Apparatus and method for compensating for heading angle

Patent metadata

Field	Value
Publication number	US-11091143-B2
Application number	US-201916503151-A
Country	US
Kind code	B2
Filing date	Jul 3, 2019
Priority date	Jul 6, 2018
Publication date	Aug 17, 2021
Grant date	Aug 17, 2021

Abstract

Disclosed herein are an apparatus and method for compensating for a heading angle. The apparatus for compensating for a heading angle includes a compensation condition determination unit configured to determine whether a predetermined compensation condition is satisfied, to compensate for a heading angle of a camera, and a heading angle processing unit configured to compensate for the heading angle of the camera using a lane distance input from the camera, when it is determined by the compensation condition determination unit that the compensation condition is satisfied.

First claim

What is claimed is:

1. An apparatus for compensating for a heading angle, comprising:
a compensation condition determination unit configured to determine whether a predetermined compensation condition is satisfied, to compensate for a heading angle of a camera; and
a heading angle processing unit configured to compensate for the heading angle of the camera using a lane distance input from the camera when it is determined by the compensation condition determination unit that the predetermined compensation condition is satisfied,
wherein the heading angle processing unit comprises a heading angle offset processing unit that is configured to detect a heading angle offset using the heading angle of the camera and the lane distance therefrom, wherein the heading angle offset processing unit comprises:
a reference heading angle calculator configured to calculate a reference heading angle from the heading angle of the camera using the lane distance;
a difference value detector configured to detect difference values between the reference heading angle calculated by the reference heading angle calculator and the heading angle of the camera in chronological order; and
a heading angle offset detector configured to detect the heading angle offset by averaging the difference values, detected by the difference value detector, for each time zone.

2. The apparatus according to claim 1 , wherein the compensation condition determination unit is configured to determine whether a vehicle travels straight ahead.

3. The apparatus according to claim 2 , wherein the compensation condition determination unit is configured to determine whether the vehicle travels straight ahead, using at least one of a vehicle yaw rate, a vehicle speed, a lane curvature, a camera viewing area, a camera reliability, a lane type, and a lane width variation.

4. The apparatus according to claim 2 , wherein the compensation condition determination unit is configured to determine whether the vehicle travels straight ahead, using a steering angle of the vehicle.

5. The apparatus according to claim 2 , wherein the compensation condition determination unit is configured to detect a trajectory of the vehicle using a GPS signal and map information and determines whether the vehicle travels straight ahead, using the detected trajectory.

6. The apparatus according to claim 1 , wherein the compensation condition determination unit is configured to determine whether a lane is a straight lane.

7. The apparatus according to claim 6 , wherein the compensation condition determination unit is configured to determine whether the lane is the straight lane, using a curvature of the lane and a heading angle of the camera.

8. The apparatus according to claim 1 , wherein the heading angle processing unit comprises:
a heading angle compensating unit configured to compensate for the heading angle of the camera by subtracting the heading angle offset, detected by the heading angle offset processing unit, from the heading angle of the camera.

9. An apparatus for compensating for a heading angle, comprising:
a heading angle offset processing unit configured to detect a heading angle offset using a heading angle of a camera and a lane distance therefrom; and
a heading angle compensating unit configured to compensate for the heading angle of the camera using the heading angle of the camera and the heading angle offset detected by the heading angle offset processing unit
wherein the heading angle offset processing unit comprises:
a reference heading angle calculator configured to calculate a reference heading angle using the lane distance;
a difference value detector configured to detect difference values between the reference heading angle calculated by the reference heading angle calculator and the heading angle of the camera in chronological order; and
a heading angle offset detector configured to detect the heading angle offset by averaging the difference values, detected by the difference value detector, for each time zone.

10. The apparatus according to claim 9 , wherein the heading angle compensating unit is configured to compensate for the heading angle of the camera by subtracting the heading angle offset, detected by the heading angle offset processing unit, from the heading angle of the camera.

11. A method of compensating for a heading angle, comprising:
determining whether a predetermined compensation condition is satisfied, to compensate for a heading angle of a camera, by a compensation condition determination unit; and
compensating for the heading angle of the camera using a lane distance input from the camera, when it is determined by the compensation condition determination unit that the predetermined compensation condition is satisfied, by a heading angle processing unit,
wherein in the compensating for the heading angle of the camera, the heading angle processing unit detects a heading angle offset using the heading angle of the camera and the lane distance therefrom and compensates for the heading angle of the camera by subtracting the detected heading angle offset from the heading angle of the camera,
wherein in the compensating for the heading angle of the camera, the heading angle processing unit calculates a reference heading angle from the heading angle of the camera using the lane distance, detects difference values between the calculated reference heading angle and the heading angle of the camera in chronological order, and then detects the heading angle offset by averaging the detected difference values for each time zone.

12. The method according to claim 11 , wherein in the determining whether a predetermined compensation condition is satisfied, the compensation condition determination unit determines whether a vehicle travels straight ahead.

13. The method according to claim 12 , wherein in the determining whether a predetermined compensation condition is satisfied, the compensation condition determination unit determines whether the vehicle travels straight ahead, using at least one of a vehicle yaw rate, a vehicle speed, a lane curvature, a camera viewing area, a camera reliability, a lane type, and a lane width variation.

14. The method according to claim 12 , wherein in the determining whether a predetermined compensation condition is satisfied, the compensation condition determination unit determines whether the vehicle travels straight ahead, using a steering angle of the vehicle.

15. The method according to claim 12 , wherein in the determining whether a predetermined compensation condition is satisfied, the compensation condition determination unit detects a trajectory of the vehicle using a GPS signal and map information and determines whether the vehicle travels straight ahead, using the detected trajectory.

16. The method according to claim 11 , wherein:
in the determining whether a predetermined compensation condition is satisfied, the compensation condition determination unit determines whether a lane is a straight lane; and
in the determining whether a predetermined compensation condition is satisfied, the compensation condition determination unit determines whether the lane is the straight lane, using a curvature of the lane and a heading angle of the camera.

Assignees

• Hyundai Mobis Co Ltd

Inventors

• Ryu Kyung Jin
• Kim Nam Soo
• Oh Jun Hyeong

Classifications

• B60W20/12 Primary

  using control strategies taking into account route information {(estimation or calculation of non-directly measurable driving parameters B60W40/00)} · CPC title

• G06V20/56 Primary

  exterior to a vehicle by using sensors mounted on the vehicle · CPC title

• G06V10/242

  by image rotation, e.g. by 90 degrees · CPC title

• B60W2554/801

  Lateral distance · CPC title

• B60W40/06

  Road conditions · CPC title