System for road slope compensation using camera information and method thereof
AssigneeHyundai Mobis Co., Ltd.
InventorKwang Il Choi
Life of this patent
Estimating the term…
Abstract
The inventive concepts determines a threshold road slope based on camera information and lateral acceleration of a vehicle, estimates the road slope, compensates the estimated road slope to an ADAS driving convenience system, and thus prevents the vehicle from being inclined to the road slope in a section where a threshold road slope is present, thereby securing the driving stability of the vehicle by driving the vehicle in the middle of the lane on a road having the threshold road slope.
Claims17
A road slope compensation system using camera information, the system comprising:
- a camera module configured to capture and obtain a front image of a vehicle;
- a vehicle sensor device configured to sense and obtain state information of the vehicle;
- a compensation calculation device configured to calculate a compensation yaw rate, using a sensor signal delivered from the vehicle sensor device and a heading error by the front image delivered from the camera module, when the vehicle is driving on a road having a threshold road slope;
- and
- a correction controller configured to:
- calculate a final yaw rate by applying a compensation yaw rate delivered from the compensation calculation device, to a target yaw rate calculated by using the sensor signal, a line curvature yaw rate by the front image, and a current heading;
- and
- calculate a final steering torque by the final yaw rate to control a steering device,
- wherein the correction controller controls a steering device after calculating the final steering torque by using the compensation yaw rate to compensate for a performance difference between left tracking and right tracking of the vehicle, which is caused by the threshold road slope.
A road slope compensation method using camera information, the method comprising:
- calculating a compensation yaw rate, using a sensor signal delivered from a vehicle sensor device sensing and obtaining state information of a vehicle, and a heading error by a front image delivered from the camera module capturing and obtaining the front image of the vehicle, when the vehicle is driving on a road having a threshold road slope;
- and
- calculating, by a correction controller, a final yaw rate by applying a compensation yaw rate delivered from the compensation calculation device, to a target yaw rate calculated by using the sensor signal, a line curvature yaw rate by the front image, and a current heading, and calculating a final steering torque by the final yaw rate to control a steering device,
- wherein the controlling of the steering device includes:
- controlling, by the correction controller, the steering device after calculating a final steering torque by using the compensation yaw rate to compensate for a performance difference between left tracking and right tracking of the vehicle, which is caused by the threshold road slope.
Dependencies are inferred from the claim text.