SYSTEM, METHOD, AND COMPUTER-READABLE RECORDING MEDIUM FOR LANE KEEPING CONTROL
First Claim
1. A lane keeping control system comprising:
- a lane parameter generation unit configured to generate a relative position between a lane and a vehicle as a lane parameter based on information received from a camera installed on the vehicle;
a vehicle state information reception unit configured to receive vehicle state information sensed or measured by each vehicle sensor or device installed on the vehicle;
an equivalent model generation unit configured to receive the lane parameter from the lane parameter generation unit, receive the vehicle state information from the vehicle state information reception unit, analyze a time flow-related correlation between the vehicle parameter and the vehicle state information, and generate an equivalent model of each;
an erroneous detection determination unit configured to determine and classify a situation of erroneous detection of a lane parameter by simultaneously analyzing a case, in which a difference occurs from the equivalent model generated by the equivalent model generation unit, for each of at least one error item; and
a torque control factor adjustment unit configured to adjust a torque control factor according to a preset torque control factor adjustment setup so as to suppress or reduce the influence of erroneous torque when it is determined by the erroneous detection determination unit that erroneous detection of a lane parameter has occurred.
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Accused Products
Abstract
A lane keeping control system includes: a lane parameter generation unit configured to generate a relative position between a lane and a vehicle as a lane parameter based on information received from a camera installed on the vehicle; a vehicle state information reception unit configured to receive vehicle state information sensed or measured by each vehicle sensor or device installed on the vehicle; an equivalent model generation unit configured to receive the lane parameter from the lane parameter generation unit, receive the vehicle state information from the vehicle state information reception unit, analyze a time flow-related correlation between the vehicle parameter and the vehicle state information, and generate an equivalent model of each; an erroneous detection determination unit configured to determine and classify a situation of erroneous detection of a lane parameter by simultaneously analyzing a case.
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Citations
20 Claims
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1. A lane keeping control system comprising:
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a lane parameter generation unit configured to generate a relative position between a lane and a vehicle as a lane parameter based on information received from a camera installed on the vehicle; a vehicle state information reception unit configured to receive vehicle state information sensed or measured by each vehicle sensor or device installed on the vehicle; an equivalent model generation unit configured to receive the lane parameter from the lane parameter generation unit, receive the vehicle state information from the vehicle state information reception unit, analyze a time flow-related correlation between the vehicle parameter and the vehicle state information, and generate an equivalent model of each; an erroneous detection determination unit configured to determine and classify a situation of erroneous detection of a lane parameter by simultaneously analyzing a case, in which a difference occurs from the equivalent model generated by the equivalent model generation unit, for each of at least one error item; and a torque control factor adjustment unit configured to adjust a torque control factor according to a preset torque control factor adjustment setup so as to suppress or reduce the influence of erroneous torque when it is determined by the erroneous detection determination unit that erroneous detection of a lane parameter has occurred. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. A vehicle control system comprising:
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a vehicle camera installed on a vehicle and configured to collect lane data; at least one vehicle sensor installed on the vehicle and configured to sense at least one piece of vehicle state information; a fault detection device configured to generate a lane parameter from lane data collected from the vehicle camera, receive the vehicle state information from the vehicle sensor, analyze a time flow-related correlation between the vehicle parameter and the vehicle state information, generate an equivalent model of each, and determine whether erroneous detection of the lane data has occurred; and an electronic power steering (EPS) configured to receive a steering torque signal from the fault detection device according to a situation of erroneous detection of a lane parameter for each error item of the fault detection device, reflect the steering torque signal on assist torque regarding a driver, and thereby control a steering device. - View Dependent Claims (10)
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11. A method for lane data fault detection for lane keeping assist, the method comprising:
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generating a relative position between a lane and a vehicle as a lane parameter based on information received from a camera installed on the vehicle; receiving vehicle state information sensed or measured by each vehicle sensor or device installed on the vehicle; analyzing a time flow-related correlation between the received vehicle parameter and the vehicle state information and generating an equivalent model of each; determining and classifying a situation of erroneous detection of a lane parameter by simultaneously analyzing a case, in which a difference occurs in the generated equivalent model for each of at least one error item; and adjusting a torque control factor according to a preset torque control factor adjustment setup so as to suppress or reduce the influence of erroneous torque when it is determined as a result of the determining that erroneous detection of a lane parameter has occurred. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 20)
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19. A vehicle control method comprising:
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collecting lane data from a vehicle camera installed on a vehicle; sensing at least one piece of vehicle state information from at least one vehicle sensor installed on the vehicle; generating a lane parameter from the lane data collected from the vehicle camera; receiving the vehicle state information from the vehicle sensor, analyzing a time flow-related correlation between the vehicle parameter and the vehicle state information, and generating an equivalent model of each; determining whether erroneous detection of the lane data has occurred based on the generated equivalent model; and generating a steering torque signal according to a situation of erroneous detection of a lane parameter for each error item based on the determining whether erroneous detection of the lane data has occurred and providing an EPS with the generated steering torque signal.
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Specification