센서를 통하여 인식된 좌측차선길이 및 우측차선길이를 도출하고, 각각의 길이에 따라 좌측차선레벨과 우측차선레벨을 선정하는 단계; 좌측 및 우측 차선의 길이의 변화 정도 또는 곡률의 변화 정도를 통하여 좌측차선레벨과 우측차선레벨을 수정하는 단계; 수정된 좌측차선레벨과 우측차선레벨을 통하여 보정계수를 산출하는 단계; 수정된 좌측차선레벨과 우측차선레벨 중 레벨이 낮은 측의 차선에 관련된 차선정보를 보정계수를 통하여 보정하는 단계;를 포함하는 차선 보상 방법이 소개된다.
A method for compensating a road line includes deriving a length of a left road line and a length of a right road line, recognized by a sensor, and determining a left road line level and a right road line level based on the length of the left road line and the length of the right road line; correcting the left road line level and the right road line level based on a change in the lengths of the left road line and the right road line or a change in curvatures of the left road line and the right road line; calculating a correction coefficient based on the corrected left road line level and the corrected right road line level; and correcting, by the correction coefficient, information about a road line with a lower level of the corrected left road line level and the corrected right road line level.
SYSTEM AND METHOD FOR COMPENSATING VEHICLE LANE
차선 보상 방법 및 시스템
2022-06-27
Patent
Electronic Resource
Korean
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