본 발명은 전방 카메라로부터 얻은 정보, 차량에 장착된 센서들로부터 얻은 정보 및 내비게이션으로부터 얻은 정보를 이용하여 차량의 차선 유지를 지원하는 차선 유지 제어 장치 및 방법을 제안한다. 본 발명에 따른 차선 유지 제어 장치는 전방 카메라로부터 얻은 정보와 내비게이션으로부터 얻은 정보를 이용하여 이후 진입할 곡선 도로의 곡률을 산출하는 도로 곡률 계산부; 곡률을 기초로 곡선 도로 상에서의 센터 오프셋을 산출하는 센터 오프셋 계산부; 센터 오프셋을 기초로 곡선 도로에서의 목표 궤적을 산출하는 목표 궤적 계산부; 및 목표 궤적을 기초로 목표 조향 토크를 산출하는 목표 조향 토크 산출부를 포함한다.

    The invention provides a driveway maintenance control device and a driveway maintenance control method. Through use of lane information obtained from a front camera, information obtained from a sensor mounted on a vehicle and information obtained from a car navigator, driveway maintenance of vehicles can be supported. The driveway maintenance control device is characterized by comprising a road curvature computing part, and the curvature of a curve road ahead of the vehicle can be computed through use of the information obtained from the front camera and information obtained from the car navigator; the driveway maintenance control device also comprises a center deviation computing part, a target trajectory computing part and a target steering torque computing part; the center deviation computing part is used for computing center deviation of the curve road on the basis of the curvature, the target trajectory computing part is used for computing a target trajectory of the curve road on the basis of the center deviation, and the target steering torque computing part is used for computing object steering torque on the basis of the target trajectory.


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    Title :

    Apparatus and method for controlling lane keeping


    Additional title:

    차선 유지 제어 장치 및 방법


    Publication date :

    2020-03-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    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



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