The present invention relates to an apparatus and a method for lane keeping control, capable of controlling the lateral motion of a vehicle by using a dynamic lateral motion model and a kinematic lateral motion model. The lane keeping control device includes: a creation unit for creating a dynamic lateral motion model (hereinafter referred to as a dynamic model) and a kinematic lateral motion model (hereinafter referred to as a kinematic model) in consideration of a forward viewing distance of a vehicle; a measurement unit for measuring information on a vehicle lane and a vehicle motion using at least one of a camera sensor and an inertial measurement sensor; and a control unit which calculates the probability representing the adaptability according to the driving condition for each of the dynamic model and the kinematic model using the information of the vehicle lane and the vehicle motion, calculates steering torque of the vehicle by using an interaction multi-model filter (IMM filter) that applies the weight according to the calculated probability to each model and a fusion model to which the weight is applied, and performs lateral motion control for allowing the vehicle to maintain the vehicle lane by using the calculated steering torque.

    차로 유지 제어 장치 및 방법이 개시된다. 차로 유지 제어 장치는, 차량의 전방 주시 거리를 고려한 다이나믹 횡방향 모션 모델(dynamic lateral motion model, 이하 다이나믹 모델이라 함) 및 키네마틱 횡방향 모션 모델(kinematic lateral motion model, 이하 키네마틱 모델이라 함)을 생성하는 생성부, 카메라 센서 및 관성 측정 센서 중 적어도 하나를 이용하여 차로 정보 및 차량 모션 정보를 측정하는 측정부, 차로 정보 및 차량 모션 정보를 이용하여 다이나믹 모델 및 키네마틱 모델 각각에 대하여 주행 조건에 따른 적용 적합도를 나타내는 확률을 산출하고, 산출된 확률에 따른 가중치를 각 모델에 적용하는 인터랙션 다중 모델 필터(IMM Filter: Interaction Multiple Model Filter) 및 가중치가 적용된 융합 모델을 이용하여 차량의 스티어링 토크를 산출하고, 산출된 스티어링 토크를 이용하여 차량의 차로 유지를 위한 횡방향 모션 제어(lateral motion control)를 수행하는 제어부를 포함한다.


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    Titel :

    Apparatus and method for lane Keeping control


    Weitere Titelangaben:

    차로 유지 제어 장치 및 방법


    Beteiligte:
    CHUNG CHUNG CHOO (Autor:in) / KANG CHANG MOOK (Autor:in) / LEE SEUNG HI (Autor:in)

    Erscheinungsdatum :

    31.12.2018


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    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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