LANE KEEPING ASSIST/SUPPORT SYSTEM, VEHICLE INCLUDING THE SAME, AND METHOD FOR CONTROLLING THE SAME

• US 20170166206A1
• Filed: 06/16/2016
• Published: 06/15/2017
• Est. Priority Date: 12/15/2015
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Lim, Seong Woong
• Granted Patent: US 10,086,834 B2
• Time in Patent Office: Days
• CPC Class Codes: B60W 2420/403 Image sensing, e.g. optical camera
• CPC Class Codes: B60W 2554/80 Spatial relation or speed relative to objects
• CPC Class Codes: B60W 2554/801 Lateral distance
• CPC Class Codes: B60W 2710/0666 Engine torque
• CPC Class Codes: B60W 2710/083 Torque
• CPC Class Codes: B60W 2710/20 Steering systems
• 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: G06V 20/56 exterior to a vehicle by using sensors mounted on the vehicle
• CPC Class Codes: G06V 20/588 Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road

Abstract

A lane keeping assist/support (LKAS) system for preventing lane departure of a vehicle includes: an LKAS controller determining whether an adjacent vehicle is present by analyzing around-view images of the vehicle acquired by an around-view monitoring (AVM) system; a vehicle position calculator calculating a position of the vehicle; an adjacent vehicle position calculator calculating a position of the adjacent vehicle; a torque controller determining whether a proximity index generated according to the calculated position of the vehicle and the calculated position of the adjacent vehicle is less than a threshold value and correcting an initial torque timing and an initial torque based on the calculated position of the vehicle when the proximity index is less than the threshold value; and a steering apparatus controlling steering of the vehicle according to the corrected initial torque timing and the corrected initial torque.

Claims

1. A lane keeping assist/support (LKAS) system for preventing lane departure of a vehicle, comprising:

an LKAS controller determining whether an adjacent vehicle is present by analyzing around-view images of the vehicle acquired by an around-view monitoring (AVM) system installed in the vehicle;

a vehicle position calculator calculating a position of the vehicle;

an adjacent vehicle position calculator calculating a position of the adjacent vehicle when the adjacent vehicle is determined to be present;

a torque controller determining whether a proximity index generated according to the calculated position of the vehicle and the calculated position of the adjacent vehicle is less than a threshold value and correcting an initial torque timing and an initial torque based on the calculated position of the vehicle when the proximity index is determined to be less than the threshold value; and

a steering apparatus controlling steering of the vehicle according to the corrected initial torque timing and the corrected initial torque.

2. The LKAS system according to claim 1, wherein the vehicle position calculator calculates the position of the vehicle by analyzing a photographed front view image showing a front view of the vehicle.

3. The LKAS system according to claim 1, wherein the adjacent vehicle position calculator calculates the position of the adjacent vehicle by analyzing the around-view images acquired by the AVM system.

4. The LKAS system according to claim 1, wherein:

the position of the vehicle includes a first distance between a center of the vehicle and a left lane and a second distance between the center of the vehicle and a right lane, and

the position of the adjacent vehicle includes at least one of a third distance corresponding to a horizontal distance between the vehicle and a left adjacent vehicle and a fourth distance corresponding to a horizontal distance between the vehicle and a right adjacent vehicle.

5. The LKAS system according to claim 4, wherein:

the proximity index includes a first proximity index and a second proximity index, and

the torque controller generates the first proximity index by subtracting the first distance from the third distance and generates the second proximity index by subtracting the second distance from the fourth distance.

6. The LKAS system according to claim 5, wherein the torque controller corrects the initial torque timing and the initial torque based on the position of the vehicle using a timing correction value and a torque correction value determined according to the first proximity index when the first proximity index is less than a first threshold value.

7. The LKAS system according to claim 6, wherein the torque controller increases or decreases the initial torque timing and the initial torque according to the timing correction value and the torque correction value on the basis of a relative vertical distance generated by analyzing the around-view images.

8. The LKAS system according to claim 5, wherein the torque controller corrects the initial torque timing and the initial torque based on the position of the vehicle using a timing correction value and a torque correction value determined according to the second proximity index when the second proximity index is less than a second threshold value.

9. The LKAS system according to claim 6, wherein the torque controller increases or decreases the initial torque timing and the initial torque according to the timing correction value and the torque correction value on the basis of a relative vertical distance generated by analyzing the around-view images.

10. A vehicle, comprising:

an AVM system configured to acquire around-view images of the vehicle;

an LKAS controller determining whether an adjacent vehicle is present by analyzing the around-view images of the vehicle acquired by the AVS system;

a vehicle position calculator calculating a position of the vehicle;

an adjacent vehicle position calculator calculating a position of the adjacent vehicle when the adjacent vehicle is determined to be present;

a torque controller determining whether a proximity index generated according to the calculated position of the vehicle and the calculated position of the adjacent vehicle is less than a threshold value and correcting an initial torque timing and an initial torque based on the calculated position of the vehicle when the proximity index is determined to be less than the threshold value; and

a steering apparatus controlling steering of the vehicle according to the corrected initial torque timing and the corrected initial torque.

11. A method of controlling an LKAS system for preventing lane departure of a vehicle, comprising:

determining whether an adjacent vehicle is present by analyzing around-view images of the vehicle acquired by an AVM system installed in the vehicle;

calculating a position of the vehicle;

calculating a position of the adjacent vehicle when the adjacent vehicle is determined to be present;

determining whether a proximity index generated according to the calculated position of the vehicle and the calculated position of the adjacent vehicle is less than a threshold value;

correcting an initial torque timing and an initial torque based on the calculated position of the vehicle when the proximity index is determined to be less than the threshold value; and

controlling steering of the vehicle according to the corrected initial torque timing and the corrected initial torque.

12. The method according to claim 11, wherein the calculating of the position of the vehicle comprises calculating the position of the vehicle by analyzing a photographed front view image showing a front view of the vehicle.

13. The method according to claim 11, wherein the calculating of the adjacent vehicle comprises calculating the position of the adjacent vehicle by analyzing the around-view images acquired by the AVM system.

14. The method according to claim 11, wherein:

the position of the vehicle includes a first distance between a center of the vehicle and a left lane and a second distance between the center of the vehicle and a right lane, and

the position of the adjacent vehicle includes at least one of a third distance corresponding to a horizontal distance between the vehicle and a left adjacent vehicle and a fourth distance corresponding to a horizontal distance between the vehicle and a right adjacent vehicle.

15. The method according to claim 14, wherein:

the proximity index includes a first proximity index and a second proximity index, and

the determining whether the proximity index is less than the threshold value comprises generating the first proximity index by subtracting the first distance from the third distance and generating the second proximity index by subtracting the second distance from the fourth distance.

16. The method according to claim 15, wherein the correcting of the initial torque timing and the initial torque comprises correcting the initial torque timing and the initial torque based on the position of the vehicle using a timing correction value and a torque correction value determined according to the first proximity index when the first proximity index is less than a first threshold value.

17. The method according to claim 16, wherein the initial torque timing and the initial torque are increased or decreased according to the timing correction value and the torque correction value on the basis of a relative vertical distance generated by analyzing the around-view images.

18. The method according to claim 15, wherein the correcting of the initial torque timing and the initial torque comprises correcting the initial torque timing and the initial torque based on the position of the vehicle using a timing correction value and a torque correction value determined according to the second proximity index when the second proximity index is less than a second threshold value.

19. The method according to claim 16, wherein the initial torque timing and initial torque are increased or decreased by the timing correction value and the torque correction value on the basis of a relative vertical distance generated by analyzing the around-view images.