US 12,233,867 B2
Driver assistance system and control method thereof
Hyeongtae Kim, Gyeonggi-do (KR)
Assigned to HL KLEMOVE CORP., Incheon (KR)
Filed by HL KLEMOVE CORP., Incheon (KR)
Filed on Jan. 20, 2022, as Appl. No. 17/580,508.
Claims priority of application No. 10-2021-0009196 (KR), filed on Jan. 22, 2021.
Prior Publication US 2022/0234582 A1, Jul. 28, 2022
Int. Cl. B60W 30/12 (2020.01); B60W 10/20 (2006.01); B60W 50/10 (2012.01)
CPC B60W 30/12 (2013.01) [B60W 10/20 (2013.01); B60W 50/10 (2013.01); B60W 2710/202 (2013.01)] 16 Claims
OG exemplary drawing
 
1. A driver assistance system, which performs lane following assist control to keep a vehicle in the center of a lane by generating a required steering torque by a lane following assist system, comprising
a controller configured to determine whether a driving situation is a situation in which steering intervention of a driver is required when the lane following assist control is performed, and adjust an attenuation amount of a required steering torque and a threshold value of a driver override determination for determining a driver override when the driving situation is the situation in which the steering intervention of the driver is required,
wherein an attenuation amount of a required steering torque adjusted when the situation in which the steering intervention of the driver is required is a virtual lane creation situation or a preceding vehicle-following situation is set to be greater than an attenuation amount of a required steering torque adjusted when the situation in which the steering intervention of the driver is required is a normal driving situation other than the virtual lane creation situation and the preceding vehicle-following situation,
the controller is configured to determine that the driving situation is the situation in which the steering intervention of the driver is required when the driving situation is the virtual lane creation situation, and
the controller is configured to determine that the driving situation is the virtual lane creation situation when one lane of driving lanes is unrecognized, a branching lane, or has a lane width wider than a reference lane width while the lane following assist control is being performed.