LATERAL CONTROL APPARATUS OF VEHICLE AND CONTROL METHOD OF THE SAME

• US 20140188360A1
• Filed: 03/19/2013
• Published: 07/03/2014
• Est. Priority Date: 12/28/2012
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd.
• Original Assignee: Hyundai Mobis Co., Ltd.
• Inventors: LEE, Jun Han
• Granted Patent: US 9,037,373 B2
• Time in Patent Office: Days
• US Class Current: 701/70
• CPC Class Codes: G01B 21/16 for measuring distance of clearance between spaced objects
• CPC Class Codes: G01C 21/34 Route searching; Route guidance
• CPC Class Codes: G08G 1/167 Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Abstract

The present invention provides a lateral control apparatus including: an offset measuring unit that measures current lateral offsets of at least two other vehicles at a current time based on a center of a driving lane; a preview offset calculating unit that predicts a lateral offset of the other vehicle based on the center of the driving lane based on a location and a speed of the other vehicle at a time when a predetermined time has elapsed to calculate a preview offset; a priority determining unit that determines a priority of the other vehicles based on a difference between the lateral offset and the preview offset; and a controller that generates a route for lane keeping control of own vehicle based on the lateral offset of the other vehicle to which a top priority is assigned by the priority determining unit.

Claims

1. A lateral control apparatus, comprising:

an offset measuring unit that measures current lateral offsets of at least two other vehicles at a current time based on a center of a driving lane;

a preview offset calculating unit that predicts a lateral offset of the other vehicle based on the center of the driving lane based on a location and a speed of the other vehicle at a time when a predetermined time has elapsed to calculate a preview offset;

a priority determining unit that determines a priority of the other vehicles based on a difference between the lateral offset and the preview offset; and

a controller that generates a route for lane keeping control of own vehicle based on the lateral offset of the other vehicle to which a top priority is assigned by the priority determining unit.

2. The lateral control apparatus of claim 1, wherein the offset measuring unit includes:

a first offset measuring unit that measures an lateral offset of at least one of preceding vehicles which is located in a predetermined distance at a front side based on the center of the driving lane; and

a second offset measuring unit that measures a lateral offset of at least one following vehicle located in a predetermined distance at a rear side based on the center of the driving lane.

3. The lateral control apparatus of claim 1, wherein the preview offset calculating unit includes:

a measuring unit that measures a longitudinal separation distance and a lateral separation distance between its own vehicle and the other vehicle and a longitudinal speed and a lateral speed of the other vehicle, and

a calculating unit that calculates the preview offset of the other vehicle after a predetermined time based on the longitudinal separation distance, the lateral separation distance, the longitudinal speed, and the lateral speed measured by the measuring unit.

4. The lateral control apparatus of claim 3, wherein the measuring unit includes:

a front camera sensor that obtains an image of a front side of its own vehicle and a rear camera sensor that obtains an image of a rear side of its own vehicle.

5. The lateral control apparatus of claim 1, wherein the priority determining unit assigns a top priority to one of the other vehicles that has a largest difference between the lateral offset and the preview offset.

6. The lateral control apparatus of claim 1, wherein if a control torque corresponding to the generated route exceeds a predetermined threshold value, the controller changes a speed of its own vehicle to regenerate a route.

7. A lateral control method, comprising:

a) a step of measuring a lateral offset of at least two other vehicles at a current time based on a center of a driving lane with an offset measuring unit;

b) a step of predicting with a preview offset calculating unit a lateral offset of other vehicle based on the center of the driving lane based on a location and a speed of the other vehicle at a time when a predetermined time has elapsed to calculate a preview offset;

c) a step of determining a priority of the other vehicles based on a difference between the lateral offset and the preview offset with a priority determining unit; and

d) a step of generating with a controller a route for lane keeping control of its own vehicle based on the lateral offset of the other vehicle which is determined to assign the top priority.

8. The lateral control method of claim 7, wherein in a) step, a lateral offset of at least one other vehicles which is located in a predetermined distance at a front side based on the center of the driving lane is measured and a lateral offset of at least one other following vehicle located in a predetermined distance at a rear side based on the center of the driving lane is measured.

9. The lateral control method of claim 7, wherein in b) step, a longitudinal separation distance and a lateral separation distance between its own vehicle and the other vehicle are measured and a longitudinal speed and a lateral speed of the other vehicle are measured and a preview offset of the other vehicle after a predetermined time has elapsed is calculated based on the measured longitudinal separation distance, lateral separation distance, longitudinal speed, and lateral speed.

10. The lateral control method of claim 9, wherein the longitudinal separation distance, the lateral separation distance, the longitudinal speed, and the lateral speed are measured through images of the front side and the rear side of its own vehicle.

11. The lateral control method of claim 7, wherein in c) step, a top priority is assigned to one of the other vehicles that has a largest difference between the lateral offset and the preview offset.

12. The lateral control method of claim 7, wherein in d) step, if a control torque corresponding to the generated route exceeds a predetermined threshold value, a speed of its own vehicle is changed to regenerate a route.