US 11,912,335 B2
Lane keeping control apparatus, vehicle system including the same, and method thereof
Seung Hyun Kim, Seoul (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed on Nov. 1, 2021, as Appl. No. 17/515,935.
Claims priority of application No. 10-2021-0053330 (KR), filed on Apr. 23, 2021.
Prior Publication US 2022/0340200 A1, Oct. 27, 2022
Int. Cl. B62D 15/02 (2006.01); B60W 30/12 (2020.01)
CPC B62D 15/025 (2013.01) [B60W 30/12 (2013.01); B60W 2520/14 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A lane keeping control apparatus comprising:
a processor configured to generate a target path of a vehicle based on line information, upon lane keeping control of the vehicle, to determine whether the vehicle arrives adjacent to the target path, to determine a feedback compensation distance in a direction opposite to a current steering direction of the vehicle based on a yaw rate of the vehicle, when the vehicle arrives adjacent to the target path before the vehicle arrives at the target path, and to perform steering control of the vehicle based on the feedback compensation distance; and
a storage storing data and an algorithm run by the processor.