System for preventing lane deviation of vehicle and control method thereof

• US 6,487,501 B1
• Filed: 12/28/2001
• Issued: 11/26/2002
• Est. Priority Date: 06/12/2001
• Status: Expired due to Term

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Jeon, Yong-Won
• Primary Examiner(s): Cuchlinski, Jr., William A.
• Assistant Examiner(s): MANCHO, RONNIE M
• Application Number:
  US10/028,691
• Publication Number:
  US 20020188404A1
• Time in Patent Office: 333 Days
• Field of Search: 701/41, 701/24, 701/23, 701/28, 701/301, 701/300, 702/167, 702/157, 180/168, 180/443, 180/167, 180/446, 180/169, 340/903, 340/988, 340/438, 340/436, 340/439
• US Class Current: 701/301
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/087 using active steering actuation
• CPC Class Codes: B60W 2540/18 Steering angle
• 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: G05D 1/0061 for transition from automatic pilot to manual pilot and vice versa

Abstract

A system for preventing lane deviation of a vehicle and a control method thereof are provided, in which control is performed to prevent the vehicle from inadvertently deviating from a lane. The system comprises a detector including a lane marker detector for detector lane markers that define a lane in the road, and a lane marker ECU for determining a transverse position of the vehicle using signals of the lane marker detector; a controller for determining if the vehicle is deviating from the lane by receiving information transmitted by the detector, determining steering control angle and steering control time according to a vehicle speed and a heading angle at the instant the vehicle is deviating from the lane, and outputting control signals following lane deviation prevention such that an automatic drive mode is realized until the vehicle reaches a center of the lane; and a steering driver controlled by the control signals output from the controller.

Claims

1. A system for preventing lane deviation of a vehicle comprising:

a detector including a lane marker detector for detecting lane markers that define a lane in a road, and a lane marker ECU for determining a transverse position of the vehicle using signals of the lane marker detector;

a controller for determining if the vehicle is deviating from the lane by receiving information transmitted by the detector, determining steering control angle and steering control time according to a vehicle speed and a heading angle at the instant the vehicle is deviating from the lane, and outputting control signals following lane deviation prevention such that an automatic drive mode is realized until the vehicle reaches a center of the lane; and

a steering driver controlled by the control signals output from the controller.

2. The system of claim 1 wherein the lane marker detector is a magnetic sensor that detects magnetic nails installed in lane markers of the road.

3. The system of claim 1 wherein the controller comprises:

a communications unit for receiving information from the detector;

an input data processor for processing information of various sensors and a steering torque sensor, and the transverse position of the vehicle received from the detector;

a lane deviation determining unit for determining whether the vehicle is deviating from the lane using information transmitted from the input data processor;

a fuzzy logic controller for calculating an amount of steering control according to information transmitted from the lane deviation determining unit;

a steering angle instruction generator for generating a steering angle profile for controlling steering after the amount of steering control is determined by the fuzzy logic controller;

a feedback control unit for generating a path for automatic driving following prevention of lane deviation; and

an output data processor for outputting information received from the steering angle instruction generator and the feedback control unit.

4. The system of claim 3 wherein the controller further comprises an initializing unit and a fail-safe unit.

5. A method for preventing lane deviation of a vehicle, in which if it is determined that the vehicle is deviating from a lane using information of a transverse position of the vehicle, a steering control angle and a steering control time are determined using fuzzy logic according to a vehicle speed and a heading angle at an instant the vehicle deviates from the lane, thereby preventing lane deviation, after which feedback control of the transverse position of the vehicle is performed through a control variable and output as a steering angle such that the vehicle is positioned at a center of the lane in an automatic drive mode according to a given path, and controlling an actuator of an EPS system using the output.

6. A method for preventing lane deviation of a vehicle comprising:

initializing variables and functions of a main ECU;

checking information of a lane marker ECU and transmitting the information to an input data processor for processing of the information;

determining driver intent to discontinue lane deviation prevention and determining whether lane deviation control can be performed;

performing fail-safe control to determine whether a system for preventing lane deviation is malfunctioning in the case where there is no driver intent to discontinue lane deviation control and the vehicle is traveling in an area such that lane deviation control can be performed;

determining if the vehicle is deviating from the lane based on information converted in an input data processor to suit an algorithm, in the case where it is determined that the system is operating normally;

calculating an amount of steering control suitable to lane deviation conditions to generate a steering angle profile, in the case where it is determined that the vehicle is undergoing lane deviation;

calculating a steering angle to return the vehicle to a center of the lane; and

transmitting steering control data and steering angle data to an EPS system to realize steering control.

7. The method of claim 6 wherein processing of information by the input data processor includes conversion of input values of various sensors, a steering torque sensor, and of a transverse position of the vehicle.

8. The method of claim 6 wherein the driver intent is determined according to whether control switches have been operated, a brake pedal has been depressed, a steering wheel has been operated, and whether the vehicle is traveling in a no-service zone.

9. The method of claim 6 wherein the fail-safe control is performed by determining if a control steering angle is normal and determining if a present vehicle speed is less than or equal to a predetermined vehicle speed.

10. The method of claim 6 wherein the determination of whether the vehicle is deviating from the lane is performed by calculating a deviation prediction value according to vehicle speed using a transverse position of the vehicle and a heading angle value, which is the derivative of the transverse position.

11. The method of claim 10 wherein the prediction value (p_offset) is obtained by offset_f+Kw*slope_f, where offset_f is the transverse position of the vehicle, slope_f is the derivative of offset_f, and Kw is a gain, which varies according to vehicle speed, and if the p_offset value is greater than one of a predetermined deviation position value OFF_L(left) and a predetermined position value OFF_R(right), it is determined that the vehicle is deviating from the lane.

12. The method of claim 11 wherein the amount of steering control suitable to lane deviation conditions is calculated from inputs of vehicle speed and heading angle (slope_f) at the instant the deviation prediction value (p_offset) exceeds the predetermined deviation position value (OFF_L).

13. The method of claim 6 wherein the steering angle profile is realized through a triangular waveform.

14. The method of claim 6 wherein the steering angle is obtained from Kp*(offset_f−

path)+Kd*slope_f, where Kp is P gain, Kd is D gain, offset_f is a transverse position of the vehicle, slope_f is a heading angle, and path is a desired path.