APPARATUS AND METHOD FOR GENERATING VIRTUAL LANE, AND SYSTEM SYSTEM FOR CONTROLLING LANE KEEPING OF VEHICLE WITH THE APPARATUS
First Claim
1. An apparatus for generating a virtual lane, the apparatus comprising:
- a lane detection judging unit configured to judge whether both lanes of a front road are normally detected based on a front image;
a lane correction unit configured to generate a virtual lane by correcting one lane based on the other lane when it is judged that the one lane of both lanes is not normally detected; and
a lane estimation unit configured to generate the virtual lane by estimating both lanes based on previously detected lane information when it is judged that both lanes are not normally detected.
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Abstract
Disclosed are an apparatus and a method for generating a virtual lane, which correct or estimate an undetected lane depending on detection of a lane at each side and a system for controlling lane keeping of a vehicle with the apparatus. The apparatus for generating a virtual lane according to the present invention includes: a lane detection judging unit configured to judge whether both lanes of a front road are normally detected based on a front image; a lane correction unit configured to generate a virtual lane by correcting one lane based on the other lane when it is judged that the one lane of both lanes is not normally detected; and a lane estimation unit configured to generate the virtual lane by estimating both lanes based on previously detected lane information when it is judged that either lane is not normally detected.
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Citations
17 Claims
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1. An apparatus for generating a virtual lane, the apparatus comprising:
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a lane detection judging unit configured to judge whether both lanes of a front road are normally detected based on a front image; a lane correction unit configured to generate a virtual lane by correcting one lane based on the other lane when it is judged that the one lane of both lanes is not normally detected; and a lane estimation unit configured to generate the virtual lane by estimating both lanes based on previously detected lane information when it is judged that both lanes are not normally detected. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A method for generating a virtual lane, the method comprising:
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judging whether both lanes of a front road are normally detected based on a front image; generating a virtual lane by correcting one lane based on the other lane when it is judged that the one lane of both lanes is not normally detected; and generating the virtual lane by estimating both lanes based on previously detected lane information when it is judged that both lanes are not normally detected. - View Dependent Claims (14, 15, 16)
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17. A system for controlling lane keeping of a vehicle, the system comprising:
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a lane detection judging unit configured to judge whether both lanes of a front road are normally detected based on a front image; a lane detection unit configured to acquire a lane normally detected from the front image; a lane correction unit configured to generate a virtual lane by correcting one lane based on the other lane when it is judged that the one lane of both lanes is not normally detected; a lane estimation unit configured to generate the virtual lane by estimating both lanes based on previously detected lane information when it is judged that either lane is not normally detected; a steering torque calculating unit configured to calculate steering torque for controlling the vehicle based on driving state information of both lanes and the vehicle acquired by at least one method of detection, correction, and estimation; and a lane keeping control unit configured to control the lane keeping of the vehicle based on the steering torque.
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Specification