| 摘要 |
An auto calibration method for correcting an error of an SAS(Steering Angle Sensor) for an LKAS(Lane Keeping Assist System) is provided to prevent auxiliary steering torque unnecessary for the LKAS by prohibiting the error angle of the SAS from being output, although a vehicle runs normally while a steering wheel is biased due to a wheel alignment error. An auto calibration method for correcting an error of an SAS for an LKAS comprises the steps of: checking pixel coordinates of the left and right lanes and the coordinates of vanishing points and determining that a vehicle runs straightly if the vanishing point is not changed and each x-intercept is constant; checking whether an output value of the SAS is constant within a predetermined range except zero degree or not; determining that an error is generated in wheel alignment of the vehicle, if the x-intercept for the left and right lanes is not changed and the output value of the steering angle is constant, but not zero degree; transmitting a CAN command from the LKAS to compensate an error value of the SAS; de-calibrating the SAS by transmitting de-calibration CAN ID(Identification) to the SAS in order to recognize the present steering angle as a zero point; and initializing the SAS by recognizing the present steering angle as a zero point by transmitting the de-calibration CAN ID to the SAS.
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