Lane maintaining auxiliary system for vehicles and method thereof

Abstract

The utility model discloses a lane maintaining auxiliary system which utilizes the lane image information and the chassis data (vehicle speed sensor and the yaw velocity sensor) to calculate the curvature radius of the path and predicts the advancing track of the vehicle by utilizing the path curvature radius calculation function that integrates the two mentioned signal application weighted values. The lane maintaining auxiliary system of the utility model comprises a left-and-right side curvature filter which utilizes the image information obtained from an image apparatus to figure out the curvature radius of the left side lane and the right side lane, a Chassis curvature filter which figures out the chassis curvature radius by utilizing the yaw velocity and the vehicle velocity obtained from the yaw velocity sensor and the vehicle speed sensor, and a curvature condition structure and weighted value structural portion used for figuring out the final curvature value by utilizing the left side and right side lane curvature radius and the chassis curvature radius obtained from the left-and-right side curvature filter and the chassis curvature filter and determining the curvature condition and weighted value conditional value based on the current moving state of the vehicles.

Description

technical field [0001] The invention relates to a vehicle lane keeping assist system and a method thereof, in particular to a lane keeping assist system and a lane keeping assist system capable of predicting the trajectory of the vehicle and not being affected by the vehicle running state or external hindering factors regardless of the vehicle's driving state or external obstructing factors method. Background technique [0002] Lane Keeping Assist System (LKAS: Lane Keeping Assistance System) is a technology that uses a camera to recognize a lane and automatically steer. It uses the image processing of the camera to measure the width of the lane, the lateral position of the vehicle on the lane, and the distance between the lanes on both sides. As well as the shape of the lane and the radius of curvature of the road, the vehicle is controlled by using the obtained vehicle position and road information. [0003] Korean Patent Publication No. 2009-0089079, No. 2010-0005362, No...

AI Technical Summary

Problems solved by technology

However, the radius of curvature of the road obtained from the vehicle speed sensor and the yaw rate sensor is that the steering angle changes greatly when the vehicle is driving on a curved road, so it cannot be applied to vehicle control.

Images