System, method, and computer-readable recording medium for lane keeping control

Patent metadata

Field	Value
Publication number	US-9469343-B2
Application number	US-201414168577-A
Country	US
Kind code	B2
Filing date	Jan 30, 2014
Priority date	Feb 7, 2013
Publication date	Oct 18, 2016
Grant date	Oct 18, 2016

Abstract

A lane keeping control system includes: a lane parameter generation unit configured to generate a relative position between a lane and a vehicle as a lane parameter based on information received from a camera installed on the vehicle; a vehicle state information reception unit configured to receive vehicle state information sensed or measured by each vehicle sensor or device installed on the vehicle; an equivalent model generation unit configured to receive the lane parameter from the lane parameter generation unit, receive the vehicle state information from the vehicle state information reception unit, analyze a time flow-related correlation between the vehicle parameter and the vehicle state information, and generate an equivalent model of each; an erroneous detection determination unit configured to determine and classify a situation of erroneous detection of a lane parameter by simultaneously analyzing a case.

First claim

What is claimed is:

1. A lane keeping control system, comprising:
a fault detection device including:
a lane parameter generation unit that generates a relative position between a lane and a vehicle as a lane parameter, based on information received from a camera installed on the vehicle;
a vehicle state information reception unit that receives vehicle state information sensed or measured by each vehicle sensor or device installed on the vehicle;
an equivalent model generation unit that
receives the lane parameter from the lane parameter generation unit,
receives the vehicle state information from the vehicle state information reception unit,
analyzes a time flow-related correlation between the vehicle parameter and the vehicle state information, and
generates an equivalent model based on the analyzed time flow-related correlation;

an erroneous detection determination unit that determines and classifies an erroneous detection of a lane parameter by simultaneously analyzing a case, in which a difference occurs from the equivalent model generated by the equivalent model generation unit, for each of at least one error; and
a torque control factor adjustment unit that adjusts a torque control factor according to a preset torque control factor adjustment setup so as to suppress or reduce the influence of erroneous torque when the erroneous detection determination unit determines the erroneous detection.

2. The lane keeping control system according to claim 1 , wherein the lane parameter generation unit generates lane parameters, wherein the lane parameters include coefficients of a third-order equation expressing a relative position between the lane and the vehicle on a two-dimensional plane.

3. The lane keeping control system according to claim 1 , wherein the vehicle state information received by the vehicle state information reception unit comprises at least one selected from vehicle longitudinal velocity, vehicle longitudinal acceleration, vehicle yaw rate, steering angle, steering toque, and vehicle transverse acceleration.

4. The lane keeping control system according to claim 1 , wherein the equivalent model generation unit generates an equivalent model by calculating the time flow-related correlation between the vehicle parameter and the vehicle state information as an equivalent function from the received lane parameter and the vehicle state information.

5. The lane keeping control system according to claim 1 , wherein the erroneous detection determination unit to determines the erroneous detection when a difference value in the equivalent model generated by the equivalent model generation unit exceeds a preset threshold.

6. The lane keeping control system according to claim 5 , wherein the erroneous detection determination unit determines the erroneous detection when a difference value in the equivalent model generated by the equivalent model generation unit exceeds a preset threshold for a preset period of time.

7. The lane keeping control system according to claim 1 , wherein the error comprises at least one selected from a left lane position error, a right lane position error, a left lane heading angle error, a right lane heading angle error, a both lane heading angle error, a left lane curvature error, a right lane curvature error, and a both lane curvature error.

8. The lane keeping control system according to claim 1 , wherein the preset torque control factor adjustment setup by the torque control factor adjustment unit comprises at least one selected from replacement of at least one torque control factor with a different signal, isolation of at least one torque control factor, and adjustment of at least one torque control factor.

9. A vehicle control system comprising:
a vehicle camera that is installed on a vehicle and that collects lane data;
at least one vehicle sensor that is installed on the vehicle and that senses at least one piece of vehicle state information;
a fault detection device that
generates a lane parameter from lane data collected from the vehicle camera,
receives the vehicle state information from the vehicle sensor,
analyzes a time flow-related correlation between the vehicle parameter and the vehicle state information,
generates an equivalent model based on the analyzed time flow-related correlation, and
determines whether an erroneous detection of the lane data is occurred; and

an electronic power steering (EPS) that receives a steering torque signal from the fault detection device according to a situation of erroneous detection of a lane parameter for each error of the fault detection device, reflects the steering torque signal on assist torque regarding a driver of the vehicle, and thereby controls a steering device.

10. The vehicle control system according to claim 9 , wherein the fault detection device comprises:
a lane parameter generation unit that generates a relative position between a lane and a vehicle as a lane parameter based on information received from a camera installed on the vehicle;
a vehicle state information reception unit that receives vehicle state information sensed or measured by each vehicle sensor or device installed on the vehicle;
an equivalent model generation unit that
receives the lane parameter from the lane parameter generation unit,
receives the vehicle state information from the vehicle state information reception unit,
analyzes a time flow-related correlation between the vehicle parameter and the vehicle state information, and
generates an equivalent model;

an erroneous detection determination unit that determines and classifies an erroneous detection of a lane parameter by simultaneously analyzing a case, in which a difference occurs from the equivalent model generated by the equivalent model generation unit, for each of at least one error; and
a torque control factor adjustment unit that adjusts a torque control factor according to a preset torque control factor adjustment setup so as to suppress or reduce the influence of erroneous torque when the erroneous detection determination unit determines the erroneous detection.

11. A method for lane data fault detection for lane keeping assist, the method performed by a fault detection device including a lane parameter generation unit, a vehicle state information reception unit, an equivalent model generation unit, an erroneous detection determination unit, and a torque control factor adjustment unit, the method comprising:
generating, by the lane parameter generation unit, a relative position between a lane and a vehicle as a lane parameter based on information received from a camera installed on the vehicle;
receiving, by the vehicle state information reception unit, vehicle state information sensed or measured by each vehicle sensor or device installed on the vehicle;
analyzing, by the equivalent model generation unit, a time flow-related correlation between the received vehicle parameter and the vehicle state information and generating an equivalent model based on the analyzed time flow-related correlation;
determining and classifying, by the erroneous detection determination unit, a situation of erroneous detection of a lane parameter by simultaneously analyzing a case, in which a difference occurs in the generated equivalent model for each of at least one error; and
adjusting, by the torque control factor adjustment unit, a torque control factor according to a preset torque control factor adjustment setup so as to suppress or reduce the influence of erroneous torque when the erroneous detection is determined as a result of the determining.

12. The method according to claim 11 , wherein, in the generating a relative po

Assignees

• Mando Corp

Inventors

• Kim Soon Tae

Classifications

• G05D1/0246

  using a video camera in combination with image processing means · CPC title

• B62D15/025 Primary

  Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence) · CPC title

• G06K9/00798

  Physics · mapped topic

• G06V20/588

  Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road · CPC title

• B60Y2300/12

  Lane keeping · CPC title