US 11,691,671 B2
System for road slope compensation using camera information and method thereof
Kwang Il Choi, Yongin-si (KR)
Assigned to Hyundai Mobis Co., Ltd., Seoul (KR)
Filed by Hyundai Mobis Co., Ltd., Seoul (KR)
Filed on Nov. 19, 2020, as Appl. No. 16/952,263.
Claims priority of application No. 10-2019-0170245 (KR), filed on Dec. 18, 2019.
Prior Publication US 2021/0188350 A1, Jun. 24, 2021
Int. Cl. B62D 6/04 (2006.01); B62D 5/04 (2006.01); G06T 7/60 (2017.01)
CPC B62D 6/04 (2013.01) [B62D 5/0463 (2013.01); G06T 7/60 (2013.01); G06T 2207/30256 (2013.01)] 17 Claims
OG exemplary drawing
 
1. A road slope compensation system using camera information, the system comprising:
a camera module configured to capture and obtain a front image of a vehicle;
a vehicle sensor device configured to sense and obtain state information of the vehicle;
a compensation calculation device configured to calculate a compensation yaw rate, using a sensor signal delivered from the vehicle sensor device and a heading error by the front image delivered from the camera module, when the vehicle is driving on a road having a threshold road slope; and
a correction controller configured to:
calculate a final yaw rate by applying a compensation yaw rate delivered from the compensation calculation device, to a target yaw rate calculated by using the sensor signal, a line curvature yaw rate by the front image, and a current heading; and
calculate a final steering torque by the final yaw rate to control a steering device,
wherein the correction controller controls a steering device after calculating the final steering torque by using the compensation yaw rate to compensate for a performance difference between left tracking and right tracking of the vehicle, which is caused by the threshold road slope.