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US 12,291,202 B2Granted
Lane keeping controller, vehicle system including the same, and method thereof
AssigneesHyundai Motor Company, Kia Corporation
InventorUn Tae Baek
Life of this patent
Estimating the term…
Abstract
A lane keeping controller, a vehicle system including the same, and a method thereof are provided. The lane keeping controller includes a processor that monitors a risk level of a vehicle in real time, upon a lane keeping control, calculates a target lateral movement distance based on a line component, integrates an offset from a predetermined offset threshold to the vehicle, when an offset between a target route and the vehicle departs from the predetermined offset threshold, and corrects the target lateral movement distance based on the integrated value to calculate a final target lateral movement distance and a storage storing data and an algorithm run by the processor.
Claims13
A lane keeping controller, comprising:
- a processor configured to monitor a risk level of a vehicle in real time, upon a lane keeping control, calculate a target lateral movement distance based on a line component, integrate over time an offset from a predetermined offset threshold to the vehicle to obtain an integrated value when an offset between a target route and the vehicle departs from the predetermined offset threshold, correct the target lateral movement distance based on the integrated value to calculate a final target lateral movement distance, and perform the lane keeping control based on the final target lateral movement distance;
- and
- a storage storing data and an algorithm run by the processor,
- wherein the processor is further configured to:
- determine whether a driving situation of the vehicle meets a risk level 1 condition using a vehicle speed, a curvature, and a lateral acceleration,
- determine whether the driving situation meets a risk level 2 condition using the offset between the target route and the vehicle, when the driving situation meets the risk level 1 condition, and
- add the integrated value to the target lateral movement distance, when the driving situation meets both the risk level 1 condition and the risk level 2 condition.
4 more elements
A vehicle system, comprising:
- a sensing device configured to sense vehicle information;
- and
- a lane keeping controller configured to monitor a risk level of a vehicle in real time based on the vehicle information, upon a lane keeping control, calculate a target lateral movement distance based on a line component, integrate over time an offset from a predetermined offset threshold to the vehicle to obtain an integrated value when an offset between a target route and the vehicle departs from the predetermined offset threshold, correct the target lateral movement distance based on the integrated value to calculate a final target lateral movement distance, and performing the lane keeping control based on the final target lateral movement distance,
- wherein the lane keeping controller is further configured to:
- determine whether a driving situation of the vehicle meets a risk level 1 condition using a vehicle speed, a curvature, and a lateral acceleration and determines whether the driving situation meets a risk level 2 condition using the offset between the target route and the vehicle, when the driving situation meets the risk level 1 condition, and
- add the integrated value to the target lateral movement distance, when the driving situation meets both the risk level 1 condition and the risk level 2 condition.
3 more elements
A lane keeping control method, comprising:
- monitoring a risk level of a vehicle in real time, upon a lane keeping control;
- calculating a target lateral movement distance based on a line component and integrating over time an offset from a predetermined offset threshold to the vehicle to obtain an integrated value when an offset between a target route and the vehicle departs from the predetermined offset threshold;
- correcting the target lateral movement distance using the integrated value to calculate a final target lateral movement distance;
- and
- performing the lane keeping control based on the final target lateral movement distance,
- wherein the monitoring of the risk level of the vehicle in real time includes:
- determining when a driving situation of the vehicle meets a risk level 1 condition using a vehicle speed, a curvature, and a lateral acceleration;
- and
- determining when the driving situation meets a risk level 2 condition using the offset between the target route and the vehicle, when the driving situation meets the risk level 1 condition, and
- wherein the calculating of the final target lateral movement distance includes:
- adding the integrated value to the target lateral movement distance, when the driving situation meets both the risk level 1 condition and the risk level 2 condition.
8 more elements
Dependencies are inferred from the claim text.