Vehicle capable of determining driving lane and control method for the same

• US 9,849,837 B2
• Filed: 07/01/2016
• Issued: 12/26/2017
• Est. Priority Date: 12/14/2015
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Han, YoungMin, Choi, Sungwoo, Moon, Seunggeon, Kim, Jee Young
• Primary Examiner(s): SOOFI, YAZAN A
• Application Number:
  US15/201,023
• Publication Number:
  US 20170166127A1
• Time in Patent Office: 543 Days
• Field of Search: 701 36
• CPC Class Codes: B60R 1/00 Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles
• CPC Class Codes: B60R 2300/301 combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision
• CPC Class Codes: B60R 2300/302 combining image information with GPS information or vehicle data, e.g. vehicle speed, gyro, steering angle data
• CPC Class Codes: B60R 2300/607 from a bird's eye viewpoint
• CPC Class Codes: B60R 2300/804 for lane monitoring
• CPC Class Codes: B60W 2050/146 Display means
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2420/42 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 30/18163 Lane change; Overtaking manoeuvres
• CPC Class Codes: B60W 40/06 Road conditions
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

Disclosed herein are a vehicle capable of determining a driving lane by comparing reference lane line information corresponding to the type of a driving road with estimated lane line information estimated by using surrounding information, and a control method of the vehicle. The vehicle includes a storage configured to store a map including a type of road; a surrounding information acquisition unit configured to acquire surrounding information; and a controller configured to determine a driving lane by comparing reference lane line information corresponding to the type of the driving road verified based on the map with estimated lane line information estimated based on the surrounding information.

Claims

1. A vehicle comprising:

a storage configured to store a map including a type of driving road;

a surrounding information acquisition unit configured to acquire surrounding information; and

a controller configured to determine a driving lane by comparing reference lane line information corresponding to the type of the driving road verified based on the map with estimated lane line information based on the surrounding information,

wherein the controller acquires a possibility that each lane forming the road becomes the driving lane by comparing the reference lane line information with the estimated lane line information, and

wherein the controller determines a driving lane by comparing the reference lane line information including at least one of the top lane line information and the lowest lane line information corresponding to the type of the driving road with the estimated lane line information based on the surrounding information.

2. The vehicle of claim 1, wherein

the controller verifies the type of the driving road determined according to at least one of use, shapes, and sizes of the driving load.

3. The vehicle of claim 1, wherein

the controller determines the type of the driving road as one of a non-highway, a general road of a highway, a bridge of a highway, an overpass of a highway, a tunnel of a highway, an underground road of a highway, a branch point area of a highway within a pre-determined distance from a branch point, and a junction point area of a highway within a pre-determined distance from a junction point.

4. The vehicle of claim 1, wherein

the controller acquires a possibility that each lane becomes the driving lane with reference to an accuracy of each lane of the estimated lane line information.

5. The vehicle of claim 1, wherein

the controller acquires the estimated lane line information including at least one of a type and color of lane line on the road, a distance to a lateral object, and a shape of the lateral object from the surrounding information.

6. The vehicle of claim 1, wherein

the controller determines the driving lane every predetermined period.

7. The vehicle of claim 6, wherein

the controller determines a first driving lane at a first point of time by comparing the reference lane line information with the estimated lane line information, determines whether to change the lane based on the driving information of the vehicle during a single period from the first point of time, and determines a second driving lane at a second point of time after a single period from the first point of time based on the determined presence of the change of the lane.

8. The vehicle of claim 1, further comprising:

a display unit configured to display the determined driving lane.

9. A control method of a vehicle comprising:

verifying a type of a driving road;

acquiring reference lane line information corresponding to the verified type of the driving road;

acquiring surrounding information;

acquiring estimated lane line information based on the surrounding information; and

determining a driving lane by comparing the reference lane line information with the estimated lane line information,

wherein the determination of the driving lane comprises acquiring a possibility that each lane forming the road becomes the driving lane by comparing the reference lane line information with the estimated lane line information,

wherein the acquisition of the reference lane line information comprises acquiring the reference lane line information including at least one of the top lane line information and the lowest lane line information corresponding to the type of the road.

10. The control method of claim 9, wherein

the verification of the type of the driving road comprises verifying the type of the driving road that is determined according to at least one of use, shapes, and sizes of the driving load.

11. The control method of claim 9, wherein

the verification of the type of the driving road comprises determining the type of the driving road as any one of a non-highway, a general road of a highway, a bridge of a highway, an overpass of a highway, a tunnel of a highway, an underground road of a highway, a branch point area of a highway within a pre-determined distance from a branch point, and a junction point area of a highway within a pre-determined distance from a junction point.

12. The control method of claim 9, wherein

the determination of the driving lane comprises acquiring a possibility that each lane becomes the driving lane with reference to an accuracy of each lane of the estimated lane line information.

13. The control method of claim 9, wherein

the acquisition of estimated lane line information comprises acquiring the estimated lane line information including at least one of the type and color of lane line on the road, a distance to a lateral object, and a shape of the lateral object from the surrounding information.

14. The control method of claim 9, wherein

the determination of the driving lane comprises determining a first driving lane at a first point of time by comparing the reference lane line information with the estimated lane line information.

15. The control method of claim 14, further comprising:

determining whether to change the lane during a single period from the first point of time based on the driving information of the vehicle; and

determining a second driving lane at a second point of time after a single period from the first point of time based on the determined presence of the change of the lane.

16. The control method of claim 9, further comprising:

displaying the determined driving lane.