Lane change determining apparatus, junction entry determining apparatus and method thereof
First Claim
1. A junction (JC) entry determining method, comprising:
- acquiring, by a controller, positional information of a vehicle surrounding object using a radar;
determining, by the controller, whether a junction (JC) entrance is present using the positional information;
determining, by the controller, a width of a right space of the vehicle using the positional information;
capturing, by the controller, an image of a vehicle surrounding environment;
determining, by the controller, a type of right lane of the vehicle using the captured image; and
determining, by the controller, whether the vehicle enters the JC based on whether the JC entrance is present, the width of the right space of the vehicle, and the type of lane,wherein the positional information includes a distance and an angle value from the vehicle to the vehicle surrounding object, andwherein the determining whether the JC entrance is present includes;
detecting, by the controller, positional information on a guardrail in the positional information;
aligning, by the controller, the detected positional information in angle order; and
determining, by the controller, whether the JC entrance is present, in response to determining that a discontinuous point at which the distance is increased or reduced to a preset distance or more is prevent by comparing the distances of the aligned positional information.
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Accused Products
Abstract
A junction (JC) entry determining method and a lane change determining method are provided. The JC entry determining method includes acquiring, by a controller, positional information of a vehicle surrounding object using radar and determining whether a junction entrance is present using the positional information. A width of a right space of the vehicle is determined using the positional information and a vehicle surrounding environment image is captured. The controller is also configured to determine a type of right lane of the vehicle using the captured image and determine whether the vehicle enters the JC based on whether the JC entrance is present, the width of the right space of the vehicle, and the type of lane.
4 Citations
8 Claims
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1. A junction (JC) entry determining method, comprising:
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acquiring, by a controller, positional information of a vehicle surrounding object using a radar; determining, by the controller, whether a junction (JC) entrance is present using the positional information; determining, by the controller, a width of a right space of the vehicle using the positional information; capturing, by the controller, an image of a vehicle surrounding environment; determining, by the controller, a type of right lane of the vehicle using the captured image; and determining, by the controller, whether the vehicle enters the JC based on whether the JC entrance is present, the width of the right space of the vehicle, and the type of lane, wherein the positional information includes a distance and an angle value from the vehicle to the vehicle surrounding object, and wherein the determining whether the JC entrance is present includes; detecting, by the controller, positional information on a guardrail in the positional information; aligning, by the controller, the detected positional information in angle order; and determining, by the controller, whether the JC entrance is present, in response to determining that a discontinuous point at which the distance is increased or reduced to a preset distance or more is prevent by comparing the distances of the aligned positional information. - View Dependent Claims (2, 3, 4, 5, 6, 7)
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8. A junction (JC) entry determining apparatus, comprising:
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a radar sensor configured to acquire positional information of a vehicle surrounding object using a radar; a controller having a processor and a memory and configured to; determine whether a JC entrance is present using the positional information; determine a width of a right space of the vehicle using the positional information; capture an image of a vehicle surrounding environment; determine a type of right lane of the vehicle using the captured image; and determine whether the vehicle enters the JC based on whether the JC entrance is present, the width of the right space of the vehicle, and the type of lane, wherein the positional information includes a distance and an angle value from the vehicle to the vehicle surrounding object, and wherein the controller is further configured to; detect positional information on a guardrail in the positional information; align the detected positional information in an angle order; and determine whether the JC entrance is present, in response to determining that a discontinuous point at which the distance is increased or reduced to a preset distance or more is present by comparing the distances of the aligned positional information.
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Specification