Lane keeping assist method and system
First Claim
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1. A lane keeping assist method, comprising steps of:
- determining whether a turn signal is applied;
determining a state of a lane change in which a timing of a driver'"'"'s driving control of a vehicle is reflected when the turn signal is applied;
adjusting a criterion for driver override depending on an error between a driving path of the vehicle and a target path; and
comparing a steering torque of the driver with the adjusted criterion to determine the driver override, wherein the steering toque of the driver is obtained by a torque sensor,wherein the driver override is a state that the driver has driving control of the vehicle in autonomous driving of the vehicle, andwherein the adjusting the criterion for the driver override includes;
setting the criterion for the driver override to a second value greater than a first value when the error is less than a threshold; and
determining cancellation of the driver override when the steering torque of the driver is less than the second value, wherein the first value is set to the criterion for the driver override when the error is greater that the threshold.
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Abstract
A lane keeping assist method and system may include determining a driving state of a vehicle according to a state of a lane change in which an intention of a driver is reflected after a turn signal is applied, adjusting a criterion for driver override depending on an error between a driving path of the vehicle and a target path according to the driving state of the vehicle, comparing a steering torque of the driver with the adjusted criterion to determine activation or cancellation of the driver override, minimizing the driver'"'"'s discomfort in the steering operation when the driver intentionally changes the lane.
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Citations
18 Claims
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1. A lane keeping assist method, comprising steps of:
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determining whether a turn signal is applied; determining a state of a lane change in which a timing of a driver'"'"'s driving control of a vehicle is reflected when the turn signal is applied; adjusting a criterion for driver override depending on an error between a driving path of the vehicle and a target path; and comparing a steering torque of the driver with the adjusted criterion to determine the driver override, wherein the steering toque of the driver is obtained by a torque sensor, wherein the driver override is a state that the driver has driving control of the vehicle in autonomous driving of the vehicle, and wherein the adjusting the criterion for the driver override includes; setting the criterion for the driver override to a second value greater than a first value when the error is less than a threshold; and determining cancellation of the driver override when the steering torque of the driver is less than the second value, wherein the first value is set to the criterion for the driver override when the error is greater that the threshold. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A lane keeping assist system, comprising:
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a lane change state determination device determining a state of a lane change of a vehicle after a turn signal is applied; a threshold adjustment device receiving a result of the state of the lane change from the lane change state determination device and adjusting a criterion for driver override depending on an error between a driving path of the vehicle and a target path according to the state of the lane change; and an override determination device comparing a steering torque of a driver with the adjusted criterion to determine the driver override, wherein the steering torque of the driver is obtained by a torque sensor, wherein the driver override is a state that the driver has driving control of the vehicle in autonomous driving of the vehicle, and wherein the threshold adjustment device adjusts the criterion for the driver override to a first value when the error is greater than a threshold, and adjusts the criterion for the driver override to a second value greater than the first value when the error is less than the threshold. - View Dependent Claims (14, 15, 16, 17, 18)
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Specification