Apparatus and method for compensating for heading angle

Patent metadata

Field	Value
Publication number	US-11721109-B2
Application number	US-202117375355-A
Country	US
Kind code	B2
Filing date	Jul 14, 2021
Priority date	Jul 6, 2018
Publication date	Aug 8, 2023
Grant date	Aug 8, 2023

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 camera; and
one or more processors configured to determine whether a predetermined compensation condition is satisfied, to compensate for a heading angle of the camera; and
compensate for the heading angle of the camera using a lane distance input from the camera when it is determined that the compensation condition is satisfied,
wherein the one or more processors calculate a reference heading angle based on the lane distance and the heading angle of the camera, and calculate a heading angle offset based on a difference value between the reference heading angle and the heading angle of the camera.

2. The apparatus according to claim 1 , wherein the one or more processors are further configured to, when compensating for the heading angle of the camera, determine whether a vehicle travels straight ahead, or whether a lane is a straight lane.

3. The apparatus according to claim 2 , wherein, when compensating for the heading angle of the camera, the one or more processors are further 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, when compensating for the heading angle of the camera, the one or more processors are further configured to determine whether the vehicle travels straight ahead, using a steering angle of the vehicle.

5. The apparatus according to claim 2 , wherein, when compensating for the heading angle of the camera, the one or more processors are further configured to detect a trajectory of the vehicle using a global positioning system (GPS) signal and map information and determine whether the vehicle travels straight ahead, using the detected trajectory.

6. The apparatus according to claim 2 , wherein, when compensating for the heading angle of the camera, the one or more processors are further configured to determine whether the lane is the straight lane, using a curvature of the lane and a heading angle of the camera.

7. The apparatus according to claim 1 , wherein, when compensating for the heading angle of the camera, the one or more processors are configured to:
calculate difference values between the reference heading angle and the heading angle of the camera in chronological order; and
calculate the heading angle offset by averaging the difference values, calculated by the difference value detector, for each time zone.

8. The apparatus according to claim 1 , wherein the one or more processors are further configured to compensate for the heading angle of the camera by subtracting the heading angle offset from the heading angle of the camera.

9. An apparatus for compensating for a heading angle, comprising:
a camera; and
one or more processors configured to calculate a heading angle offset using a heading angle of the camera and a lane distance therefrom; and
compensate for the heading angle of the camera using the heading angle of the camera and the heading angle offset,
wherein the one or more processors calculate a reference heading angle based on the lane distance and the heading angle of the camera, and calculate the heading angle offset based on a difference value between the reference heading angle and the heading angle of the camera.

10. The apparatus according to claim 9 , wherein the one or more processors are further configured to compensate for the heading angle of the camera by subtracting the heading angle offset from the heading angle of the camera.

11. The apparatus according to claim 9 , wherein, when compensating for the heading angle of the camera, the one or more processors are configured to:
calculate difference values between the reference heading angle and the heading angle of the camera in chronological order; and
calculate the heading angle offset by averaging the difference values for each time zone.

12. 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; and
compensating for the heading angle of the camera using a lane distance input from the camera, when it is determined by that the compensation condition is satisfied,
wherein compensating for the heading angle comprises calculating a reference heading angle based on the lane distance and the heading angle of the camera, and calculating a heading angle offset based on a difference value between the reference heading angle and the heading angle of the camera.

13. The method according to claim 12 , wherein determining whether a predetermined compensation condition is satisfied further comprises determining whether a vehicle travels straight ahead, or determining whether a lane is a straight lane.

14. The method according to claim 13 , wherein determining whether a predetermined compensation condition is satisfied further comprises determining 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.

15. The method according to claim 13 , wherein determining whether a predetermined compensation condition is satisfied further comprises determining whether the vehicle travels straight ahead, using a steering angle of the vehicle.

16. The method according to claim 13 , wherein determining whether a predetermined compensation condition is satisfied further comprises detecting a trajectory of the vehicle using a GPS signal and map information and determines whether the vehicle travels straight ahead, using the detected trajectory.

17. The method according to claim 13 , wherein determining whether a predetermined compensation condition is satisfied further comprises determining whether the lane is the straight lane, using a curvature of the lane and a heading angle of the camera.

18. The method according to claim 12 , wherein compensating for the heading angle of the camera further comprises calculating difference values between the reference heading angle and the heading angle of the camera in chronological order, and calculating the heading angle offset by averaging the difference values for each time zone.

19. The method according to claim 18 , wherein compensating for the heading angle of the camera further comprises compensating for the heading angle of the camera by subtracting the heading angle offset from the heading angle of the camera.

Assignees

• Hyundai Mobis Co Ltd

Inventors

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

Classifications

• B60W30/12 Primary

  Lane keeping · CPC title

• B60W2420/403

  Image sensing, e.g. optical camera · CPC title

• G06V20/56 Primary

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

• B60W20/12

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

• B60W40/06

  Road conditions · CPC title