Disclosed are a lane keeping control method and an apparatus thereof enabling lane keeping control. According to the present invention, the lane keeping control method comprises: a camera which acquires a front image in real time; a prediction unit for predicting road curve coefficients (c0, c1, c2, c3) by applying the front image to a previously learned road curve coefficient regression model unit; and a lateral controller for deriving a vehicle control input by applying it to a behavior model simulating vehicle behavior based on the predicted road curve coefficients (c0, c1, c2, c3).

    차선 유지 제어 방법 및 그 장치가 개시된다. 차선 유지 제어 장치는, 전방 영상을 실시간으로 획득하는 카메라; 상기 전방 영상을 기학습된 도로 곡선 계수 회귀 모델부에 적용하여 도로 곡선 계수(c0, c1, c2, c3)를 예측하는 예측부; 및 상기 예측된 도로 곡선 계수(c0, c1, c2, c3)를 기반으로 차량의 거동을 모사하는 거동 모델에 적용하여 차량의 제어 입력을 도출하는 횡방향 제어기를 포함한다.


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    Title :

    Lane keeping method and apparatus thereof


    Additional title:

    차선 유지 제어 방법 및 그 장치


    Contributors:

    Publication date :

    2021-03-04


    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 / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen



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