The present invention discloses a system and method for lane keeping assistance wherein lane departure prevention can be supported in consideration of the rear end of a vehicle. The system for lane keeping assistance in accordance with an aspect of the present invention comprises: an image sensor for photographing the front of a vehicle and transmitting a front image; a first calculation unit for checking the left and right positional errors e11 and e12 of the front part of the vehicle, the curvature γ1 of a lane and a posture angle ψ1 formed with the lane from the front image, and calculating a first value, which is the steering torque control value of the front part of the vehicle, using e11, e12, γ1, ψ1 and the velocity of the vehicle; and a second calculation unit for checking the left and right position errors e21, e22 of the rear part of the vehicle and the curvature γ2 of the lane from the front image, and calculating a second value, which is the steering torque control value of the rear part of the vehicle, using e21, e22, γ2, ψ1 and the vehicle's speed.

    본 발명은 차선 유지보조 시스템 및 방법에 대하여 개시한다. 본 발명의 일면에 따른 차선 유지보조 시스템은, 차량 전방을 촬영하여 전방 영상을 전달하는 영상 센서; 상기 전방 영상으로부터 차량 전반부의 좌우 위치오차 e11, e12, 차선의 곡률 γ1 및 상기 차선과 이루는 자세 각 ψ1을 확인하고, 상기 e11, 상기 e12, 상기 γ1, 상기 ψ1과 차량속도를 이용하여 상기 차량 전반부의 조향 토크 제어값인 제1값을 계산하는 제1 연산부; 및 상기 전방 영상으로부터 차량 후반부의 좌우 위치오차 e21, e22 및 차선의 곡률 γ2를 확인하고, 상기 e21, 상기 e22, 상기 γ2, 상기 ψ1과 상기 차량속도를 이용하여 상기 차량 후반부의 조향 토크 제어값인 제2값을 계산하는 제2 연산부를 포함하는 것을 특징으로 한다.


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    Title :

    System and Method for Lane Keep Asistance


    Additional title:

    차선 유지보조 시스템 및 방법


    Contributors:

    Publication date :

    2021-07-09


    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 / B62D MOTOR VEHICLES , Motorfahrzeuge



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