Lane keeping apparatus and method thereof
View Patent ↗The prevent disclosure relates to a lane keeping control apparatus and a method thereof. An exemplary embodiment provides a lane keeping control apparatus including a processor configured to calculate a steering angle control amount for following a target path for lane keeping control while driving a vehicle, and to adjust the steering angle control amount depending on a change directionality of a target path error that is an error between the target path and the vehicle, and a storage configured to store data and algorithms driven by the processor.
1. A lane keeping control apparatus comprising:
a processor configured to calculate a steering angle control amount for following a target path for lane keeping control while driving a vehicle, and to adjust the steering angle control amount depending on a change directionality of a target path error that is an error between the target path and the vehicle; and
a storage configured to store data and algorithms driven by the processor.
2. The lane keeping control apparatus of claim 1 , wherein the processor calculates an error slope by using a forward gaze distance of the vehicle and the target path error.
3. The lane keeping control apparatus of claim 2 , wherein the processor determines the change directionality of the target path error depending on a product of signs of the error slope and the target path error.
4. The lane keeping control apparatus of claim 2 , wherein the processor determines that the target path error decreases when a product of signs of the error slope and the target path error is negative.
5. The lane keeping control apparatus of claim 2 , wherein the processor
determines that the target path error increases when a product of signs of the error slope and the target path error is positive.
6. The lane keeping control apparatus of claim 1 , wherein the processor
decreases the steering angle control amount when the change directionality of the target path error decreases.
7. The lane keeping control apparatus of claim 6 , wherein the processor
decreases the steering angle control amount by using a low-pass filter.
8. The lane keeping control apparatus of claim 6 , wherein the processor
decreases the steering angle control amount by using a steering angle control amount table depending on road curvature.
9. The lane keeping control apparatus of claim 1 , wherein the processor
maintains the steering angle control amount when the change directionality of the target path error increases.
10. A lane keeping control method comprising:
calculating, by a processor, a steering angle control amount for following a target path for lane keeping control while driving a vehicle;
determining a change directionality of a target path error that is an error between the target path and the vehicle; and
adjusting the steering angle control amount depending on the change directionality of the target path error.
11. The lane keeping control method of claim 10 , wherein the calculating of the steering angle control amount includes calculating the steering angle control amount by using the target path error such that the vehicle follows the target path.
12. The lane keeping control method of claim 10 , wherein the determining the change directionality of the target path error includes calculating an error slope by using a forward gaze distance of the vehicle and the target path error.
13. The lane keeping control method of claim 12 , wherein the determining the change directionality of the target path error further includes determining the change directionality of the target path error depending on a product of signs of the error slope and the target path error.
14. The lane keeping control method of claim 12 , wherein the determining the change directionality of the target path error further includes determining that the target path error decreases when a product of signs of the error slope and the target path error is negative.
15. The lane keeping control method of claim 12 , wherein the determining the change directionality of the target path error further includes determining that the target path error increases when a product of signs of the error slope and the target path error is positive.
16. The lane keeping control method of claim 10 , wherein the adjusting of the steering angle control amount includes decreasing the steering angle control amount when the change directionality of the target path error decreases.
17. The lane keeping control method of claim 16 , wherein the decreasing of the steering angle control amount includes decreasing the steering angle control amount by using a low-pass filter.
18. The lane keeping control method of claim 16 , wherein the decreasing of the steering angle control amount includes decreasing the steering angle control amount by using a steering angle control amount table depending on road curvature.
19. The lane keeping control method of claim 10 , wherein the adjusting of the steering angle control amount includes maintaining the steering angle control amount when the change directionality of the target path error increases.