| 摘要 |
A lane keeping assist system, including: a first calculation unit which calculates left and right position errors of a front portion of the vehicle, a curvature of a lane of the front portion, and a head angle formed based on the lane from a front image of the vehicle captured by an image sensor, and calculates a target yaw rate using the left and right position errors, the curvature of the lane, and the head angle formed based on the lane which are calculated; a second calculation unit which calculates a steering torque control value for driving the calculated target yaw rate using vehicle condition information including front and rear yaw rates of the vehicle sensed by a yaw rate sensor, and a steering angle and a speed of the vehicle; and a steering driving unit which controls steering of the vehicle for keeping a lane. |
| 主权项 |
1. A lane keeping assist system (LKAS), comprising:
an image sensor configured to capture a front of a vehicle, and obtain a front image of the vehicle; a first calculation unit configured to calculate left and right position errors of a front portion of the vehicle, a curvature of a lane of the front portion of the vehicle, and a head angle formed based on the lane from the front image of the vehicle, and calculate a steering torque control value of the front portion of the vehicle using the left and right position errors of the front portion of the vehicle, the curvature of the lane of the front portion of the vehicle, the head angle formed based on the lane, which are calculated, and a vehicle speed; a second calculation unit configured to calculate left and right position errors of a rear portion of the vehicle, and a curvature of a lane of the rear portion of the vehicle, and calculate a steering torque control value of the rear portion of the vehicle using the left and right position errors of the rear portion of the vehicle, the curvature of the lane of the rear portion of the vehicle, the head angle formed based on the lane, which are calculated, and the vehicle speed; and a steering driving unit configured to determine a final steering torque control value of the vehicle using the steering torque control value of the front portion of the vehicle and the steering torque control value of the rear portion of the vehicle which are calculated, and control steering of the vehicle for lane keeping using the final steering torque control value. |
