US 11,951,982 B2
Lane following assist apparatus and control 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 Aug. 23, 2021, as Appl. No. 17/409,447.
Claims priority of application No. 10-2020-0183846 (KR), filed on Dec. 24, 2020.
Prior Publication US 2022/0203977 A1, Jun. 30, 2022
Int. Cl. B60W 30/12 (2020.01); G06V 20/56 (2022.01)
CPC B60W 30/12 (2013.01) [G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2552/53 (2020.02)] 6 Claims
OG exemplary drawing
 
1. A lane following assist apparatus, comprising:
a camera configured to capture an image in front of a vehicle; and
a processor configured to receive a forward image from the camera,
wherein the processor is configured to:
obtain line information from the forward image;
calculate a straight distance between a target traveling route and a center of a vehicle as a vehicle offset based on the line information, wherein the target traveling route is set along the center of both lines of a lane on which the vehicle should travel;
calculate a difference between the vehicle offset and a predetermined threshold when the vehicle offset is greater than a predetermined threshold;
change a previously set preview time based on the calculated difference;
set a target look-ahead distance based on the changed preview time and a vehicle speed; and
perform lane following assist control using the target look-ahead distance.