System, method, and computer-readable recording medium for lane keeping control
First Claim
1. A lane keeping control system, comprising:
- a fault detection device including;
a lane parameter generation unit that generates 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 that receives vehicle state information sensed or measured by each vehicle sensor or device installed on the vehicle;
an equivalent model generation unit thatreceives the lane parameter from the lane parameter generation unit,receives the vehicle state information from the vehicle state information reception unit,analyzes a time flow-related correlation between the vehicle parameter and the vehicle state information, andgenerates an equivalent model based on the analyzed time flow-related correlation;
an erroneous detection determination unit that determines and classifies an 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; and
a torque control factor adjustment unit that adjusts 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 the erroneous detection determination unit determines the erroneous detection.
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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:
a fault detection device including; a lane parameter generation unit that generates 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 that receives vehicle state information sensed or measured by each vehicle sensor or device installed on the vehicle; an equivalent model generation unit that receives the lane parameter from the lane parameter generation unit, receives the vehicle state information from the vehicle state information reception unit, analyzes a time flow-related correlation between the vehicle parameter and the vehicle state information, and generates an equivalent model based on the analyzed time flow-related correlation; an erroneous detection determination unit that determines and classifies an 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; and a torque control factor adjustment unit that adjusts 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 the erroneous detection determination unit determines the erroneous detection. - 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 that is installed on a vehicle and that collects lane data; at least one vehicle sensor that is installed on the vehicle and that senses at least one piece of vehicle state information; a fault detection device that generates a lane parameter from lane data collected from the vehicle camera, receives the vehicle state information from the vehicle sensor, analyzes a time flow-related correlation between the vehicle parameter and the vehicle state information, generates an equivalent model based on the analyzed time flow-related correlation, and determines whether an erroneous detection of the lane data is occurred; and an electronic power steering (EPS) that receives a steering torque signal from the fault detection device according to a situation of erroneous detection of a lane parameter for each error of the fault detection device, reflects the steering torque signal on assist torque regarding a driver of the vehicle, and thereby controls 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 performed by a fault detection device including a lane parameter generation unit, a vehicle state information reception unit, an equivalent model generation unit, an erroneous detection determination unit, and a torque control factor adjustment unit, the method comprising:
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generating, by the lane parameter generation unit, 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, by the vehicle state information reception unit, vehicle state information sensed or measured by each vehicle sensor or device installed on the vehicle; analyzing, by the equivalent model generation unit, a time flow-related correlation between the received vehicle parameter and the vehicle state information and generating an equivalent model based on the analyzed time flow-related correlation; determining and classifying, by the erroneous detection determination unit, 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; and adjusting, by the torque control factor adjustment unit, 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 the erroneous detection is determined as a result of the determining. - View Dependent Claims (12, 13, 14, 15, 16, 17, 18, 20)
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19. A vehicle control method, performed by a vehicle control system including a vehicle camera, at least one vehicle sensor, a fault detection device, and an electronic power steering (EPS), the method comprising:
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collecting, by the vehicle camera, lane data from a vehicle camera installed on a vehicle; sensing, by the at least one vehicle sensor, at least one piece of vehicle state information from at least one vehicle sensor installed on the vehicle; generating, by the fault detection device, a lane parameter from the lane data collected from the vehicle camera; receiving, by the fault detection device, 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 based on the analyzed time flow-related correlation; determining, by the fault detection device, whether an erroneous detection of the lane data is occurred based on the generated equivalent model; and generating, the fault detection device, a steering torque signal according to a situation of erroneous detection of a lane parameter for each error based on the determining whether the erroneous detection is occurred and providing the EPS with the generated steering torque signal.
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Specification