차량 센서 오프셋 보정 시스템 및 그 방법이 개시된다. 이 시스템 및 방법은 4개의 휠 속도 센서와 요율 센서 및 차량의 영상 카메라에서 나오는 헤딩 각 정보를 이용하여 차량의 직진 주행을 판단하며, 직진시 스티어링 각 센서로부터 획득되는 스티어링 각 오프셋으로 오프셋 값을 보상한다. 또한 요율과 스티어링 각 정보를 이용하여 차량이 곡선 도로 주행임을 판단하고, 이에 맞는 헤딩 각을 추정하여 헤딩 각 오프셋을 보상한다. 이에 따라 휠이 틀어진 경우나 곡선 도로 주행시에도 LKAS(Lane Keeping Assist System)용 차량 센서의 오프셋 보상이 가능해진다.
PURPOSE: A system and method for compensating a vehicle sensor offset are provided to compensate a sensor offset for a lane keeping assist system vehicle when the speed of each wheel of a vehicle is different and compensate the sensor offset for the lane keeping assist system vehicle when the vehicle is moving on a curved road. CONSTITUTION: A system for compensating a vehicle sensor offset comprises: wheel speed sensors(100, 200, 300, 400) which sense the speed of wheels; a yaw rate sensor(500) sensing the yaw rate of a vehicle; a steering angle sensor(600) which detects the steering angle of the vehicle; a video camera(700) which observes roads; a storage unit(800) where offset information such as an initial yaw rate, an initial steering angle offset, and an initial heading offset is stored; and a control unit(900). The control unit estimates a heading angle based on received images from the video camera if the vehicle is considered to be moving on a curved road based on the detected yaw rate and steering angle. The control unit renews the initial heading angle in the storage unit based on the estimated heading angle offset. [Reference numerals] (100) FL wheel speed sensors; (200) RL wheel speed sensors; (300) FR wheel speed sensors; (400) RR wheel speed sensors; (500) Yaw rate sensor; (600) Steering angle sensor; (700) Video camera; (800) Offset storage unit; (900) Control unit
System and method for compensating vehicle sensor's offset
차량 센서 오프셋 보정 시스템 및 그 방법
2019-08-01
Patent
Electronic Resource
Korean
IPC: | B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR |
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