Apparatus for assisting in lane change and operating method thereof

• US 9,715,830 B2
• Filed: 10/20/2014
• Issued: 07/25/2017
• Est. Priority Date: 01/03/2014
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd.
• Original Assignee: Hyundai Mobis Co., Ltd.
• Inventors: Jin, Soon Jong
• Primary Examiner(s): Rahman, Mohammad J
• Application Number:
  US14/518,031
• Publication Number:
  US 20150194057A1
• Time in Patent Office: 1,009 Days
• Field of Search: None
• CPC Class Codes: B60W 30/0956 the prediction being responsive to traffic or environmental parameters
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B60W 50/14 Means for informing the driver, warning the driver or prompting a driver intervention
• CPC Class Codes: B62D 15/0255 Automatic changing of lane, e.g. for passing another vehicle
• CPC Class Codes: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system
• CPC Class Codes: G06V 10/255 Detecting or recognising potential candidate objects based on visual cues, e.g. shapes
• CPC Class Codes: G06V 10/457 by analysing connectivity, e.g. edge linking, connected component analysis or slices
• 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
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

Disclosed are an apparatus for assisting in a lane change and an operating method thereof. The apparatus includes a driving information collecting unit, an image generating unit, a line detecting unit, a lane change determination unit, and a danger determining unit. The apparatus calculates a danger of an accident based on an image photographed by a camera and notifies a driver of the danger of the accident in advance when two or more vehicles, which are travelling with one lane interposed therebetween, simultaneously change lanes toward the same lane, thereby enabling a driver of a vehicle to be safe according to a lane change before the driver actually changes the lane.

Claims

1. An apparatus for assisting in a lane change, comprising:

a camera mounted on a driving vehicle and configured to photograph a common line shared by a first neighboring lane and a second neighboring lane at a lateral side of the driving vehicle while the driving vehicle moves on a driving lane, the first neighboring lane being positioned between the driving lane and the second neighboring lane; and

circuitry mounted on the driving vehicle and configured to;

collect driving information about the driving vehicle,

generate a driving image including a part of the first neighboring lane and the common line photographed by the camera,

detect the common line shared by the first neighboring lane and the second neighboring lane in the driving image,

determine whether the driving vehicle attempts to change a lane on which the driving vehicle moves from the driving lane to the first neighboring lane based on the driving information,

determine whether a neighboring vehicle moving on the second neighboring lane is changing a lane on which the neighboring vehicle moves from the second neighboring lane to the first neighboring lane, by analyzing the common line in the driving image, and

determine whether it is dangerous for the driving vehicle to change the lane on which the driving vehicle moves from the driving lane to the first neighboring lane based on a determination whether the neighboring vehicle is changing the lane on which the neighboring vehicle moves from the second neighboring lane to the first neighboring lane, and generate a danger notifying signal when it is determined that it is dangerous for the driving vehicle to change the lane on which the driving vehicle moves from the driving lane to the first neighboring lane.

2. The apparatus of claim 1, further comprising:

an alarm unit configured to output an alert in response to the danger notifying signal when receiving the danger notifying signal, wherein the alarm unit includes at least one of a displaying device, a speaker, and a haptic module which generates a vibration having a predetermined pattern.

3. The apparatus of claim 1, wherein the driving information includes movement direction information or turn signal light operation information about the driving vehicle.

4. The apparatus of claim 1, wherein the circuitry is further configured to:

set a region, which includes the common line and has a predetermined width, as a region of interest;

generate an edge image for the region of interest; and

calculate an equation of a straight line for one or more contour lines including a first contour line that is a contour line corresponding to the common line within the edge image.

5. The apparatus of claim 4, wherein the circuitry is further configured to make a control such that a region corresponding to ¼

or more of a predetermined lane width toward the driving vehicle from the common line is included in the region of interest.

6. The apparatus of claim 4, wherein when a disconnected region exists in the first contour line, the circuitry generates a virtual line for interpolating the disconnected region by using the equation of the straight line for the first contour line.

7. The apparatus of claim 6, wherein the circuitry is further configured to generate the virtual line based on a past history in which information about the equation of the straight line of the first contour line is accumulated by a predetermined number of times.

8. The apparatus of claim 4, wherein when a second contour line, which is a different contour line from the first contour line, exists as a contour line corresponding to the common line in the edge image, the circuitry calculates an equation of a straight line for the second contour line.

9. The apparatus of claim 8, wherein the circuitry determines whether the first contour line and the second contour line are simultaneously detected.

10. The apparatus of claim 9, wherein, when the first contour line and the second contour line are simultaneously detected, the circuitry compares the equation of the straight line for the first contour line and the equation of the straight line for the second contour line, and calculates an inclination difference or an intercept difference.

11. The apparatus of claim 10, wherein when the inclination difference or the intercept difference is equal to or greater than a predetermined threshold value, the circuitry generates the danger notifying signal.

12. The apparatus of claim 10, wherein when the inclination difference or the intercept difference is smaller than the predetermined threshold value, the circuitry determines whether a disconnected region, which is continuously detected for a predetermined time or longer, exists in the one or more disconnected regions detected, and when the disconnected region, which is continuously detected for the predetermined time or longer, exists, the circuitry generates the danger notifying signal.

13. A method of operating an apparatus for assisting in a lane change, comprising:

photographing, using a camera mounted on a driving vehicle, a common lane shared by a first neighboring lane and a second neighboring lane at a lateral side of the driving vehicle while the driving vehicle moves on a driving lane, the first neighboring lane being positioned between the driving lane and the second neighboring lane;

generating, by circuitry mounted on the driving vehicle, a driving image including a part of the first neighboring lane and the common line photographed by the camera;

detecting, by the circuitry, the common line shared by the first neighboring lane and the second neighboring lane in the driving image;

collecting, by the circuitry, driving information about the driving vehicle;

determining, by the circuitry, whether the driving vehicle attempts to change a lane on which the driving vehicle moves from the driving lane to a first neighboring lane based on the driving information about the driving vehicle;

determining, by the circuitry, whether a neighboring vehicle moving on the second neighboring lane is changing a lane on which the neighboring vehicle moves from the second neighboring lane to the first neighboring lane, by analyzing the common line in the driving image;

determining, by the circuitry, whether it is dangerous for the driving vehicle to change the lane on which the driving vehicle moves from the driving lane to the first neighboring lane based on a determination whether the neighboring vehicle is changing the lane on which the neighboring vehicle moves from the second neighboring lane to the first neighboring lane; and

generating, by the circuitry, a danger notifying signal when it is determined that it is dangerous for the driving vehicle to change the lane on which the driving vehicle moves from the driving lane to the first neighboring lane.

14. The method of claim 13, further comprising:

outputting an alert in response to the danger notifying signal, wherein the alert includes at least one of a message displayed by a display device, a beep sound output by a speaker, and a vibration having a predetermined pattern and generated by a haptic module.

15. The method of claim 13, wherein the detecting, by the circuitry, the common line includes:

setting a region, which includes the common line and has a predetermined width, as a region of interest;

generating an edge image for the region of interest; and

calculating an equation of a straight line for one or more contour lines including a first contour line that is a contour line corresponding to the common line within the edge image.

16. The method of claim 15, wherein the calculating of the equation of the straight line includes calculating an equation of a straight line for a second contour line, which is a different contour line from the first contour line, as a contour line corresponding to the common line in the edge image.

17. The method of claim 16, wherein the determining, by the circuitry, whether it is dangerous for the driving vehicle to change the lane on which the driving vehicle moves from the driving lane to the first neighboring lane includes:

determining whether the first contour line and the second contour line are simultaneously detected;

when the first contour line and the second contour line are simultaneously detected, comparing the equation of the straight line for the first contour line and the equation of the straight line for the second contour line, and calculating an inclination difference or an intercept difference; and

determining whether the inclination difference or the intercept difference is equal to or greater than a predetermined threshold value.

18. The method of claim 17, wherein the determining, by the circuitry, whether it is dangerous for the driving vehicle to change the lane on which the driving vehicle moves from the driving lane to the first neighboring lane includes determining that it is dangerous for the driving vehicle to change the lane on which the driving vehicle moves from the driving lane to the first neighboring lane when the inclination difference or the intercept difference is equal to or greater than the predetermined threshold value.

19. The method of claim 17, wherein the determining, by the circuitry, whether it is dangerous for the driving vehicle to change the lane on which the driving vehicle moves from the driving lane to the first neighboring lane further includes:

determining whether one or more disconnected regions exist in the first contour line when the inclination difference or the intercept difference is smaller than the predetermined threshold value; and

determining whether a disconnected region, which is continuously detected for a predetermined time or longer, exists in the disconnected regions, and

when the disconnected region, which is continuously detected for the predetermined time or longer, exists, it is determined that it is dangerous for the driving vehicle to change the lane on which the driving vehicle moves from the driving lane to the first neighboring lane.