SYSTEM, METHOD, AND COMPUTER-READABLE RECORDING MEDIUM FOR LANE KEEPING CONTROL

• US 20140218508A1
• Filed: 01/30/2014
• Published: 08/07/2014
• Est. Priority Date: 02/07/2013
• Status: Active Grant

• Current Assignee: HL Klemove Corporation
• Original Assignee: Mando Corporation
• Inventors: KIM, Soon Tae
• Granted Patent: US 9,469,343 B2
• Time in Patent Office: Days
• US Class Current: 348/118
• 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 1/0246 using a video camera in combination with image processing means
• 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 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.

Claims

1. A lane keeping control system comprising:

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, in which a difference occurs from the equivalent model generated by the equivalent model generation unit, for each of at least one error item; and

a torque control factor adjustment unit configured to adjust 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 it is determined by the erroneous detection determination unit that erroneous detection of a lane parameter has occurred.

2. The lane keeping control system according to claim 1, wherein the lane parameter generation unit is configured to generate, as lane parameters, coefficients of a third-order equation expressing a relative position between the lane and the vehicle on a two-dimensional plane.

3. The lane keeping control system according to claim 1, wherein the vehicle state information received by the vehicle state information reception unit is at least one selected from vehicle longitudinal velocity, vehicle longitudinal acceleration, vehicle yaw rate, steering angle, steering toque, and vehicle transverse acceleration.

4. The lane keeping control system according to claim 1, wherein the equivalent model generation unit is configured to generate an equivalent model by calculating the time flow-related correlation between the vehicle parameter and the vehicle state information as an equivalent function from the received lane parameter and the vehicle state information.

5. The lane keeping control system according to claim 1, wherein the erroneous detection determination unit is configured to determine that a situation of erroneous detection has occurred when a difference value in the equivalent model generated by the equivalent model generation unit exceeds a preset threshold.

6. The lane keeping control system according to claim 5, wherein the erroneous detection determination unit is configured to determine that a situation of erroneous detection has occurred when a difference value in the equivalent model generated by the equivalent model generation unit exceeds a preset threshold for a preset period of time or longer.

7. The lane keeping control system according to claim 1, wherein the error item is at least one selected from a left lane position, a right lane position, a left lane heading angle, a right lane heading angle, a both lane heading angle, a left lane curvature, a right lane curvature, and a both lane curvature.

8. The lane keeping control system according to claim 1, wherein the preset torque control factor adjustment setup by the torque control factor adjustment unit is at least one selected from replacement of at least one torque control factor with a different signal, isolation of at least one torque control factor, and adjustment of at least one torque control factor.

9. A vehicle control system comprising:

a vehicle camera installed on a vehicle and configured to collect lane data;

at least one vehicle sensor installed on the vehicle and configured to sense at least one piece of vehicle state information;

a fault detection device configured to generate a lane parameter from lane data collected from the vehicle camera, receive the vehicle state information from the vehicle sensor, analyze a time flow-related correlation between the vehicle parameter and the vehicle state information, generate an equivalent model of each, and determine whether erroneous detection of the lane data has occurred; and

an electronic power steering (EPS) configured to receive a steering torque signal from the fault detection device according to a situation of erroneous detection of a lane parameter for each error item of the fault detection device, reflect the steering torque signal on assist torque regarding a driver, and thereby control a steering device.

10. The vehicle control system according to claim 9, wherein the fault detection device comprises:

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, in which a difference occurs from the equivalent model generated by the equivalent model generation unit, for each of at least one error item; and

a torque control factor adjustment unit configured to adjust 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 it is determined by the erroneous detection determination unit that erroneous detection of a lane parameter has occurred.

11. A method for lane data fault detection for lane keeping assist, the method comprising:

generating 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 vehicle state information sensed or measured by each vehicle sensor or device installed on the vehicle;

analyzing a time flow-related correlation between the received vehicle parameter and the vehicle state information and generating an equivalent model of each;

determining and classifying 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 item; and

adjusting 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 it is determined as a result of the determining that erroneous detection of a lane parameter has occurred.

12. The method according to claim 11, wherein, in the generating a relative position, coefficients of a third-order equation expressing a relative position between a lane and a vehicle on a two-dimensional plane are generated as lane parameters.

13. The method according to claim 11, wherein the received vehicle state information is at least one selected from vehicle longitudinal velocity, vehicle longitudinal acceleration, vehicle yaw rate, steering angle, steering toque, and vehicle transverse acceleration.

14. The method according to claim 11, wherein, in the analyzing, an equivalent model is generated by calculating a time flow-related correlation between the vehicle parameter and the vehicle state information as an equivalent function from the received lane parameter and the vehicle state information.

15. The method according to claim 11, wherein, in the determining and classifying, it is determined that a situation of erroneous detection has occurred when a difference value in the generated equivalent model exceeds a preset threshold.

16. The method according to claim 15, wherein, in the determining and classifying, it is determined that a situation of erroneous detection has occurred when a difference value in the generated equivalent model exceeds a preset threshold for a preset period of time or longer.

17. The method according to claim 11, wherein the error item is at least one selected from a left lane position, a right lane position, a left lane heading angle, a right lane heading angle, a both lane heading angle, a left lane curvature, a right lane curvature, and a both lane curvature.

18. The method according to claim 11, wherein the preset torque control factor adjustment setup is at least one selected from replacement of at least one torque control factor with a different signal, isolation of at least one torque control factor, and adjustment of at least one torque control factor.

20. A computer-readable recording medium on which a program for executing a method according to claim 11 is recorded.

19. A vehicle control method comprising:

collecting lane data from a vehicle camera installed on a vehicle;

sensing at least one piece of vehicle state information from at least one vehicle sensor installed on the vehicle;

generating a lane parameter from the lane data collected from the vehicle camera;

receiving 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 of each;

determining whether erroneous detection of the lane data has occurred based on the generated equivalent model; and

generating a steering torque signal according to a situation of erroneous detection of a lane parameter for each error item based on the determining whether erroneous detection of the lane data has occurred and providing an EPS with the generated steering torque signal.