US 11,938,999 B2
Apparatus for controlling lane keeping 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 Oct. 20, 2021, as Appl. No. 17/506,042.
Claims priority of application No. 10-2021-0027642 (KR), filed on Mar. 2, 2021.
Prior Publication US 2022/0281524 A1, Sep. 8, 2022
Int. Cl. B62D 15/02 (2006.01); B60W 30/12 (2020.01)
CPC B62D 15/025 (2013.01) [B60W 30/12 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A lane keeping control apparatus comprising:
a processor configured to determine a target turning radius based on a geometry map to reach a center portion of a lane, to determine a required steering angle of a vehicle based on the target turning radius, and to correct the required steering angle of the vehicle by use of a difference between an actual yaw rate and a target yaw rate during lane keeping control to control the vehicle to follow the target turning radius; and
a storage configured to store data and algorithms driven by the processor,
wherein the processor is configured to determine the target yaw rate by only use of the target turning radius and a vehicle speed and to perform a Lane keeping assist (LKA).