Lane keeping assist system and method

摘要

The present disclosure relates to a lane keeping assist system for controlling a vehicle on the basis of traveling information and road information of the vehicle when the vehicle begins to leave its lane in order to prevent the vehicle from deviating from its lane, which is a system for assisting the vehicle in keeping the lane by generating multiple target routes each being a path for the vehicle to travel without deviating from the lane, calculating a target yaw rate for each target route, and controls the vehicle according to a target steering angle calculated using the target yaw rate.

主权项

1. A lane keeping assist system, comprising:
a receiver outputting information about an vehicle and information about a road where the vehicle are traveling on the basis of information received from an image sensor and a vehicle sensor; a target route generator receiving the information output by the receiver and generating a target route of the vehicle; a target yaw rate calculator receiving the target route from the target route generator and calculating a target yaw rate of the vehicle; and a controller determining a time point for starting lane keeping assist control of the vehicle on the basis of the information output by the receiver, calculating a target steering angle using the target yaw rate received from the target yaw rate calculator, and controlling a steering device according to the target steering angle, wherein the target yaw rate calculator calculates a radius of curvature of the target route received from the target route generator and calculates the target yaw rate using the radius of curvature, wherein the target yaw rate calculator calculates the radius of curvature using a distance to any target position of the vehicle and a deviation angle between the vehicle and the road, and, wherein the target yaw rate calculator calculates the radius of curvature of the target route using the following equation:
R·cos(φ+α)=L/2 where R is a radius of curvature, φ is a deviation angle, α is an angle between a straight line to a target position and a straight line to a center of a circle having a road as an arc, and L is a distance to the target position; wherein the target route generator calculates the target route using a distance to any target position of the vehicle, the road curvature to the target position, and a lateral offset of the vehicle, and, wherein the target route generator calculates coordinate (xi, yi) on the target route for the vehicle to travel without deviating from the road to any target position, by the following equation:xi=L2-yi2,yi=ρi⁡(L2-ɛ12)2⁢(1-ρi⁢ɛi)-ɛiwhere L is any target distance, ρi is a road curvature, and e is a lateral offset of a vehicle.