Apparatus and method for determining road environment
An apparatus and method for determining road environment is provide, and the apparatus for determining road environment according to an embodiment of the present disclosure comprises: a data collector configured to obtain data on road environment information and data on vehicle behavior; a data processor configured to determine reliability of the obtained data; a data determiner configured to determine the road environment based on the reliability; and a vehicle controller configured to control a vehicle based on the determined road environment.
1 . An apparatus for determining road environment, comprising:
a data collector configured to obtain data on road environment information and data on vehicle behavior;
a data processor configured to determine reliability of the obtained data;
a data determiner configured to determine the road environment based on the reliability; and
a vehicle controller configured to control a vehicle based on the determined road environment,
wherein the data determiner is configured to:
set a reference lane line having a higher reliability from a left lane line and a right lane line of a driving lane of the vehicle based on the determined reliability;
determine whether a road boundary exists outside the set reference lane line; and
in response to a determination that the road boundary exists, determine that a ramp section exists in front of the vehicle if an absolute value of a difference between a curvature of the reference lane line and a curvature of the road boundary is greater than a threshold value.
2 . The apparatus of claim 1 , wherein the data on road environment information comprises driving lane information, adjacent lane information, and road boundary information.
3 . The apparatus of claim 1 , wherein the data processor is configured to determine the reliability of the data based on a viewing range, a curvature, or a recognition clarity of the data.
4 . The apparatus of claim 1 , wherein the vehicle controller is configured to transfer a steering control authority of the vehicle to a driver in response to the determination that the ramp section exists in front of the vehicle.
5 . The apparatus of claim 1 , wherein the data processor is configured to assign a higher reliability score to a lane line in a direction opposite to a turning direction of the vehicle than a lane line in the turning direction.
6 . The apparatus of claim 1 , wherein the data collector is configured to obtain data from images captured by a camera.
7 . The apparatus of claim 1 , wherein the data determiner is further configured to determine whether a driver intends to enter the ramp section based on the data on the vehicle behavior.
8 . The apparatus of claim 7 , wherein the vehicle controller is configured to automatically control at least one of a steering apparatus, a braking apparatus, and an acceleration apparatus for the vehicle to enter the ramp section, in response to a determination that the driver intends to enter the ramp section.
9 . A method for determining road environment, comprising:
obtaining data on road environment information and data on vehicle behavior;
determining reliability of the obtained data;
determining the road environment based on the reliability; and
controlling a vehicle based on the determined road environment,
wherein the determining of the road environment based on the reliability comprises:
setting a reference lane line having a higher reliability from a left lane line and a right lane line of a driving lane of the vehicle based on the determined reliability;
determining whether a road boundary exists outside the set reference lane line; and
in response to a determination that the road boundary exists, determining that a ramp section exists in front of the vehicle if an absolute value of a difference between a curvature of the reference lane line and a curvature of the road boundary is greater than a threshold value.
10 . The method of claim 9 , wherein the data on road environment information comprises driving lane information, adjacent lane information, and road boundary information.
11 . The method of claim 9 , wherein the determining of the reliability of the obtained data comprises determining the reliability of the data based on a viewing range, a curvature, or a recognition clarity of the data.
12 . The method of claim 9 , further comprising:
transferring a steering control authority of the vehicle to a driver in response to the determination that the ramp section exists in front of the vehicle.
13 . The method of claim 9 , wherein the determining of the reliability of the obtained data comprises assigning a higher reliability score to a lane line in a direction opposite to a turning direction of the vehicle than a lane line in the turning direction.
14 . The method of claim 9 , wherein the data on the road environment information is obtained from images captured by a camera.
15 . The method of claim 9 , further comprising:
determining whether a driver intends to enter the ramp section based on the data on the vehicle behavior.
16 . The method of claim 15 , further comprising:
in response to a determination that the driver intends to enter the ramp section, executing a ramp section entry mode for the vehicle to enter the ramp section by automatically controlling at least one of a steering apparatus, a braking apparatus, and an acceleration apparatus.
17 . The method of claim 16 , further comprising:
determining whether the vehicle has completely entered the ramp section; and
in response to a determination that the vehicle has completely entered the ramp section, terminating the ramp section entry mode and controlling the vehicle to drive in a normal operation mode.
18 . An apparatus comprising at least one processor and a memory, wherein by executing program instructions loaded into the memory, the at least one processor is configured to: obtain data on road environment information and data on vehicle behavior; determine reliability of the obtained data; determine road environment based on the reliability; and control a vehicle based on the determined road environment, and
wherein the at least one processor is further configured to: set a reference lane line having a higher reliability from a left lane line and a right lane line of a driving lane of the vehicle based on the determined reliability; determine whether a road boundary exists outside the set reference lane line; and in response to a determination that the road boundary exists, determine that a ramp section exists in front of the vehicle if an absolute value of a difference between a curvature of the reference lane line and a curvature of the road boundary is greater than a threshold value.