation in which the steering intervention of the driver is required,
wherein an attenuation amount of a required steering torque adjusted when the situation in which the steering intervention of the driver is required is a virtual lane creation situation or a preceding vehicle-following situation is set to be greater than an attenuation amount of a required steering torque adjusted when the situation in which the steering intervention of the driver is required is a normal driving situation other than the virtual lane creation situation and the preceding vehicle-following situation,
the controller is configured to determine that the driving situation is the situation in which the steering intervention of the driver is required when the driving situation is the virtual lane creation situation, and
the controller is configured to determine that the driving situation is the virtual lane creation situation when one lane of driving lanes is unrecognized, a branching lane, or has a lane width wider than a reference lane width while the lane following assist control is being performed.
2. The driver assistance system according to claim 1 , wherein
the controller is configured to determine that the driving situation is the situation in which the steering intervention of the driver is required when the driving situation is the preceding vehicle-following situation.
3. The driver assistance system according to claim 1 , wherein
the driving mode of the vehicle comprises a Normal mode, an Eco mode, a Comfort mode, and a Sport mode that prioritizes power performance over fuel efficiency compared to the modes, and
the controller is configured to determine that the driving situation is the situation in which the intervention of the driver is required when the driving mode is the Sport mode.
4. The driver assistance system according to claim 1 , wherein
the controller is configured to determine that the driving situation is the situation in which the steering intervention of the driver is required when the driving situation is a direction indicator lamp or emergency light application situation.
5. The driver assistance system according to claim 1 , wherein
the controller, when the driving situation is the situation in which the steering intervention of the driver is required, increases the attenuation amount of the required steering torque more than an attenuation amount of a required steering torque in the normal driving situation.
6. The driver assistance system according to claim 5 , wherein
the attenuation amount of the required steering torque in the driving situation in which the steering intervention of the driver is required is attenuated twice as much as the attenuation amount of the required steering torque in the normal driving situation.
7. The driver assistance system according to claim 1 , wherein
the controller, when the driving situation is the situation in which the steering intervention of the driver is required, adjusts the threshold value of the driver override determination to be a threshold value decreased more than a reference threshold value in the normal driving situation.
8. The driver assistance system according to claim 7 , wherein
the reference threshold value is 2.0 Nm, and the threshold value of the driver override determination is adjusted to be 1.5 Nm.
9. The driver assistance system according to claim 1 , wherein the required steering torque is required to be generated by the lane following assist system to keep the vehicle in the center of the lane.
10. A driver assistance system, which performs lane following assist control to keep a vehicle in the center of a lane by generating a required steering torque by a lane following assist system, comprising
a controller configured to determine a driving situation when the lane following assist control is performed, determine an attenuation amount of a required steering torque and a threshold value of a driver override determination for determining a driver override depending on the determined driving situation, and apply the determined attenuation amount of the required steering torque and the determined threshold value of the driver override determination to the lane following assist control,
wherein an attenuation amount of a required steering torque adjusted when the situation in which the steering intervention of the driver is required is a virtual lane creation situation or a preceding vehicle-following situation is determined to be greater than an attenuation amount of a required steering torque adjusted when the situation in which the steering intervention of the driver is required is a normal driving situation other than the virtual lane creation situation and the preceding vehicle-following situation,
the controller is configured to determine that the driving situation is the situation in which the steering intervention of the driver is required when the driving situation is the virtual lane creation situation, and
the controller is configured to determine that the driving situation is the virtual lane creation situation when one lane of driving lanes is unrecognized, a branching lane, or has a lane width wider than a reference lane width while the lane following assist control is being performed.
11. A control method of a driver assistance system, which performs lane following assist control to keep a vehicle in the center of a lane by generating a required steering torque by a lane following assist system, comprising:
determining whether a driving situation is a situation in which steering intervention of a driver is required when the lane following assist control is performed; and
adjusting an attenuation amount of a required steering torque and a threshold value of a driver override determination for determining a driver override when the driving situation is the situation in which the steering intervention of the driver is required,
wherein an attenuation amount of a required steering torque adjusted when the situation in which the steering intervention of the driver is required is a virtual lane creation situation or a preceding vehicle-following situation is set to be greater than an attenuation amount of a required steering torque adjusted when the situation in which the steering intervention of the driver is required is a normal driving situation other than the virtual lane creation situation and the preceding vehicle-following situation,
the determining of whether the driving situation is the situation in which the steering intervention of the driver is required comprises determining that the driving situation is the situation in which the steering intervention of the driver is required when the driving situation is the virtual lane creation situation, and
the determining of whether the driving situation is the situation in which the steering intervention of the driver is required comprises determining that the driving situation is the virtual lane creation situation when one lane of driving lanes is unrecognized, a branching lane, or has a lane width wider than a reference lane width while the lane following assist control is being performed.
12. The control method according to claim 11 , wherein
the determining of whether the driving situation is the situation in which the steering intervention of the driver is required comprises determining that the driving situation is the situation in which the steering intervention of the driver is required when the driving situation is the preceding vehicle-following situation.
13. The control method according to claim 11 , wherein
the driving mode of the vehicle comprises a Normal mode, an Eco mode, a Comfort mode, and a Sport mode that prioritizes power performance over fuel efficiency compared to the modes, and
the determining of whether the driving situation is the situation in which the steering intervention of the driver is required comprises determining that the driving situation is the situation in which the intervention of the driver is required when the driving mode is the Sport mode.
14. The control method according to claim 11 , wherein
the determining of whether the driving situation is the situation in which the steering intervention of the driver is required comprises determining that the driving situation is the situation in which the steering intervention of the driver is required when the driving situation is a direction indicator lamp or emergency light application situation.
15. The control method according to claim 11 , wherein
the adjusting of the attenuation amount of the required steering torque and the threshold value of the driver override determination comprises, when the driving situation is the situation in which the steering intervention of the driver is required, increasing the attenuation amount of the required steering torque more than an attenuation amount of a required steering torque in the normal driving situation.
16. The control method according to claim 11 , wherein
the adjusting of the attenuation amount of the required steering torque and the threshold value of the driver override determination comprises, when the driving situation is the situation in which the steering intervention of the driver is required, decreasing the threshold value of the driver override determination more than a threshold value of a driver override determination in the normal driving situation.