This application claims the benefit under 35 USC § 119(a) of Korean Patent Application No. 10-2017-0098939 filed on Aug. 4, 2017, in the Korean Intellectual Property Office, the entire disclosure of which is incorporated herein by reference for all purposes.
The following description relates to an apparatus and method to generate or change a traveling route of the vehicle.
A collision between vehicles occurs frequently due to various reasons, such as, for example, carelessness of a driver and poor visibility. In addition, traffic accidents occur frequently due to a departure from a lane and a collision with other traveling vehicles, which may be caused by a lack of concentration of a driver and poor visibility especially when the driver drives a long distance, drives on a rainy day, or drives at night. To prevent such traffic accidents from occurring, an advanced driver assistance system (ADAS) may provide a warning of a collision, help a driver to avoid a collision, and control an operation of the vehicle. The ADAS may provide traveling information and risk information such that a driver may drive more conveniently and safely, or intervene in the driving of the vehicle to prevent accidents. To advance development of such an ADAS, research on a lane departure prevention system configured to actively steer a vehicle or to control a speed of the vehicle and an intelligent cruise control system has been conducted. Research has also been conducted in assistance information generating system such as, for example, a rear parking warning system, a lane departure warning system, and a drowsy driving warming system.
This Summary is provided to introduce a selection of concepts in a simplified form that are further described below in the Detailed Description. This Summary is not intended to identify key features or essential features of the claimed subject matter, nor is it intended to be used as an aid in determining the scope of the claimed subject matter.
In one general aspect, there is provided a traveling route changing method, including detecting at least one nearby vehicle located around a vehicle, extracting an emergency vehicle among the at least one nearby vehicle, tracking a movement of the emergency vehicle, and determining whether to change a traveling route of the vehicle, in response to the movement of the emergency vehicle.
The extracting of the emergency vehicle may include extracting the emergency vehicle based on any one or any combination of a type of the at least one nearby vehicle, a state of the nearby vehicle, illumination on the nearby vehicle, whether a siren of the at least one nearby vehicle is activated, relative speeds of the at least one nearby vehicle and the vehicle, whether a horn of the at least one nearby vehicle is activated, an identifier on the at least one nearby vehicle, and a signal generated by the nearby vehicle.
The determining of whether to change the traveling route may include determining whether to change the traveling route based on whether the emergency vehicle changes to another lane or on a change in a distance between the emergency vehicle and the vehicle due to the movement of the emergency vehicle.
The method may include generating candidate routes for the vehicle to travel based on a movement of the at least one nearby vehicle, in response to a determination to change the traveling route, estimating, for each of the candidate routes, a collision probability of the vehicle colliding with the at least one nearby vehicle, and selecting, to be a new traveling route of the vehicle, a candidate route having a lowest collision probability, from among the candidate routes.
The method of claim 4, wherein the candidate routes may include a candidate route allowing the vehicle to move towards a border line of a lane on which the vehicle is travelling without changing to another lane.
In response to a candidate route where the vehicle changes to another lane being among the candidate routes, the estimating of the collision probability may include estimating the collision probability based on a nearby vehicle traveling on the another lane.
The method may include controlling the vehicle to travel along the selected traveling route.
The method may include generating a local map indicating a location of each of the at least one nearby vehicle and the vehicle, and a size of the local map is determined based on a speed of the vehicle.
The local map may be generated based on any one or any combination of the location of the at least one nearby vehicle, a speed of the at least one nearby vehicle, a speed of the vehicle, a lane along which the at least one nearby vehicle travels, or a type of a road on which the at least one nearby vehicle travels, a lane of the vehicle, a type of a road on which the vehicle travels, and a threshold distance from the vehicle.
The at least one nearby vehicle may include another vehicle within a threshold distance of the vehicle or within an area surrounding the vehicle.
In another general aspect, there is provided a traveling route changing apparatus, including a sensor configured to detect at least one nearby vehicle located around a vehicle, and a processor configured to extract an emergency vehicle among the at least one nearby vehicle, and determine whether to change a traveling route of the vehicle based on a movement of the emergency vehicle.
The processor may be configured to generate candidate routes for the vehicle to travel based on the movement of the at least one nearby vehicle, in response to a determination to change the traveling route, estimate, for each of the candidate routes, a collision probability of the vehicle colliding with the at least one nearby vehicle, and select one of the candidate routes, having a lowest collision probability, to be a new traveling route of the vehicle.
The candidate routes may include a candidate route allowing the vehicle to move towards a border line of a lane on which the vehicle is travelling without changing to another lane.
The processor may be configured to control the vehicle to travel along the selected traveling route.
The processor may be configured to generate a local map indicating a location of each of the at least one nearby vehicle and the vehicle, and a size of the local map is determined based on a speed of the vehicle.
In another general aspect, there is provided a traveling route changing method, including generating candidate routes for a vehicle to travel based on a movement of at least one nearby vehicle located around the vehicle, estimating, for each of the candidate routes, a collision probability of the vehicle colliding with the at least one nearby vehicle, and selecting one of the candidate routes to be a traveling route of the vehicle based on the collision probability of each of the candidate routes, wherein the candidate routes are generated based on a movement of an emergency vehicle located behind the vehicle among the at least one nearby vehicle.
The generating of the candidate routes may include generating a candidate route to not obstruct the movement of the emergency vehicle.
The method may include extracting the emergency vehicle among the at least one nearby vehicle based on any one or any combination of a type of a light source in the at least one nearby vehicle or whether the light source is activated.
The estimating of the collision probability may include determining a distance between the vehicle and the at least one nearby vehicle, in response to the vehicle travelling along a candidate route among the candidate routes.
The estimating of the collision probability may include determining a time to collision (TTC) between the vehicle and the at least one nearby vehicle, in response to the vehicle travelling along a candidate route among the candidate routes.
The method may include generating the candidate routes, in response to the emergency vehicle being located behind the vehicle and approaching the vehicle at a speed greater than or equal to a preset relative speed.
In another general aspect, there is provided a route changing apparatus including sensors configured to detect at least one nearby vehicle located around a vehicle, a head-up display (HUD), a memory configured to store map information and instructions, and a processor configured to execute the instructions to extract an emergency vehicle among the at least one nearby vehicle, determine whether to change a route of the vehicle, in response to a movement of the emergency vehicle, generate candidate routes for the vehicle, in response to a determination to change the route, estimate, for each of the candidate routes, a collision probability of the vehicle with the at least one nearby vehicle, select a candidate route having a lowest collision probability, from among the candidate routes, to be a new route for the vehicle, and output the new route through the HUD.
The sensors may include any one or any combination of global positioning system (GPS) sensor, image sensor, sound sensor, a light sensor, a radio detection and ranging (RADAR) sensor, a light detection and ranging (LiDAR or LADAR) sensor, and a sound navigation and ranging (SONAR) sensor.
The processor may be configured to generate a local map indicating a location of each of the at least one nearby vehicle and the vehicle, and the memory may be configured to store the local map and information associated with the route, wherein the information associated with the route may include any one or any combination of a road condition, a speed limit for the road, a number of lanes on the road, a speed limit on each lane of the lanes, a restriction on a type of a vehicle for the each lane, whether the each lane is controlled access, and whether the each lane is congested.
Other features and aspects will be apparent from the following detailed description, the drawings, and the claims.
Throughout the drawings and the detailed description, unless otherwise described or provided, the same drawing reference numerals will be understood to refer to the same elements, features, and structures. The drawings may not be to scale, and the relative size, proportions, and depiction of elements in the drawings may be exaggerated for clarity, illustration, and convenience.
The following detailed description is provided to assist the reader in gaining a comprehensive understanding of the methods, apparatuses, and/or systems described herein. However, various changes, modifications, and equivalents of the methods, apparatuses, and/or systems described herein will be apparent after an understanding of the disclosure of this application. For example, the sequences of operations described herein are merely examples, and are not limited to those set forth herein, but may be changed as will be apparent after an understanding of the disclosure of this application, with the exception of operations necessarily occurring in a certain order. Also, descriptions of features that are known after an understanding of the disclosure of this application may be omitted for increased clarity and conciseness.
The features described herein may be embodied in different forms, and are not to be construed as being limited to the examples described herein. Rather, the examples described herein have been provided merely to illustrate some of the many possible ways of implementing the methods, apparatuses, and/or systems described herein that will be apparent after an understanding of the disclosure of this application.
Terms such as first, second, A, B, (a), (b), and the like may be used herein to describe components. Each of these terminologies is not used to define an essence, order, or sequence of a corresponding component but used merely to distinguish the corresponding component from other component(s). For example, a first component may be referred to as a second component, and similarly the second component may also be referred to as the first component.
It should be noted that if it is described in the specification that one component is “connected,” “coupled,” or “joined” to another component, a third component may be “connected,” “coupled,” and “joined” between the first and second components, although the first component may be directly connected, coupled or joined to the second component. In addition, it should be noted that if it is described in the specification that one component is “directly connected” or “directly joined” to another component, a third component may not be present therebetween. Likewise, expressions, for example, “between” and “immediately between” and “adjacent to” and “immediately adjacent to” may also be construed as described in the foregoing.
The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting. For example, as used herein, the singular forms “a,” “an,” and “the,” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms “comprises,” “comprising,” “includes,” and/or “including,” when used herein, specify the presence of stated features, integers, operations, elements, components or one or more combinations/groups thereof in one or more example embodiments, but do not preclude the presence or addition of one or more other features, integers, operations, elements, components, and/or combinations/groups thereof in alternative embodiments, nor the lack of such stated features, integers, operations, elements, and/or components, and/or combinations/groups in further alternative embodiments unless the context and understanding of the present disclosure indicates otherwise. In addition, the use of the term ‘may’ herein with respect to an example or embodiment, e.g., as to what an example or embodiment may include or implement, means that at least one example or embodiment exists where such a feature is included or implemented while all examples and embodiments are not limited thereto.
In an example, vehicle described herein refers to any mode of transportation, delivery, or communication such as, for example, an automobile, a truck, a tractor, a scooter, a motorcycle, a cycle, an amphibious vehicle, a snowmobile, a boat, a public transit vehicle, a bus, a monorail, a train, a tram, an autonomous or automated driving vehicle, an intelligent vehicle, a self-driving vehicle, an aircraft, an unmanned aerial vehicle, a drone, or a mobile device. In an example, the position estimating apparatus is applicable to a robot requiring a positioning operation.
The traveling route changing method described herein may be performed by the ADAS. Hereinafter, it is assumed that the vehicle 110 includes an ADAS configured to perform the traveling route changing method. The ADAS configured to perform the traveling route changing method will be hereinafter referred to as a traveling route changing apparatus. As illustrated, the vehicle 110 is currently traveling along the traveling route 170. The ADAS of the vehicle 110 may control a steering system or a braking system of the vehicle 110 based on the traveling route 170. The ADAS of the vehicle 110 generates the route in a navigation system of a smart vehicle, generates location information to assist an autonomous or automated driving vehicle in steering, for in-vehicle driving assistance for fully autonomous or automated driving, and thus, enable safer and more comfortable driving.
In another example, the traveling route 170 may be output to a driver of the vehicle 110 through a display of the vehicle 110, and the driver may drive the vehicle 110 along the traveling route 170 displayed on the display of the vehicle 110.
The vehicle 110 performing the traveling route changing method may change the traveling route 170 based on a nearby vehicle. The nearby vehicle refers herein to a vehicle that is separate by a certain distance from a vehicle of a user or a vehicle present in an area that is set based on the vehicle, for example, the vehicle 110. The distance or the area may be determined based on a speed of the vehicle. In the example of
The vehicle 110 performing the traveling route changing method may change the traveling route 170 based on a nearby vehicle located in a rear side or in a rear-lateral side among the nearby vehicles 120, 130, 140, 150, and 160. The nearby vehicle located in the rear side refers to a vehicle traveling on a same lane as a lane on which the vehicle 110 travels, and is located opposite to a traveling direction of the vehicle 110, i.e., behind the vehicle 110. Referring to
The vehicle 110 performing the traveling route changing method may identify an emergency vehicle from the nearby vehicles located in the rear side or in the rear-lateral side of the vehicle 110. The emergency vehicle refers herein to a vehicle that urgently travels on a road, and seeks a concession from a vehicle traveling in front of the emergency vehicle or passes a vehicle traveling in front of the emergency vehicle. The emergency vehicle includes vehicles, such as, for example, an ambulance, a police car, a fire truck, and a tow truck. In an example, the vehicle 110 detects information such as, for example, a type of a nearby vehicle, a speed of the nearby vehicle, a state of the nearby vehicle, illumination on the nearby vehicle, sounds coming from the nearby vehicle using various sensors, and classify the nearby vehicle as the emergency vehicle based on the detected information. Referring to
When the emergency vehicle is located in the rear side or in the rear-lateral side, the vehicle 110 may determine whether to change the traveling route 170 of the vehicle 110 not to obstruct or block traveling of the emergency vehicle. For example, when the vehicle 160 traveling at a speed of 130 kilometers per hour (km/h) approaches the vehicle 110 traveling at a speed of 100 km/h, the vehicle 110 may determine a change of the traveling route 170 to not obstruct the travel of the vehicle 160 that is classified as the emergency vehicle.
When it is determined that the traveling route 170 is to be changed, the vehicle 110 generates one or more candidate routes, for example, a candidate route 180 and a candidate route 190. The candidate routes 180 and 190 are virtual routes along which the vehicle 110 is to travel. In an example the candidate routes 180 and 190 are generated using a local map indicating a geographical distribution of nearby vehicles located around the vehicle 110. The vehicle 110 may generate a local map using factors such as, for example, at least one of a location of a nearby vehicle, for example, each of the nearby vehicles 120, 130, 140, 150, and 160 as illustrated in
The local map may be used to compare the generated candidate routes 180 and 190 to change the traveling route 170. In an example, the vehicle 110 determines a risk involved with each of the candidate routes 180 and 190. For example, the vehicle 110 may calculate, for each of the candidate routes 180 and 190, a collision probability of the vehicle 110 colliding with a nearby vehicle in case the vehicle 110 travels along one of the candidate routes 180 and 190. In an example, the vehicle 110 select a candidate route having a lowest risk.
Referring to
In an example, the traveling route changing apparatus includes the sensor 210, or is connected to the sensor 210 provided in the vehicle 110. Referring to
Traveling route changing apparatus also includes an emergency vehicle classifier 230 configured to classify an emergency vehicle from nearby vehicles located around the vehicle 110. The emergency vehicle classifier 230 may classify the emergency vehicle from the nearby vehicles based on various standards or conditions.
Various standards or conditions used to classify a nearby vehicle as an emergency vehicle by the emergency vehicle classifier 230 will be described in greater details below. The emergency vehicle classifier 230 may classify the nearby vehicle as the emergency vehicle based on an appearance of the nearby vehicle and a state of a device, a sound source, or a light source, for example, a siren, emergency lights, and high beams. In an example, the emergency vehicle classifier 230 may classify the nearby vehicle as the emergency vehicle using a signal generated by the nearby vehicle through, for example, vehicle-to-vehicle (V2V) communication.
For example, when a type of a nearby vehicle corresponds to a type of an emergency vehicle, for example, an ambulance, a police car, and a fire truck, the emergency vehicle classifier 230 may classify the nearby vehicle as the emergency vehicle. When a nearby vehicle includes a siren, the emergency vehicle classifier 230 may classify the nearby vehicle as an emergency vehicle. When emergency lights of a nearby vehicle blink regularly, or the emergency lights are activated, the emergency vehicle classifier 230 may classify the nearby vehicle as the emergency vehicle. When high beams of a nearby vehicle are on or blink regularly, the emergency vehicle classifier 230 may classify the nearby vehicle as the emergency vehicle. When a horn of a nearby vehicle is sounded or the horn is sounded repeatedly, the emergency vehicle classifier 230 may classify the nearby vehicle as the emergency vehicle. When an identifier indicating an emergency vehicle, for example, a “119” mark, a “911” mark, an “ECNALUBMA” mark, and an “AMBULANCE” mark, is indicated on a nearby vehicle, the emergency vehicle classifier 230 may classify the nearby vehicle as the emergency vehicle.
In addition, the emergency vehicle classifier 230 may classify a nearby vehicle as the emergency vehicle based on a movement of the nearby vehicle including, for example, a speed, an accelerated speed, a relative speed, and a direction of the nearby vehicle. For example, when a nearby vehicle travels at a speed greater than or equal to a speed limit of a road, the emergency vehicle classifier 230 may classify the nearby vehicle as the emergency vehicle. When a nearby vehicle passes repeatedly or attempts to pass, the vehicle 110, the emergency vehicle classifier 230 may classify the nearby vehicle as the emergency vehicle. When a nearby vehicle approaches the vehicle 110 from a rear side of the vehicle 110 without reducing a speed, although a distance between the nearby vehicle and the vehicle 110 is less than or equal to a preset distance, for example, a safety distance, the emergency vehicle classifier 230 may classify the nearby vehicle as the emergency vehicle.
In addition, the emergency vehicle classifier 230 may classify a nearby vehicle as the emergency vehicle based on a state of a road on which the nearby vehicle travels. For example, when a nearby vehicle travels on an emergency lane or a shoulder, or the nearby vehicle attempts to enter the emergency lane, the emergency vehicle classifier 230 may classify the nearby vehicle as the emergency vehicle. When a nearby vehicle travels on a lane on which a type of the nearby vehicle is not allowed to travel, for example, the nearby vehicle travels on a bus-only lane despite the nearby vehicle being a passenger car, the emergency vehicle classifier 230 may classify the nearby vehicle as the emergency vehicle.
The emergency vehicle classifier 230 may classify a nearby vehicle as the emergency vehicle based on a combination of the standards or conditions described above. For example, the emergency vehicle classifier 230 may classify, as the emergency vehicle, a nearby vehicle approaching the vehicle 110 with emergency lights on at a distance less than or equal to a preset distance or at a speed greater than or equal to a preset threshold speed. In another example, the emergency vehicle classifier 230 may classify, as the emergency vehicle, a nearby vehicle traveling at a preset speed or higher with emergency lights on.
Referring to
Referring to
Referring to
Referring to
In an example, the controller 270 may output the selected candidate route to a display 280. In an example, the traveling route changing apparatus displays the selected candidate route on a windshield glass of the vehicle through a head-up display (HUD). However, the displaying of the position is not limited to the example described in the forgoing, and any other instrument cluster, vehicular infotainment system, screen in the vehicle that uses augmented reality, or display panel in the vehicle may perform the display function. Other displays, such as, for example, smart phone and eye glass display (EGD) that are operatively connected to the controller 270 may be used without departing from the spirit and scope of the illustrative examples described. In another example, the traveling route changing apparatus outputs the selected candidate route using an audio signal through a speaker.
The structure of the traveling route changing apparatus is conceptually illustrated in
In an example, the vehicle 110 is an automatic or autonomous vehicle, and
In another example, the traveling route changing apparatus may be embodied in various portable devices, such as, for example, a smartphone, a smart tablet, a laptop, a global positioning system (GPS) navigation, a personal navigation device, portable navigation device (PND), a handheld game console, and a personal digital assistant (PDA). In such an example, the traveling route changing apparatus is a component of the portable device, for example, navigation applications and smart car applications. The portable device performing the traveling route changing method may be connected to the sensor 210 or the controller 270 provided in the vehicle 110 through a wireless or wired network. When the portable device is connected to the sensor 210, the portable device may output a candidate route through a display 280 provided in the vehicle 110 or the portable device, and thus a user of the vehicle 110 may drive the vehicle 110 along the output candidate route.
Referring to
The vehicle 310 tracks a movement of the emergency vehicle 311, and determines whether to change the traveling route 312. Although the emergency vehicle 311 is located in the rear side of the vehicle 310, the vehicle 310 may not need to change the traveling route 312. For example, when a relative speed of the emergency vehicle 311 is not that high relative to the vehicle 310, the emergency vehicle 311 does not approach the vehicle 310, and the vehicle 310 may not change the traveling route 312 although the emergency vehicle 311 is located in the rear side of the vehicle 310. In another example, when a distance between the emergency vehicle 311 and the vehicle 310 does not decrease, the vehicle 310 may not change the traveling route 312 although the emergency vehicle 311 is located in the rear side of the vehicle 310.
The vehicle 310 determines whether to change the traveling route 312 based on a state of the emergency vehicle 311 in addition to a physical movement of the emergency vehicle 311. For example, when the emergency vehicle 311 does not sound a siren although the emergency vehicle 311 includes the siren, the vehicle 310 may not change the traveling route 312.
Referring to
The vehicle 310 notices that the emergency vehicle 321 is to travel along the traveling route 322 by tracking a movement of the emergency vehicle 321. The vehicle 310 determines that a driver of the emergency vehicle 321 is attempting to pass the vehicle 310. Thus, the vehicle 310 does not change the traveling route 312, and continues traveling along the traveling route 312. Thus, the driver of the emergency vehicle 321 passes the vehicle 310 without being obstructed by the vehicle 310.
Referring to
Referring to
As described above, the vehicle 310 determines whether to change the travel route 312 based on the movements or states of the extracted emergency vehicles 311 of
The vehicle 410 generates a local map including information associated with at least one of respective locations, types, states, and speeds of nearby vehicles 441, 442, 443, and 444, and the emergency vehicle 420. In the local map, information associated with a speed may be indicated as a vector that simultaneously represents a direction and a speed. Referring to
When the vehicle 410 determines the change of the traveling route 430 is needed, the vehicle 410 generates a plurality of candidate routes using the local map. As illustrated in
The vehicle 410 evaluates the generated candidate routes using the local map. The vehicle 410 evaluates a risk involved with each of the candidate routes 1 through 6431 through 436 based on the movements of the nearby vehicles 441, 442, 443, and 444 in the area 450.
The risk involved with each of the candidate routes 1 through 6431 through 436 is determined based on a collision probability for each of the candidate routes 1 through 6431 through 436 in case the vehicle 410 travels along one of the candidate routes 1 through 6431 through 436. When the vehicle 410 travels along a candidate route k, a collision probability of the vehicle 410 colliding is R(k). The collision probability R(k) is determined based on factors such as, for example, a shortest distance between a nearby vehicle located on a lane through which the candidate route k passes, a time to collision (TTC), or a speed of the nearby vehicle traveling on the lane, for example, the nearby vehicle located behind the vehicle 410 on the candidate route k. Referring to
Although there are a plurality of candidate routes entering a same lane, collision probabilities for all candidate routes may differ because forms of the candidate routes are different from one other. Referring to
When the vehicle 410 travels along the candidate route 6 “436,” a distance between the vehicle 410 and the nearby vehicle 441 is 0, and thus, it is likely that the vehicle 410 collides with the nearby vehicle 441, if the vehicle 410 travel along candidate route 6 “436.” Similarly, when the vehicle 410 travels along the candidate route 5 “435,” the candidate route 5435 and the nearby vehicle 442 overlap with each other, and thus, it is likely that the vehicle 410 collides with the nearby vehicle 442, if the vehicle 410 travel along candidate route 6 “436.” Thus, a collision probability R(5) of the vehicle 410 colliding if the vehicle 410 travels along the candidate route 5 “435” and a collision probability R(6) of the vehicle 410 colliding if the vehicle 410 travels the candidate route 6 “436” are determined to be relatively greater than the collision probabilities R(1) through R(4).
The emergency vehicle 420 is also included in the local map, and thus, the vehicle 410 uses a movement of the emergency vehicle 420 to evaluate the candidate routes 1 through 6431 through 436. Referring to
Thus, a candidate route having a lowest collision probability of the vehicle 410 colliding with the nearby vehicle 441, 442, 443, or 444, while allowing the vehicle 410 not to obstruct the movement of the emergency vehicle 420, is determined to be the candidate route 2 “432.” Thus, the vehicle 410 selects the candidate route 2 “432” to be the new traveling route in lieu of the traveling route 430. That is, the vehicle 410 travels along the candidate route 2432, without continuing traveling along the traveling route 430.
As described above,
In the example of
The vehicle 510 generates a plurality of candidate routes 542, 543, 544, 545, and 546 using the generated local map. The vehicle 510 evaluates a risk involved with each of the generated candidate routes 542, 543, 544, 545, and 546 using the local map. An operation of evaluating the risk involved with each of the candidate routes 542, 543, 544, 545, and 546 may be performed similarly as described with reference to
The selection of one candidate route from a plurality of candidate routes based on a risk involved with each of the candidate routes, i.e., a collision probability for each of the candidate routes, has been described with reference to
For example, the vehicle 510 may detect a road condition of each of lanes on the road, and use the detected road condition to select one of the candidate routes. When there is a controlled or restricted lane, the vehicle 510 may select, from the candidate routes, a candidate route that does not pass through the controlled or restricted lane. Referring to
As described, information associated with the road condition, the restricted lane, and the traffic volume of each lane may be applied to an operation of generating the candidate routes. For example, in a case in which the local map includes information associated with at least one of the road condition, the restricted lane, or the traffic volume of each lane, the vehicle 510 may generate the candidate routes based on the information associated with the at least one of the road condition, the restricted lane, or the traffic volume of each lane.
As described above, in an example, the vehicle 610 identifies the emergency vehicle 620 based on actuation of the emergency lights of the emergency vehicle 620 or whether the emergency vehicle 620 approaches the vehicle 610. The vehicle 610 tracks a movement of the emergency vehicle 620 for a preset period of time, and determines the traveling route 621 of the emergency vehicle 620. The vehicle 610 determines a change of the traveling route 631 is needed so as not to obstruct the movement of the emergency vehicle 620.
Referring to
Although not illustrated, when there is a nearby vehicle preceding the vehicle 610, the vehicle 610 may select a candidate route based on a movement of the nearby vehicle. For example, when the nearby vehicle preceding the vehicle 610 travels adjacent to the right-hand side line 642, the vehicle 610 may select the candidate route 633 along which the vehicle 610 approaches the right-hand side line 642 following the nearby vehicle. In another example, when the nearby vehicle preceding the vehicle 610 stops in a space adjacent to the right-hand side line 642, the vehicle 610 may stop behind the nearby vehicle. Thus, the emergency vehicle 620 may travel on the road rapidly without colliding with the vehicle 610 and also the nearby vehicle preceding the vehicle 610.
A non-transitory computer-readable medium may be provided to a computer in which a program used to implement a traveling route changing method performed by the traveling route changing apparatus described herein is recorded. The program may include at least one of an application program, a device driver, a firmware, a middleware, a dynamic-link library (DLL), or an applet, which store the traveling route changing method. An ADAS or the traveling route changing apparatus that is included in the vehicle of the user may include a processor, and the processor may perform the traveling route changing method by reading the computer-readable medium in which the traveling route changing method is recorded. Additional details of the non-transitory computer-readable medium and the processor is provided below.
Referring to
Further, the traveling route changing apparatus may collect information associated with a road on which the user vehicle travels. The information may include information such as, for example, at least one of a road condition, a restricted speed for the road, the number of lanes on the road, a restricted speed on each of the lanes, a restricted type of a vehicle for each of the lanes, whether each of the lanes is controlled or restricted, whether each of the lanes is congested or not, or whether each of the lane leads away from a desired destination of the user vehicle.
In operation 720, the traveling route changing apparatus generates a local map indicating a distribution of the detected nearby vehicle based on the user vehicle. The user vehicle may be located at a center of the local map, and a size of the local map may be determined based on a size of the area in which the nearby vehicle is detected by the traveling route changing apparatus, or on a speed of the user vehicle. The local map may include the information associated with the road, in addition to the location, the speed, and the direction of the nearby vehicle. In an example, the local map includes one or more than one nearby vehicle.
In operation 730, the traveling route changing apparatus extracts an emergency vehicle from among the nearby vehicle. The traveling route changing apparatus may extract the emergency vehicle based on factors such as, for example, the location, the appearance, the type, the state, the speed, and the traveling direction of the nearby vehicle.
In operation 740, the traveling route changing apparatus tracks a movement of the emergency vehicle. The tracking may be performed on the extracted emergency vehicle. The traveling route changing apparatus may accumulate movements per hour of the emergency vehicle, and determine a traveling route along which the emergency vehicle is expected to travel.
In operation 750, the traveling route changing apparatus determines whether to change a traveling route of the user vehicle. The traveling route changing apparatus may determine whether the emergency vehicle changes a lane, or calculate a change in a distance between the emergency vehicle and the user vehicle, based on tracking the movement of the emergency vehicle. Based on whether the emergency vehicle changes the lane, or the calculated change in the distance between the emergency vehicle and the user vehicle, the traveling route changing apparatus may determine whether to change the traveling route of the user vehicle.
In operation 760, when it is determined that the traveling route is to be changed, in an example, the traveling route changing apparatus generates a plurality of candidate routes along which the user vehicle is to travel based on a movement of the at least one nearby vehicle and the movement of the emergency vehicle. The local map generated in operation 720 may be used to generate the candidate routes. In an example, the traveling route changing apparatus generates a candidate route that requires the user vehicle to change a lane. In another example, the traveling route changing apparatus generates a candidate route that allows the user vehicle to approach a line of the lane, for example, a left-hand side line and a right-hand side line that separate lanes, without the user vehicle changing the lane.
In an example, operation 720 of generating the local map is performed prior to operation 760. In another example, operation 720 of generating the local map is performed after operation 740 or 750 is performed, after operation 730 is performed.
In operation 770, the traveling route changing apparatus estimates a collision probability for each of the candidate routes, or a collision probability of the user vehicle colliding with the nearby vehicle if the user vehicle travels along one of the candidate routes. In an example, the traveling route changing apparatus estimates the collision probability using the local map. When there is a candidate route that requires the user vehicle to change the lane on which the user vehicle is currently traveling, the traveling route changing apparatus may estimate a collision probability based on a relationship between a nearby vehicle traveling on the changed lane and the candidate route. For example, the traveling route changing apparatus estimates the collision probability for the candidate route based on a distance between the nearby vehicle and the user vehicle along the candidate route, or a time to collision (TTC).
In operation 780, the traveling route changing apparatus selects, a candidate route from the candidate routes, to be a new traveling route of the user vehicle based on the collision probability estimated for each of the candidate routes. The traveling route changing apparatus may select a candidate route having a lowest collision probability, to be the new traveling route. Further, the traveling route changing apparatus may select a candidate route that allows the user vehicle to travel smoothly without obstructing the movement of the emergency vehicle based further on the information associated with the road.
In operation 790, the traveling route changing apparatus controls the user vehicle to travel along the selected traveling route. In an example, the traveling route changing apparatus is connected to a steering system or a control system of the user vehicle. The traveling route changing apparatus controls the user vehicle by transmitting a control signal to the steering system or the control system. Thus, the user vehicle may make way for the emergency vehicle without obstructing or blocking the emergency vehicle such that the emergency vehicle travels rapidly.
As described, the traveling route changing apparatus included in the user vehicle determines whether an emergency vehicle is present among nearby vehicles. When the emergency vehicle is present, the traveling route changing apparatus may track a movement of the emergency vehicle. The traveling route changing apparatus may determine whether to change a traveling route of the user vehicle such that the emergency vehicle may travel without being obstructed by the user vehicle. When it is determined to change the traveling route of the user vehicle, the traveling route changing apparatus generates a plurality of candidate routes. The traveling route changing apparatus may evaluate a risk involved with each of the candidate routes, and select a candidate route with a lowest risk to be a new traveling route of the user vehicle. The traveling route changing apparatus may control the user vehicle to travel along the selected candidate route based on the selected candidate route. Thus, the emergency vehicle may travel smoothly without being obstructed by the user vehicle.
The traveling route changing apparatus, nearby vehicle detector 220, vehicle classifier 230, movement tracker 240, local map generator 250, traveling route planner 260, controller 270, and other apparatuses, units, modules, devices, and components illustrated in
The method illustrated in
Instructions or software to control computing hardware, for example, one or more processors or computers, to implement the hardware components and perform the methods as described above may be written as computer programs, code segments, instructions or any combination thereof, for individually or collectively instructing or configuring the one or more processors or computers to operate as a machine or special-purpose computer to perform the operations that are performed by the hardware components and the methods as described above. In one example, the instructions or software includes at least one of an applet, a dynamic link library (DLL), middleware, firmware, a device driver, an application program storing the method of preventing the collision. In another example, the instructions or software include machine code that is directly executed by the one or more processors or computers, such as machine code produced by a compiler. In another example, the instructions or software includes higher-level code that is executed by the one or more processors or computer using an interpreter. The instructions or software may be written using any programming language based on the block diagrams and the flow charts illustrated in the drawings and the corresponding descriptions in the specification, which disclose algorithms for performing the operations that are performed by the hardware components and the methods as described above.
The instructions or software to control computing hardware, for example, one or more processors or computers, to implement the hardware components and perform the methods as described above, and any associated data, data files, and data structures, may be recorded, stored, or fixed in or on one or more non-transitory computer-readable storage media. Examples of a non-transitory computer-readable storage medium include read-only memory (ROM), random-access programmable read only memory (PROM), electrically erasable programmable read-only memory (EEPROM), random-access memory (RAM), dynamic random access memory (DRAM), static random access memory (SRAM), flash memory, non-volatile memory, CD-ROMs, CD-Rs, CD+Rs, CD-RWs, CD+RWs, DVD-ROMs, DVD-Rs, DVD+Rs, DVD-RWs, DVD+RWs, DVD-RAMs, BD-ROMs, BD-Rs, BD-R LTHs, BD-REs, blue-ray or optical disk storage, hard disk drive (HDD), solid state drive (SSD), flash memory, a card type memory such as multimedia card micro or a card (for example, secure digital (SD) or extreme digital (XD)), magnetic tapes, floppy disks, magneto-optical data storage devices, optical data storage devices, hard disks, solid-state disks, and any other device that is configured to store the instructions or software and any associated data, data files, and data structures in a non-transitory manner and providing the instructions or software and any associated data, data files, and data structures to a processor or computer so that the processor or computer can execute the instructions. In one example, the instructions or software and any associated data, data files, and data structures are distributed over network-coupled computer systems so that the instructions and software and any associated data, data files, and data structures are stored, accessed, and executed in a distributed fashion by the one or more processors or computers.
While this disclosure includes specific examples, it will be apparent after an understanding of the disclosure of this application that various changes in form and details may be made in these examples without departing from the spirit and scope of the claims and their equivalents. The examples described herein are to be considered in a descriptive sense only, and not for purposes of limitation. Descriptions of features or aspects in each example are to be considered as being applicable to similar features or aspects in other examples. Suitable results may be achieved if the described techniques are performed in a different order, and/or if components in a described system, architecture, device, or circuit are combined in a different manner, and/or replaced or supplemented by other components or their equivalents. Therefore, the scope of the disclosure is defined not by the detailed description, but by the claims and their equivalents, and all variations within the scope of the claims and their equivalents are to be construed as being included in the disclosure.
Number | Date | Country | Kind |
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10-2017-0098939 | Aug 2017 | KR | national |