Control system to prevent lane deviation of vehicle and control method thereof

• US 6,628,210 B2
• Filed: 12/31/2001
• Issued: 09/30/2003
• Est. Priority Date: 06/20/2001
• Status: Expired due to Fees

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Lee, Young-Seop
• Primary Examiner(s): Wu, Daniel J.
• Assistant Examiner(s): Previl, Daniel
• Application Number:
  US10/029,935
• Publication Number:
  US 20020198643A1
• Time in Patent Office: 638 Days
• Field of Search: 340/988, 340/435, 340/436, 340/439, 340/937, 340/939, 340/901, 701/41, 701/44, 701/65, 701/28, 701/301, 348/135, 348/148, 348/149, 180/167, 180/168, 180/169
• US Class Current: 340/988
• CPC Class Codes: B60T 2201/08 Lane monitoring; Lane Keeping Systems
• CPC Class Codes: B60T 2201/089 using optical detection
• CPC Class Codes: B62D 15/029 Steering assistants using warnings or proposing actions to the driver without influencing the steering system

Abstract

A method for preventing a vehicle from deviating from a lane is provided, in which precise determinations of whether a vehicle is deviating from a lane may also be made when driving on curved sections of a road. Using DSRC, which is a system enabling communications between a vehicle and roadside equipment, information of road curvature and lane width is received. This road information and setting information of a camera mounted to the vehicle are then used to determine a lane deviation determination standard angle, which is used in curved sections of the road. A difference between the standard angle and a center value of left and right lane marker angles is compared with a critical value to determine whether the vehicle is deviating from the lane.

Claims

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

determining a lane deviation determination standard angle;

determining a center value of a left lane marker slant angle and a right lane marker slant angle;

calculating an absolute value of a difference obtained by subtracting the lane deviation determination standard angle from the center value of the left and right lane marker slant angles, and determining if the absolute value of the difference is greater than a predetermined critical value; and

determining that the vehicle is deviating from the lane if the absolute value of the difference is greater than the predetermined critical value.

2. The method of claim 1, wherein the lane deviation determination standard angle is determined on the basis of road information and camera information.

3. The method of claim 2, wherein the road information includes a road curvature and a lane width.

4. The method of claim 2, wherein the camera information includes a position of a camera and a photographing angle of the camera.

5. The method of claim 1, wherein the center value determining step comprises:

extracting edges of images of a left lane marker and a right lane marker from images obtained by a camera mounted to the vehicle;

determining slant angles of the left lane marker and the right lane marker by acquiring centers of the images of the left lane marker and the right lane marker; and

determining the center value of the left and right lane marker slant angles.

6. The method of claim 1, wherein the predetermined critical value is determined based on a lane width.

7. The method of claim 1, further comprising outputting a lane deviation warning if it is determined that the vehicle is deviating from the lane.

8. A system for preventing lane deviation of a vehicle

a camera for photographing an area in front of the vehicle;

roadside equipment having data on a road curvature and a lane width;

onboard equipment for determining a lane deviation determination standard angle using data on the road curvature and the lane width input from the roadside equipment and data on a position of the camera and a photographing angle of the camera; and

a lane deviation warning system ECU for determining whether the vehicle is deviating from the lane using the lane deviation determination standard angle and images photographed by the camera, the lane deviation warning system ECU performing determining a lane deviation determination standard angle, determining a center value of a left lane marker slant angle and a right lane marker slant angle, calculating an absolute value of a difference obtained by subtracting the lane deviation determination standard angle from the center value of the left and right lane marker slant angles, and determining if the absolute value of the difference is greater than a predetermined critical value, and determining that the vehicle is deviating from the lane if the absolute value of the difference is greater than the predetermined critical value.

9. The system of claim 8, wherein the lane deviation determination standard angle is determined by the lane deviation warning system ECU on the basis of road information and camera information.

10. The system of claim 9, wherein the road information includes a road curvature and a lane width.

11. The system of claim 10, wherein the camera information includes a position of a camera and a photographing angle of the camera.

12. The system of claim 8, wherein the center value determining step performed by the lane deviation warning system ECU comprises:

extracting edges of images of a left lane marker and a right lane marker from images obtained by a camera mounted to the vehicle;

determining slant angles of the left lane marker and the right lane marker by acquiring centers of the images of the left lane marker and the right lane marker; and

determining the center value of the left and right lane marker slant angles.

13. The system of claim 8, wherein the predetermined critical value is determined based on a lane width.

14. The system of claim 8, further comprising the lane deviation warning system ECU outputting a lane deviation warning if it is determined that the vehicle is deviating from the lane.