Apparatus for controlling lane change of vehicle, system having the same and method thereof

1. An apparatus for controlling a lane change of a vehicle, the apparatus comprising:

a processor configured to:

determine whether a condition of interrupting a lane change procedure occurs, during controlling the lane change, and

when the condition of interrupting the lane change procedure occurs, determine whether to interrupt the lane change procedure, or whether to return the vehicle to an original lane; and

a storage configured to store outputs determined by the processor,

wherein the condition of interrupting the lane change procedure comprises:

when a dangerous situation is sensed;

when a hand-off state of a user of the vehicle is sensed;

when a request to cancel the lane change procedure is generated by the user;

when a lane change operation is not started within a predetermined time after the user requests the lane change;

when a lane change function is turned off or overridden by the user; and

when an operation of approaching a lane and a lateral movement for completing the lane change operation are not continuous while a lane is not recognized or during the lane change procedure.

2. The apparatus of claim 1 , wherein the processor is configured to:

calculate a lane change path, when receiving a lane change request; and

determine whether the vehicle leans toward a target lane in a lane change direction.

3. The apparatus of claim 2 , wherein the processor is configured to:

calculate a difference value between the lane change path and an actual vehicle behavior path based on an error in the lane change.

4. The apparatus of claim 3 , wherein the processor is configured to:

determine that the vehicle does not lean, when the error in the lane change is less than a predetermined reference value; and

calculate a returning area to return the vehicle to the original lane based on a distance from a center of the vehicle to a lane mark of a current lane on which the vehicle is travelling, and a value corresponding to a half of an overall width of the vehicle.

5. The apparatus of claim 4 , wherein the processor is configured to:

determine that the vehicle leans toward the target lane, when the error in the lane change is equal to or greater than the predetermined reference value.

6. The apparatus of claim 5 , wherein the processor is configured to:

reduce the calculated returning area when it is determined that the vehicle leans toward the target lane.

7. The apparatus of claim 6 , wherein the processor is configured to:

reduce the calculated returning area corresponding to the error in the lane change.

8. The apparatus of claim 1 , wherein the processor is configured to:

determine whether an event to return the vehicle to the original lane occurs, when the condition of interrupting the lane change procedure occurs.

9. The apparatus of claim 8 , wherein the processor is configured to:

determine that the event to return the vehicle to the original lane occurs, when at least one of following cases occurs:

a case that a lane change function is turned off or overridden by a user, a case that an operation of approaching a lane and a lateral movement for completing the lane change operation are not continuous while a lane is not recognized or during the lane change procedure.

10. The apparatus of claim 8 , wherein the processor is configured to:

determine whether the vehicle is placed within a returning area corresponding to an area to return the vehicle to the original lane, when the event to return to the original lane occurs.

11. The apparatus of claim 10 , wherein the processor is configured to:

when the vehicle is placed within the returning area,

calculate a path for returning the vehicle to the original lane; and

provide a notification that the lane change procedure is interrupted.

12. The apparatus of claim 11 , wherein the processor is configured to:

keep a lane change path continuously, when the vehicle is not placed within the returning area.

13. The apparatus of claim 8 , wherein the processor is configured to:

determine whether a lane is not recognized, when the event to return to the original lane does not occur.

14. The apparatus of claim 13 , wherein the processor is configured to:

when the lane is recognized,

calculate a path for keeping a current lane; and

provide a notification that the lane change procedure is interrupted.

15. The apparatus of claim 13 , wherein the processor is configured to:

provide a notification that the lane change procedure is interrupted, without calculating a lane change path, when the lane is not recognized.

16. The apparatus of claim 1 , wherein the processor is configured to:

sense a dangerous situation, when a relative longitudinal distance of a nearby vehicle is less than a predetermined safe reference with respect to the vehicle; and

determine a hand-off state of a user when a steering torque or a steering torque change rate are equal to or less than predetermined corresponding reference values, respectively.

17. A vehicle system for a vehicle, comprising:

a lane change controlling apparatus configured to:

determine whether a condition of interrupting a lane change procedure occurs, during controlling the lane change, and

when the condition of interrupting the lane change procedure occurs, determine whether to interrupt the lane change procedure, or whether to return the vehicle to an original lane; and

a warning device configured to output a notification when the lane change procedure is interrupted,

wherein the condition of interrupting the lane change procedure comprises:

when a dangerous situation is sensed;

when a hand-off state of a user of the vehicle is sensed;

when a request to cancel the lane change procedure is generated by the user;

when a lane change operation is not started within a predetermined time after the user requests the lane change;

when a lane change function is turned off or overridden by the user; and

when an operation of approaching a lane and a lateral movement for completing the lane change operation are not continuous while a lane is not recognized or during the lane change procedure.

18. A method for controlling a lane change of a vehicle, the method comprising:

determining, by a processor, whether a condition of interrupting a lane change procedure occurs, during controlling the lane change;

when the condition of interrupting the lane change procedure occurs, determining, by the processor, whether to interrupt the lane change procedure, or whether to return the vehicle to an original lane to control the vehicle; and

outputting, by a warning device, a notification when the lane change procedure is interrupted,

wherein the condition of interrupting the lane change procedure comprises:

when a dangerous situation is sensed;

when a hand-off state of a user of the vehicle is sensed;

when a request to cancel the lane change procedure is generated by the user;

when a lane change operation is not started within a predetermined time after the user requests the lane change;

when a lane change function is turned off or overridden by the user; and

when an operation of approaching a lane and a lateral movement for completing the lane change operation are not continuous while a lane is not recognized or during the lane change procedure.