| 摘要 |
The present invention relates to an apparatus for changing a lane, comprising a front image sensor, a front and rear radar, an ultrasonic sensor, an information collection calculation part, a target determination part, a lane change determination part and a steering part. The front image sensor outputs a front image of a vehicle. The front and rear radar measures the distance between the corresponding vehicle and a preceding vehicle and the distance between the corresponding vehicle and a following vehicle to output a relative distance value. An ultrasonic sensor is installed on a side surface of the vehicle to output whether another vehicle exists in the left side and the right side of the corresponding vehicle. The information collection calculation part calculates a deviation angle of the vehicle from the front image of the vehicle and outputs the relative speed value of the vehicle with respect to another vehicle using the relative distance value. The target determination part outputs a target obstacle by considering the front image of the vehicle, the relative distance value, the relative velocity value, and whether another vehicle exists. The lane change determination part determines whether change of the lane of the vehicle is applied by considering information on the target obstacle. The steering part changes the lane of the vehicle by automatically controlling the steering wheel of the vehicle when the change of lane is applied. |
