US 12,280,773 B2
Apparatus for controlling lane keeping, vehicle system having the same and method thereof
Dong Hyuk Kim, Gyeonggi-do (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 Sep. 7, 2021, as Appl. No. 17/468,254.
Claims priority of application No. 10-2021-0032849 (KR), filed on Mar. 12, 2021.
Prior Publication US 2022/0289182 A1, Sep. 15, 2022
Int. Cl. B60W 10/20 (2006.01); B60W 30/12 (2020.01); B60W 30/18 (2012.01); B60W 40/06 (2012.01); B60W 50/00 (2006.01); B60W 50/10 (2012.01)
CPC B60W 30/12 (2013.01) [B60W 30/18163 (2013.01); B60W 2540/18 (2013.01); B60W 2552/30 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4045 (2020.02); B60W 2554/802 (2020.02); B60W 2710/06 (2013.01); B60W 2710/18 (2013.01); B60W 2710/20 (2013.01)] 15 Claims
OG exemplary drawing
 
1. A lane keep control apparatus for a vehicle, comprising:
a processor configured to control a lane replacement mode by determining an intention of a driver to change a lane based on a steering direction of the driver and a steering torque value of the driver during lane keeping control; and
a storage configured to store data and algorithms driven by the processor,
wherein the processor is configured to control the lane replacement mode of the vehicle by moving a target path for the vehicle by a certain distance from a center of the lane in which the vehicle is traveling when the processor determines that the driver intends to change the lane,
wherein the processor is configured to, when a driving road is straight, and the intention of the driver to change the lane is continued:
set the center of the lane as the target path,
determine a vehicle offset, which a difference between a current position of the vehicle and the center of the lane, and
when the vehicle offset from the target path satisfies a predetermined range, move the target path by the vehicle offset and continue driving according to the target path as move, or when the vehicle offset from the target path does not satisfy the predetermined range, control the vehicle to follow the center of the lane, and
wherein the processor does not control the lane replacement mode by determining that the intention of the driver for the lane replacement is temporary when the vehicle overtakes an additional vehicle in front or a vehicle driving in a left or right lane closest to the vehicle.