Patent Description:
With the development of the auto industry, an autonomous system and a driving assistance system which facilitates partially autonomous driving (hereinafter, for convenience of description, both of autonomous driving and driving assistance are referred to as "autonomous driving") have been developed. The autonomous system may provide a variety of functions, for example, setting speed keeping, vehicle-to-vehicle distance keeping, lane keeping, and a lane change. The autonomous system may perform autonomous driving using various devices such as a sensor for sensing environments outside the vehicle, a sensor for sensing information about the vehicle, a global positioning system (GPS), a detailed map, a driver state monitoring system, a steering actuator, an acceleration/deceleration actuator, a communication circuit, and a control circuit (e.g., an electronic control unit (ECU)). The autonomous system may generate a path for the autonomous driving and may perform a lane change along the generated path.

While performing the autonomous driving, the vehicle may travel along a path following the center of a lane where it is traveling. The vehicle may travel along a deviated path which departs from the lane center in the lane by an intention of its driver. When the vehicle performs an automatic lane change, in some cases, there is a need for reflecting the above-mentioned deviated driving to generate a path.

<CIT> relates to shifting the lateral position of an automated lateral guidance to inform the driver of a necessary lane change. The document describes a driver assistance system for at least automated lateral guidance of a motor vehicle. The driver assistance system is set up to keep the current transverse position in relation to the lane. The driver is informed of the required lane change with the aim of informing the driver that he/she should initiate the lane change. The lateral guidance is adapted so that the lateral position of the vehicle in relation to the current lane is to be moved to change lanes. In one aspect, the vehicle is kept in the center of the lane or in a position shifted to the center. In another aspect, the vehicle changes lanes and depending on the implementation the vehicle's position ends up in the center or shifted thereto before taking an exit lane.

An aspect of the present invention provides an apparatus and method for performing a lane change and generating and providing a deviated driving path in a target lane of the lane change.

In one aspect of the present invention, an apparatus for providing a driving path of a vehicle may include: one or more sensors configured to obtain information about the vehicle and information about an external object, a steering device, an input device configured to receive a lane change command from a driver of the vehicle, and a control circuit configured to be electrically connected with the one or more sensors, the steering device, and the input device. The control circuit may be configured to control the vehicle to travel along a deviated path in a driving lane of the vehicle based on at least a portion of the information obtained by the one or more sensors or an operation of the steering device, control the vehicle to complete a lane change and travel along a deviated path in a target lane of the lane change, when the lane change command is received by the input device while the vehicle travels along the deviated path in the driving lane, determine an intention of the driver to perform a deviated driving based on the operation of the steering device, and generate the deviated path in the changed lane in response to the received lane change command when the driver is determined to intend to perform the deviated driving, wherein the deviated driving means the vehicle travels along a deviated path which departs from a lane center path in the driving lane.

In some embodiments, the control circuit may be configured to determine that the driver intends to perform the deviated driving, when a steering torque greater than a specified value is generated during a specified time and when the vehicle is away from the center of the driving lane over a specified distance.

In some embodiments, the control circuit may be configured to determine an intention of a driver of the vehicle to perform deviated driving, based on the operation of the steering device and generate a lane centering path in the target lane, when the lane change command is received while the driver does not intend to perform the deviated driving.

In some embodiments, the control circuit may be configured to determine that the driver does not intend to perform the deviated driving, when a steering torque less than or equal to a specified value is generated during a specified time and the vehicle is away from the center of the driving lane over a specified distance.

In some embodiments, the control circuit may be configured to generate the deviated path in the target lane such that the vehicle is away from the external object, when the external object is detected in a specified area of a lane neighboring to the target lane.

In some embodiments, the control circuit may be configured to determine whether to generate the deviated path in the target lane, after the vehicle enters the target lane.

According to the invention, the control circuit is configured to control the vehicle to travel along a lane centering path in the target lane, when a lateral position error is greater than a specified value during a specified time.

In some embodiments, the control circuit may be configured to control the vehicle to travel along a lane centering path in the target lane, when lateral acceleration of the vehicle is greater than a specified value.

In another aspect of the present invention, a method for providing a driving path of a vehicle may include: controlling the vehicle to travel along a deviated path in a driving lane of the vehicle based on at least a portion of information about the vehicle, information about an external object, or an operation of a steering wheel of the vehicle and controlling the vehicle to complete a lane change and travel along a deviated path in a target lane of the lane change, when the lane change command is received from a driver of the vehicle while the vehicle travels along the deviated path in the driving lane.

In some embodiments, the controlling the vehicle to travel along the deviated path in the driving lane may include determining an intention of the driver of the vehicle to perform deviated driving, based on the operation of the steering device. The controlling the vehicle to travel along the deviated path in the target lane may include generating the deviated path in the target lane, when the lane change command is received while the driver intends to perform the deviated driving.

In some embodiments, the method may further include generating a lane centering path in the target lane, when the lane change command is received while the driver does not intend to perform the deviated driving.

In some embodiments, the controlling the vehicle to travel along the deviated path in the target lane may include generating the deviated path in the target lane such that the vehicle is away from the external object, when the external object is detected in a specified area of a lane neighboring to the target lane.

According to the invention, the method further includes controlling the vehicle to travel along a lane centering path in the target lane, when a lateral position error is greater than a specified value during a specified time.

In some embodiments, the method may further include controlling the vehicle to travel along a lane centering path in the target lane, when lateral acceleration of the vehicle is greater than a specified value.

It should be understood that the description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present invention.

In order that the invention may be well understood, there will now be described various forms thereof, given by way of example, reference being made to the accompanying drawings, in which:.

The drawings described herein are for illustration purposes only and are not intended to limit the scope of the present invention in any way.

The following description is merely exemplary in nature and is not intended to limit the present invention, application, or uses.

In describing elements of some forms of the present invention, the terms <NUM>st, <NUM>nd, first, second, A, B, (a), (b), and the like may be used herein. These terms are only used to distinguish one element from another element, but do not limit the corresponding elements irrespective of the nature, turn, or order of the corresponding elements. Unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meanings as those generally understood by those skilled in the art to which the present invention pertains. Such terms as those defined in a generally used dictionary are to be interpreted as having meanings equal to the contextual meanings in the relevant field of art, and are not to be interpreted as having ideal or excessively formal meanings unless clearly defined as having such in the present application.

<FIG> is a block diagram illustrating a configuration of an apparatus for providing a driving path in a vehicle in some forms of the present disclosure.

Referring to <FIG>, an apparatus <NUM> for providing a driving path in a vehicle in some forms of the present invention may include a sensor <NUM>, a steering device <NUM>, an input device <NUM>, and a control circuit <NUM>. The apparatus <NUM> for providing a driving path in <FIG> may be a portion of an autonomous system and may be loaded into the vehicle.

The sensor <NUM> may be configured to sense information about the vehicle loaded with the apparatus <NUM> for providing the driving path and information about an external object. The sensor <NUM> may sense a preceding vehicle, a following vehicle, a side vehicle, a line on a road, a median strip, a guide rail, another external object, and the like, and may sense a speed, a steering angle, a steering torque, a wheel speed, a yaw rate, and the like of the vehicle. The sensor <NUM> may include, for example, a camera, a radar, a light detection and ranging (LiDAR), a speed sensor, an angle sensor, a torque sensor, a wheel speed sensor, and/or a yaw rate sensor.

The steering device <NUM> may adjust a driving direction of the vehicle. The steering device <NUM> may include a steering wheel or the like and may be controlled by a driver and/or an autonomous system of the vehicle.

The input device <NUM> may be configured to receive a lane change command from the driver of the vehicle. The input device <NUM> may be, for example, a turn signal lever, a switch, and/or a button.

The control circuit <NUM> may be electrically connected with the sensor <NUM>, the steering device <NUM>, and the input device <NUM>. The control circuit <NUM> may control the sensor <NUM>, the steering device <NUM>, and the input device <NUM> and may perform a variety of data processing and various arithmetic operations. The control circuit <NUM> may be, for example, an electronic control unit (ECU), a micro controller unit (MCU), or a sub-controller, which is loaded into the vehicle.

In some forms of the present invention, the control circuit <NUM> may control the vehicle to travel along a deviated path in a driving lane of the vehicle, based on at least a portion of the information obtained by the sensor <NUM> or an operation of the steering device <NUM>. The control circuit <NUM> may determine an intention of the driver to perform deviated driving, based on information of the sensor <NUM> and/or an operation of the steering device <NUM>. The control circuit <NUM> may perform deviated driving in the driving lane depending to an intention of the driver or a situation outside the vehicle.

In some forms of the present invention, while the vehicle travels along the deviated path in the driving lane, when a lane change command is received by the input device <NUM>, the control circuit <NUM> may control the vehicle to complete a lane change and travel along a deviated path in a target lane of the lane change. For example, when the vehicle performs the deviated driving before the lane change command is received, the control circuit <NUM> may control the vehicle to perform the deviated driving after completing the lane change. When the vehicle performs the deviated driving, the control circuit <NUM> may consider an intention of the driver to perform the deviated driving.

In some forms of the present invention, the control circuit <NUM> may determine an intention of the driver to perform deviated driving, based on an operation of the steering device <NUM>. While the driver intends to perform the deviated driving, when a lane change command is received, the control circuit <NUM> may generate a deviated path in a target lane of the lane change. For example, when a steering torque greater than a specified value is generated during a specified time and when the vehicle is away from the center of its driving lane over a specified distance, the control circuit <NUM> may determine that the driver intends to perform a deviated driving by controlling the steering vehicle <NUM>.

In some forms of the present invention, while the driver does not intend to perform a deviated driving, when a lane change command is received, the control circuit <NUM> may generate a lane centering path in the target lane. For example, when a steering torque less than or equal to the specified value is generated during the specified time and when the vehicle is away from the center of the driving lane over the specified distance, since the driver does not control the steering device <NUM> to perform the deviated driving, the control circuit <NUM> may determine that the driver does not intend to perform the deviated driving.

In some forms of the present invention, when an external object is detected in a specified area of a lane neighboring to the target lane, the control circuit <NUM> may generate a deviated path in the target lane such that the vehicle is away from the external object. When the external object on the lane neighboring to the target lane is adjacent to the vehicle, the driver may feel anxious. When the external object on the lane neighboring to the target lane is located within a specified area from the vehicle, the control circuit <NUM> may perform a deviated driving in a direction away from the external object. After the vehicle enters the target lane, the control circuit <NUM> may determine whether to generate a deviated path in the target lane in consideration of the external object located on the lane neighboring to the target lane.

In some forms of the present invention, when it is not safe to perform the deviated driving, the control circuit <NUM> may control vehicle to perform lane centering. For example, when a lateral position error (e.g., a distance between a path generated by the system and a real driving path) is greater than a specified value during a specified time, the control circuit <NUM> may determine that path following performance of the vehicle is degraded and may control the vehicle to travel along a lane centering path in the target lane. For another example, when lateral acceleration of the vehicle is greater than a specified value (e.g., a curvature of a road is small), the control circuit <NUM> may determine that there is a high probability that the path following performance of the vehicle will be degraded and may control the vehicle to travel along the lane centering path in the target lane.

In some forms of the present invention, when a following vehicle approaches the vehicle from a lane neighboring to the target lane, the control circuit <NUM> may control the vehicle to travel along the lane centering path in the target lane until the following vehicle passes the vehicle. When the vehicle enters the target lane, the control circuit <NUM> may detect the following vehicle on the lane neighboring to the target lane using the sensor <NUM>. The control circuit <NUM> may determine whether the following vehicle approaches the vehicle, based on a relative speed between the vehicle and the following vehicle. When the following vehicle approaches the vehicle, the control circuit <NUM> may control the vehicle to travel along the lane centering path to avoid close proximity to the following vehicle. The control circuit <NUM> may control the vehicle to travel along a deviated path in the target lane after the following vehicle passes the vehicle.

<FIG> is a block diagram illustrating a software module included in an apparatus for providing a driving path in a vehicle in some forms of the present invention.

Referring to <FIG>, the apparatus for providing the driving path in some forms of the present invention may include a deviated path generator <NUM>, a lane change path generator <NUM>, a lane change completion determining device <NUM>, an avoidance object determining device <NUM>, and a conversion path determining device <NUM>.

The deviated path generator <NUM> may determine whether an external object exists within a distance capable of giving a driver of the vehicle uneasiness on a lane neighboring to a driving lane of the vehicle. For example, when the external object exists during a specified time in a specified area from the vehicle, the deviated path generator <NUM> may determine that there is an object to be avoided. The deviated path generator <NUM> may determine whether a deviation occurs in the driving lane by steering control of the driver, a lateral gradient of a driving road of the vehicle, or a curvature of the road. When there is the object to be avoided or when the deviation occurs in the driving lane, the deviated path generator <NUM> may generate a deviated path in the driving lane.

When a lane change command of the driver is received, the lane change path generator <NUM> may generate a path for a lane change. The lane change path generator <NUM> may determine whether there is a probability that collision will occur during the lane change. When there is no possibility of collision, the lane change path generator <NUM> may generate a lane change path. When a deviation the driver does not intend occurs (e.g., when a deviation occurs by a lateral gradient of the road or a curvature of the road), the lane change path generator <NUM> may determine that it is impossible to perform a lane change and may fail to generate a path for the lane change. When a lane change command of the driver is received, when there is no possibility of collision, and when there is no deviation by a control limit, the lane change path generator <NUM> may generate a lane change path.

The lane change completion determining device <NUM> may determine whether the vehicle enters a target lane and whether a target vehicle is arranged on the center of a lane.

When the vehicle enters the target lane, the avoidance object determining device <NUM> may determine whether an object to be avoided exists on a lane neighboring to the target lane.

When the lane change is completed, the conversion path determining device <NUM> may generate a lane centering path or a deviated path and may control the vehicle to travel along the generated path. When a lateral position error greater than or equal to a reference value is maintained over a reference time, the conversion path determining device <NUM> may determine that path following performance is degraded by disturbance and may control the vehicle to follow the lane center. Similarly, when lateral acceleration is greater than or equal to a reference value, the conversion path determining device <NUM> may determine that there is a high probability that path following performance will be degraded and may control the vehicle to follow the lane center. When an object to be avoided exists on a lane neighboring to the target lane, the conversion path determining device <NUM> may generate a deviated path in a lane in a direction away from the object to be avoided and may control the vehicle to travel along the deviated path. When deviated driving is performed according to an intention of the driver before a lane change, the conversion path determining device <NUM> may control the vehicle to perform the deviated driving by reflecting the intention of the driver.

<FIG> is a drawing illustrating an exemplary operation of an apparatus for providing a driving path in a vehicle in some forms of the present invention.

Referring to <FIG>, a vehicle <NUM> may perform a lane change toward a target lane from its driving lane. When a lane change command is received, the vehicle <NUM> may turn on/off a left turn signal. When the lane change command is received, the vehicle <NUM> may be traveling along a deviated path. The vehicle <NUM> may perform lane keeping control during a specified time interval after the lane change command is received and may then initiate line approaching control.

The vehicle <NUM> may perform the line approaching control toward a line between the driving lane and the target lane. The vehicle <NUM> may move toward the line in a lateral direction. The vehicle <NUM> may complete the line approaching control within a second time interval.

When the line approaching control is completed, the vehicle <NUM> may perform lane entering control. While the lane entering control is performed, a wheel of the vehicle <NUM> may pass the line. The vehicle <NUM> may move toward the target lane in the lateral direction. The lane entering control may continue until all wheels of the vehicle <NUM> pass the line from the wheel of the vehicle <NUM> starts to pass the line.

When the lane entering control is completed, the vehicle <NUM> may perform lane keeping control. The vehicle <NUM> may move toward the center of the target lane in the lateral direction. When moving to the center of the target lane, the vehicle <NUM> may turn off the left turn signal. The vehicle <NUM> may generate a deviated path in the lane in consideration of a deviated driving state, a location of an external object, and the like when receiving the lane change command and may travel along the deviated path.

<FIG> is a drawing illustrating an exemplary operation of an apparatus for providing a driving path in a vehicle in some forms of the present disclosure.

Referring to <FIG>, a vehicle <NUM> in some forms of the present invention may detect an external object <NUM> located on a lane neighboring to a lane where the vehicle <NUM> is traveling. The vehicle <NUM> may determine whether the external object <NUM> exists within a specified area. For example, the vehicle <NUM> may determine whether the external object <NUM> exists within a specified distance Z2 (e.g., <NUM>) in a longitudinal direction from a front bumper and a rear bumper of the vehicle <NUM> and within a specified distance Z3 (e.g., <NUM>) in a lateral direction from a line. When the external object <NUM> exists within area Z1-Z3, the vehicle <NUM> may determine the external object <NUM> as an object to be avoided. When the external object <NUM> moves from area Z1-Z3 to area Z2-Z3, the vehicle <NUM> may release the external object <NUM> from the object to be avoided. When the external object <NUM> exists within a specified area in a left direction of the vehicle <NUM>, the vehicle <NUM> may generate a deviated path in a right direction in the lane and may perform deviated driving along the generated path.

Referring to <FIG>, a vehicle <NUM> in some forms of the present invention may travel along a centering path <NUM> in a lane where it is traveling. The vehicle <NUM> may perform deviated driving depending on an operation of a steering wheel of its driver. When the vehicle <NUM> travels in a state where it deviates from the centering path <NUM> over a specified distance Dth by an operation of the steering wheel during a specified time, it may generate a deviated path <NUM>. In this case, the vehicle <NUM> may determine that the driver has an intention to perform deviated driving. While the vehicle <NUM> travels along the deviated path <NUM>, when a lane change command is received, the vehicle <NUM> may generate a deviated path in a changed lane after the lane change and may travel along the deviated path.

Referring to <FIG>, a vehicle <NUM> in some forms of the present invention may travel along a centering path <NUM> in a lane where it is traveling. The vehicle <NUM> may travel in a state where it departs from the centering path <NUM> by a lateral gradient of a road where it is traveling or a curvature of the road. When the vehicle <NUM> travels in a state where it deviates from the centering path <NUM> over a specified distance Dth by disturbance (e.g., when a steering torque is less than or equal to a specified value) rather than an operation of a steering wheel of the vehicle <NUM>, it may generate a deviated path <NUM>. In this case, the vehicle <NUM> may determine that its driver does not have an intention to perform deviated driving. While the vehicle <NUM> travels along the deviated path <NUM>, when a lane change command is received, the vehicle <NUM> may generate a centering path after a lane change and may travel along the centering path. Although the lane change command is received, the vehicle <NUM> may fail to perform a lane change.

<FIG> is a drawing illustrating an operation of an apparatus for providing a driving path in a vehicle in some forms of the present invention.

Referring to <FIG>, the vehicle in embodiments of the present invention travels along a deviated path <NUM> in response to an external object or an operation of a steering wheel of its driver. When a lane change command is received from the driver, the vehicle generates a lane change path <NUM> including the deviated path <NUM> and a deviated path <NUM>. A distance between the deviated path <NUM> and a lane centering path <NUM> is set to correspond to a distance between the deviated path <NUM> and a lane centering path <NUM>. Thus, the lane change path <NUM> is generated in consideration of an intention of the driver to perform deviated driving.

<FIG> is a flowchart illustrating a method for providing a driving path in a vehicle in some forms of the present invention.

Hereinafter, it is assumed that a vehicle including an apparatus <NUM> for providing a driving path in <FIG> performs a process of <FIG>. Furthermore, in a description of <FIG>, an operation described as being by the vehicle may be understood as being controlled by a control circuit <NUM> of the apparatus <NUM> for providing the driving path.

Referring to <FIG>, in operation <NUM>, the vehicle may control itself to travel along a deviated path in its driving lane based on at least a portion of information about the vehicle, information about an external object, or an operation of a steering device of the vehicle. For example, the vehicle may perform deviated driving depending on lateral acceleration of the vehicle, proximity of the external object, an operation of the steering wheel of the driver, and/or the like.

In operation <NUM>, while the vehicle travels along the deviated path in the driving lane, it may receive a lane change command from its driver. For example, the vehicle may receive an input of the driver to its turn signal lever.

When the lane change command is received, in operation <NUM>, the vehicle may control itself to complete a lane change and travel along a deviated path in a target lane of the lane change. For example, when the vehicle performs deviated driving upon the reception of the lane change command, it may perform deviated driving after the lane change. The vehicle may consider an intention of the driver to perform deviated driving and may consider a surrounding object capable of giving the driver uneasiness.

Referring to <FIG>, in operation <NUM>, the vehicle may generate a lane centering path. The vehicle may travel along the lane centering path.

In operation <NUM>, the vehicle may determine whether it is necessary to perform deviated driving. For example, the vehicle may determine whether there is an external object capable of giving its driver uneasiness or whether the driver has an intention to perform deviated driving (e.g., an operation of the driver for its steering wheel).

When it is determined that it is necessary to perform the deviated driving, in operation <NUM>, the vehicle may determine whether path following performance is degraded. For example, the vehicle may determine whether the path following performance is degraded with reference to a lateral gradient of a road where the vehicle is traveling, lateral acceleration of the vehicle, and/or the like.

When the path following performance is not degraded, in operation <NUM>, the vehicle may generate a deviated path in a lane where the vehicle is traveling. The vehicle may travel along the deviated path.

When it is determined that it is unnecessary to perform the deviated driving or when the path following performance is degraded, in operation <NUM>, the vehicle may generate a lane centering path. The vehicle may travel along the lane centering path.

In operation <NUM>, the vehicle may receive a lane change command. For example, the vehicle may receive the lane change command from the driver through its turn signal lever.

When the lane change command is received, in operation <NUM>, the vehicle may determine whether it is possible to perform a lane change. For example, the vehicle may determine whether it is possible to perform the lane change, based on a probability of collision, whether path following performance is degraded, a speed of the vehicle, a curvature of the road, and/or the like.

When it is determined that it is possible to perform the lane change, in operation <NUM>, the vehicle may generate a lane change path. The vehicle may travel along the lane change path.

In operation <NUM>, the vehicle may determine whether it enters a target lane. The vehicle may travel along the lane change path until it enters the target lane. When the vehicle enters the target lane, the lane change may be ended.

When the vehicle enters the target lane, in operation <NUM>, the vehicle may determine whether it is necessary to perform deviated driving. For example, the vehicle may determine whether an external object capable of giving the driver uneasiness exists within a specified area on the changed lane, whether the driver intends to performs deviated driving before the lane change, or whether the driver currently intends to perform deviated driving.

When it is determined that it is necessary to perform the deviated driving, in operation <NUM>, the vehicle determines whether path following performance is degraded.

When the path following performance is not degraded, in operation <NUM>, the vehicle may generate a deviated path in the lane. The vehicle may travel along the deviated path.

<FIG> is a block diagram illustrating a configuration of a computing system in some forms of the present disclosure.

Referring to <FIG>, a computing system <NUM> may include at least one processor <NUM>, a memory <NUM>, a user interface input device <NUM>, a user interface output device <NUM>, a storage <NUM>, and a network interface <NUM>, which are connected with each other via a bus <NUM>.

The processor <NUM> may be a central processing unit (CPU) or a semiconductor device for performing processing of instructions stored in the memory <NUM> and/or the storage <NUM>. Each of the memory <NUM> and the storage <NUM> may include various types of volatile or non-volatile storage media. For example, the memory <NUM> may include a read only memory (ROM) and a random access memory (RAM).

Thus, the operations of the methods or algorithms described in some forms of the present disclosure disclosed in the specification may be directly implemented with a hardware module, a software module, or combinations thereof, executed by the processor <NUM>. The software module may reside on a storage medium (i.e., the memory <NUM> and/or the storage <NUM>) such as a RAM, a flash memory, a ROM, an erasable and programmable ROM (EPROM), an electrically EPROM (EEPROM), a register, a hard disc, a removable disc, or a compact disc-ROM (CD-ROM). An exemplary storage medium may be coupled to the processor <NUM>. The processor <NUM> may read out information from the storage medium and may write information in the storage medium. Alternatively, the storage medium may be integrated with the processor <NUM>. The processor and storage medium may reside in an application specific integrated circuit (ASIC). Alternatively, the processor and storage medium may reside as a separate component of the user terminal.

The apparatus for providing the driving path in the vehicle in some forms of the present invention may provide a path in which the intention of the driver is reflected upon an automatic lane change by determining the intention of the driver and providing a deviated driving path.

Claim 1:
An apparatus (<NUM>) for providing a driving path of a vehicle, the apparatus comprising:
a plurality of sensors (<NUM>) configured to obtain information regarding the vehicle and information regarding an external object;
a steering device (<NUM>);
an input device (<NUM>) configured to receive a lane change command from a driver of the vehicle; and
a control circuit (<NUM>) electrically connected with the plurality of sensors (<NUM>), the steering device (<NUM>), and the input device (<NUM>) and configured to:
control the vehicle to travel along a deviated path (<NUM>, <NUM>) in a driving lane of the vehicle based on at least one of the information regarding the vehicle, the information regarding the external object, or an operation of the steering device (<NUM>); and
control the vehicle to complete a lane change and travel along the deviated path (<NUM>, <NUM>) in a target lane of the changed lane in response to the received lane change command when the vehicle travels along the deviated path (<NUM>, <NUM>) in the driving lane;
characterized in that
the control circuit (<NUM>) is further configured to:
control the vehicle to travel along the lane center path (<NUM>, <NUM>) in the target lane when a lateral position error is greater than a second predetermined value at a second predetermined time.