Driving lane changing apparatus and driving lane changing method
A driving lane changing apparatus of a host vehicle comprises a microcontroller. The microcontroller detects information about one or more vehicles traveling in a neighboring lane from a current lane of the host vehicle based on sensing information generated by a sensor of the host vehicle, determines whether the host vehicle is allowed to move to the neighboring lane based on the sensing information, controls the host vehicle to move adjacently to a line distinguishing between the current lane of the host vehicle and the neighboring lane, calculates longitudinal relative distance information between the host vehicle and the one or more vehicles at a preset time point in which the host vehicle moves to the line, and re-determines whether the host vehicle is allowed to move to the neighboring lane based on the calculated longitudinal relative distance information at the preset time point.
1. A driving lane changing apparatus of a host vehicle, the driving lane changing apparatus comprising a microcontroller, wherein the microcontroller is configured to:
detect information about a first vehicle traveling in a neighboring lane from a current lane of the host vehicle using a sensor of the host vehicle, wherein the detected information includes a first distance between the first vehicle and the host vehicle and a first velocity of the first vehicle;
calculate a time to collision with the first vehicle based on the detected information of the first vehicle and host information of a current position and a current velocity of the host vehicle;
control the host vehicle such that the host vehicle is moved adjacent to a road mark line distinguishing between the current lane of the host vehicle and the neighboring lane based on the calculated time to collision with first vehicle;
when the host vehicle is adjacent to the road mark line, detect, using the sensor of the host vehicle, a longitudinal relative distance between the host vehicle and the first vehicle at a preset time point in which the host vehicle moves to the road mark line;
calculate, based on the detected longitudinal relative distance and the first velocity of the first vehicle, a time to reach a point at a center line of the neighboring lane by the first vehicle, wherein the center is measured in the width direction of the neighboring lane; and
control the host vehicle such that the host vehicle is moved to the point at the center line of the neighboring lane based on the calculated time to reach the point at the center line of the neighboring lane by the first vehicle,
wherein the longitudinal relative distance is detected by calculating a trigonometric function relationship of the first distance and a distance between the host vehicle and the center line of the neighboring lane.
2. The driving lane changing apparatus of claim 1 , wherein when the microcontroller detects, using the sensor of the host vehicle, information about the first vehicle traveling behind the host vehicle in the neighboring lane, a second vehicle traveling in front of the host vehicle in the neighboring lane, and a preceding vehicle traveling in front of the host vehicle in the current lane, the detected information includes the first distance between the first vehicle and the host vehicle, a second distance between the host vehicle and the second vehicle, and a third distance between the host vehicle and the preceding vehicle, and
the microcontroller controls the host vehicle such that the host vehicle moves to the line distinguishing between the current lane of the host vehicle and the neighboring lane when the first distance between the host vehicle and the first vehicle is larger than at least one of the second distance between the host vehicle and the second vehicle and the third distance between the host vehicle and the preceding vehicle.
3. The driving lane changing apparatus of claim 1 , wherein when the microcontroller detects, using the sensor of the host vehicle, information about the first vehicle traveling behind the host vehicle in the neighboring lane, a second vehicle traveling in front of the host vehicle in the neighboring lane, and a preceding vehicle traveling in front of the host vehicle in the current lane, the detected information includes the first distance between the first vehicle and the host vehicle, the first velocity of the first vehicle, a second distance between the host vehicle and the second vehicle, a second velocity of the second vehicle, a third distance between the host vehicle and the preceding vehicle, and a third velocity of the preceding vehicle, and
the microcontroller
calculates, a first time to collision with the first vehicle based on the detected information of the first vehicle and the host information of the host vehicle, a second time to collision with the second vehicle based on the detected information of the second vehicle and the host information of the host vehicle, a third time to collision with the preceding vehicle based on the detected information of the preceding vehicle and the host information of the host vehicle,
controls the host vehicle such that the host vehicle moves to the road mark line distinguishing between the current lane of the host vehicle and the neighboring lane when the first time to collision is greater than at least one of the second time to collision and the third time to collision.
4. The driving lane changing apparatus of claim 1 , wherein the microcontroller controls the host vehicle such that the host vehicle moves to the road mark line distinguishing between the current lane of the host vehicle and the neighboring lane when it is detected that re- when the first distance has increased during a preset time period.
5. The driving lane changing apparatus of claim 1 , wherein the microcontroller controls the host vehicle such that the host vehicle moves to the road mark line distinguishing between the current lane of the host vehicle and the neighboring lane when it is detected that when the calculated time to collision with the first vehicle has increased during a preset time period.
6. The driving lane changing apparatus of claim 1 , wherein the microcontroller generates a point representing a vertex of a theoretical parabola that intersects the center line of the neighboring lane and controls the host vehicle such that the host vehicle travels along a target path moving from the current position of the host vehicle to the point representing the vertex of the theoretical parabola, wherein the vertex has a preset slope.
7. The driving lane changing apparatus of claim 1 , wherein the microcontroller generates a point representing a vertex of a theoretical parabola that intersects the center line of the neighboring lane and controls the host vehicle such that the host vehicle travels along a target path moving from a current position of the host vehicle to the point representing the vertex of the theoretical parabola, wherein the vertex has a slope set in proportion to the current velocity of the host vehicle.
8. A driving lane changing method performed by a driving lane changing apparatus comprising a microcontroller, the method comprising:
detecting information about a first vehicle traveling in a neighboring lane from the host vehicle or a current lane of the host vehicle using a sensor of the host vehicle;
calculating a time to collision with the first vehicle based on the detected information of the first vehicle and host information of a current position and a current velocity of the host vehicle;
controlling the host vehicle such that the host vehicle is moved adjacent to a road mark line distinguishing between the current lane of the host vehicle and the neighboring lane based on the calculated time to collision with first vehicle;
when the host vehicle is adjacent to the road mark line, detecting, using the sensor of the host vehicle, a longitudinal relative distance between the host vehicle and the first vehicle at a preset time point in which the host vehicle moves to the road mark line; and
calculating, based on the detected longitudinal relative distance and the first velocity of the first vehicle, a time to reach a point at a center line of the neighboring lane by the first vehicle, wherein the center is measured in the width direction of the neighboring lane; and
controlling the host vehicle such that the host vehicle is moved to the point at the center line of the neighboring lane based on the calculated time to reach the point at the center line of the neighboring lane by the first vehicle,
wherein the longitudinal relative distance is detected by calculating a trigonometric function relationship of the first distance and a distance between the host vehicle and the center line of the neighboring lane.
9. The driving lane changing method of claim 8 , wherein when the microcontroller detects, using the sensor of the host vehicle, information about the first vehicle traveling behind the host vehicle in the neighboring lane, a second vehicle traveling in front of the host vehicle in the neighboring lane, and a preceding vehicle traveling in front of the host vehicle in the current lane of the host vehicle, and the detected information includes the first distance between the first vehicle and the host vehicle, a second distance between the host vehicle and the second vehicle, and a third distance between the host vehicle and the preceding vehicle,
the microcontroller controls the host vehicle such that the host vehicle is moved to the road mark line distinguishing between the current lane of the host vehicle and the neighboring lane when the first distance between the host vehicle and the first vehicle is larger than at least one of the second distance between the host vehicle and the second vehicle and the third distance between the host vehicle and the preceding vehicle.