LANE KEEPING CONTROL METHOD AND APPARATUS THEREOF

• US 20170029025A1
• Filed: 07/20/2016
• Published: 02/02/2017
• Est. Priority Date: 07/29/2015
• Status: Active Grant

• Current Assignee: HL Mando Corporation (Halla Holdings Corporation)
• Original Assignee: Mando Corporation (Halla Holdings Corporation)
• Inventors: KIM, Soon Tae
• Granted Patent: US 10,086,872 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: B60W 2540/18 Steering angle
• CPC Class Codes: B60W 2540/20 Direction indicator values
• CPC Class Codes: B60W 2720/14 Yaw
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B60W 30/12 Lane keeping
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: B62D 6/10 characterised by means for sensing or determining torque
• CPC Class Codes: G05D 1/0246 using a video camera in combination with image processing means

Abstract

The present invention relates to a lane keeping control method of the vehicle and an apparatus thereof. More specifically, the present invention relates to a method and an apparatus for calculating a torque for the lane keeping of the vehicle. In particular, the present invention provides a lane keeping control device that includes: a receiving unit that is configured to receive sensed information containing lane information from one or more sensors in the vehicle; a target torque calculating unit that is configured to calculate a target torque for the lane keeping of the vehicle based on the sensed information; and a final torque calculating unit that is configured to calculate a final torque for the lane keeping based on a driver steering torque and the target torque according to the input of the driver steering torque, and further provides a lane keeping control method.

Claims

1. A lane keeping control device comprising:

a receiving unit configured to receive sensed information containing lane information from one or more sensors in the vehicle;

a target torque calculating unit configured to calculate a target torque for the lane keeping of the vehicle based on the sensed information; and

a final torque calculating unit configured to calculate a final torque for the lane keeping based on a driver steering torque and the target torque when the driver steering torque is input.

2. The lane keeping control device according to claim 1, wherein the final torque calculating unit further comprises a torque direction detecting unit that is configured to detect whether or not the driver steering torque direction and the target torque direction match each other.

3. The lane keeping control device according to claim 1, wherein when the driver steering torque direction and the target torque direction are detected in the same direction, the final torque calculating unit calculates the final torque by subtracting the driver steering torque from the target torque.

4. The lane keeping control device according to claim 1, wherein when the driver steering torque direction and the target torque direction are detected in the opposite directions, the final torque calculating unit calculates the final torque by a vector sum of the driver steering torque and the target torque.

5. The lane keeping control device according to claim 4, wherein the final torque calculating unit calculates the target torque as the final torque when the driver steering torque is less than a predetermined reference torque, and calculates the final torque by a vector sum of a torque, which is obtained by subtracting the reference torque from the driver steering torque, and the target torque when the driver steering torque is equal to, or more than, the reference torque.

6. The lane keeping control device according to claim 5, wherein the reference torque has the same direction as the driver steering torque.

7. The lane keeping control device according to claim 5, wherein the reference torque varies depending on the distance between the vehicle and the road surface-marked line.

8. The lane keeping control device according to claim 4, wherein the final torque calculating unit maintains the final torque as the reference value when the final torque reaches a predetermined reference value.

9. The lane keeping control device according to claim 1, wherein the final torque calculating unit calculates the final torque to be zero when a lane change signal is detected.

10. A lane keeping control method comprising:

receiving sensed information containing lane information from one or more sensors in the vehicle;

calculating a target torque for the lane keeping of the vehicle based on the sensed information; and

calculating a final torque for the lane keeping based on a driver steering torque and the target torque according to the input of the driver steering torque.

11. The method according to claim 10, wherein the calculating of the final torque further comprises a torque direction detecting operation to detect whether or not the driver steering torque direction and the target torque direction match each other.

12. The method according to claim 10, wherein the final torque decreases in proportion to the driver steering torque.