LANE CHANGE CONTROL APPARATUS AND CONTROL METHOD OF THE SAME
First Claim
1. A lane change control apparatus, comprising:
- a lane information extractor configured to obtain lane information for a driving lane by using image information for a lane;
a lane changeable time calculator configured to calculate a lane changeable time by using speed information of an own vehicle and information for peripheral vehicles obtained from sensing apparatuses installed in the own vehicle;
a reference yaw rate generator configured to determine a lane change time by using the lane changeable time and the speed information and generate a reference yaw rate symmetrically changed on a time axis during the lane change time by using the lane changeable time and the lane information; and
a reference yaw rate tracker configured to control an operation of the own vehicle so as to track the reference yaw rate.
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Accused Products
Abstract
A lane change control apparatus includes a lane information extractor configured to obtain lane information for a driving lane by using image information for a lane. A lane changeable time calculator is configured to calculate a lane changeable time by using speed information of an own vehicle and information for peripheral vehicles obtained from sensing apparatuses installed in the vehicle. A reference yaw rate generator is configured to determine a lane change time by using the lane changeable time and speed information and generate a reference yaw rate symmetrically changed on a time axis during the lane change time by using the lane change time and lane information. A reference yaw rate tracker is configured to control an operation of the own vehicle so as to track the reference yaw rate.
36 Citations
13 Claims
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1. A lane change control apparatus, comprising:
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a lane information extractor configured to obtain lane information for a driving lane by using image information for a lane; a lane changeable time calculator configured to calculate a lane changeable time by using speed information of an own vehicle and information for peripheral vehicles obtained from sensing apparatuses installed in the own vehicle; a reference yaw rate generator configured to determine a lane change time by using the lane changeable time and the speed information and generate a reference yaw rate symmetrically changed on a time axis during the lane change time by using the lane changeable time and the lane information; and a reference yaw rate tracker configured to control an operation of the own vehicle so as to track the reference yaw rate. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10)
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11. A lane change control method of a vehicle, the method comprising steps of:
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obtaining lane information by using image information of a lane and obtaining speed information of an own vehicle and relative speeds and distances between peripheral vehicles and the own vehicle by using information from sensing apparatuses installed in the own vehicle; calculating a lane changeable time by using the relative speeds and the distances; determining a lane change time by using the lane changeable time and the speed information of the own vehicle and generating a reference yaw rate symmetrically changed on an time axis during the lane change time by using the lane changeable time and the lane information; and controlling an operation of the own vehicle so as to track the reference yaw rate. - View Dependent Claims (12, 13)
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Specification