US 12,291,202 B2
Lane keeping controller, vehicle system including the same, and method thereof
Un Tae Baek, Suwon-si (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 Dec. 8, 2021, as Appl. No. 17/545,298.
Claims priority of application No. 10-2021-0072905 (KR), filed on Jun. 4, 2021.
Prior Publication US 2022/0388508 A1, Dec. 8, 2022
Int. Cl. B60W 30/12 (2020.01)
CPC B60W 30/12 (2013.01) [B60W 2520/06 (2013.01); B60W 2520/10 (2013.01); B60W 2520/12 (2013.01); B60W 2520/125 (2013.01); B60W 2552/30 (2020.02); B60W 2552/53 (2020.02)] 13 Claims
OG exemplary drawing
 
1. A lane keeping controller, comprising:
a processor configured to monitor a risk level of a vehicle in real time, upon a lane keeping control, calculate a target lateral movement distance based on a line component, integrate over time an offset from a predetermined offset threshold to the vehicle to obtain an integrated value when an offset between a target route and the vehicle departs from the predetermined offset threshold, correct the target lateral movement distance based on the integrated value to calculate a final target lateral movement distance, and perform the lane keeping control based on the final target lateral movement distance; and
a storage storing data and an algorithm run by the processor,
wherein the processor is further configured to:
determine whether a driving situation of the vehicle meets a risk level 1 condition using a vehicle speed, a curvature, and a lateral acceleration,
determine whether the driving situation meets a risk level 2 condition using the offset between the target route and the vehicle, when the driving situation meets the risk level 1 condition, and
add the integrated value to the target lateral movement distance, when the driving situation meets both the risk level 1 condition and the risk level 2 condition.