Lane keeping assist system for vehicle and method thereof

Abstract

The present invention calculates the radius of curvature of the road through lane image information and chassis data of the vehicle, that is, a vehicle speed sensor and a yaw rate sensor, and uses a road curvature radius calculation function that fuses the two signals and applies a weighted value to predict the trajectory of the vehicle. The lane keeping assistance system of the present invention is composed of: left and right curvature filters, using the image information obtained from the image device to obtain the curvature radius of the left lane and the right lane; Chassis curvature filter, Utilize the yaw rate obtained from the yaw rate sensor and the vehicle speed sensor and the vehicle speed to obtain the radius of curvature of the Chassis; the curvature condition structure and the weighted value structure part use the curvature filters from the left and right sides and the curvature of the Chassis The curvature radii of the left and right lanes and the Chassis curvature radius obtained by the filter determine the curvature condition and the weighted value condition value according to the current vehicle action state, and obtain the final curvature value.

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.

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