Method and apparatus for detecting anomaly in lane following assistance system
AssigneeHl Mando Corporation
InventorsManki Kim, Jaegyu Lee, Yonghyun Cho
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Abstract
A method and apparatus for detecting an anomaly in a lane following assistance system perform one or more operations including identifying, by an electronic apparatus, a first steering angle based on image data about the front of a running vehicle; identifying, by the electronic apparatus, a second steering angle based on sensing data obtained by a steering sensor provided in the vehicle; and performing, by the electronic apparatus, anomaly detection in a lane following assistance system using the first steering angle and the second steering angle.
Claims14
A method for detecting an anomaly in a lane following assistance system, comprising:
- identifying a first steering angle based on image data in front of a vehicle, the identifying of the first steering angle comprises at least:
- generating a steering control signal based on an analysis of the image data;
- controlling a steering of the vehicle using the steering control signal;
- and
- generating the first steering angle based on the steering control signal;
- identifying a second steering angle based on sensor data generated by a steering sensor of the vehicle;
- and
- detecting an anomaly in a lane following assistance system using the first steering angle, identified based on the image data in front of the vehicle, and the second steering angle, identified based on the sensor data generated by the steering sensor,
- wherein the detecting of the anomaly in the lane following assistance system comprises:
- determining that the vehicle is traveling on a straight road based on the image data in front of the vehicle;
- in response to determining that the vehicle is traveling on the straight road, calculating a root-mean-square error (RMSE) value using a residual between the first steering angle, identified based on the image data in front of the vehicle, and the second steering angle, identified based on the sensor data generated by the steering sensor;
- and
- determining that the anomaly has occurred in the lane following assistance system if the RMSE value exceeds a threshold and performing a control operation of the vehicle based on the determining that the anomaly has occurred.
An electronic apparatus for detecting an anomaly in a lane following assistance system, comprising:
- a camera configured to generate image data in front of a vehicle;
- and
- a controller configured to identify a first steering angle based on the image data generated by the camera, identify a second steering angle based on sensor data generated by a steering sensor of the vehicle, and detect an anomaly in a lane following assistance system by using the first steering angle, identified based on the image data in front of the vehicle, and the second steering angle, identified based on the sensor data generated by the steering sensor,
- wherein the identifying of the first steering angle comprises at least, by the controller:
- generating a steering control signal based on an analysis of the image data;
- controlling a steering of the vehicle using the steering control signal;
- and
- generating the first steering angle based on the steering control signal, and
- wherein the controller is further configured to:
- determine that the vehicle is traveling on a straight road based on the image data in front of the vehicle;
- in response to determining that the vehicle is traveling on the straight road, calculate a root-mean-square error (RMSE) value using a residual between the first steering angle, identified based on the image data in front of the vehicle, and the second steering angle, identified based on the sensor data generated by the steering sensor;
- and
- determine that the anomaly has occurred in the lane following assistance system if the RMSE value exceeds a threshold and perform a control operation of the vehicle based on the determining that the anomaly has occurred.
Dependencies are inferred from the claim text.