Driving assistance apparatus in view of lane curvature determination and method of controlling the same
AssigneeHl Klemove Corp.
InventorYonghwan Kim
Life of this patent
Estimating the term…
Abstract
A driving assistance apparatus includes one or more sensing devices installed on a vehicle and configured to acquire detection data with an outward field of sensing view from the vehicle, and a processor electrically or communicatively connected to the one or more sensing devices, wherein the processor acquires current curvature information about a traveling lane of the vehicle based on output data of the one or more sensing devices, and verifies validity of the current curvature information about the traveling lane based on a comparison between the current curvature information about the traveling lane and previous curvature information about the traveling lane.
Claims15
A driving assistance apparatus comprising:
- one or more sensors configured to sense at least a portion of an environment of a vehicle;
- and
- a processor connected to the one or more sensors,
- wherein the processor is configured to:
- acquire information about a current curvature of a traveling lane, on which the vehicle is currently traveling, based on sensor data of the one or more sensors;
- verify validity of the information about the current curvature of the traveling lane by comparing the information about the current curvature of the traveling lane and information about a previous curvature of the traveling lane on which the vehicle previously traveled, during execution of a lane keeping assist function of the vehicle;
- and
- control the vehicle based on a result of verification of the information about the current curvature,
- wherein the processor is configured to:
- when the information about the current curvature of the traveling lane is verified to be valid, output one or more signals for controlling the lane keeping assist function to a steering device of the vehicle based on the information about the current curvature of the traveling lane;
- and
- when the information about the current curvature of the traveling lane is determined to be invalid, selectively control the vehicle to output one or more signals for controlling the steering device based on information about a current curvature of an opposite traffic lane traveling in an opposite direction to the traveling lane of the vehicle, or stop execution of the lane keeping assist function.
A method of controlling a driving assistance apparatus, the method comprising:
- acquiring information about a current curvature of a traveling lane, on which a vehicle is currently traveling, based on sensor data of one or more sensors of the vehicle;
- verifying validity of the information about the current curvature of the traveling lane by comparing the information about the current curvature of the traveling lane and information about a previous curvature of the traveling lane on which the vehicle previously traveled, during execution of a lane keeping assist function of the vehicle;
- and
- controlling the vehicle based on a result of verification of the information about the current curvature,
- wherein controlling of the vehicle includes
- when the information about the current curvature of the traveling lane is verified to be valid, outputting one or more signals for controlling the lane keeping assist function to a steering device of the vehicle based on the information about the current curvature of the traveling lane,
- when the information about the current curvature of the traveling lane is determined to be invalid, selectively controlling the vehicle to output one or more signals for controlling the steering device based on information about a current curvature of an opposite traffic lane traveling in an opposite direction to the traveling lane of the vehicle, or stopping execution of the lane keeping assist function.
Dependencies are inferred from the claim text.