US 12,447,955 B2
Apparatus for controlling keeping lane and method thereof
Seung Hyun Kim, Seoul (KR)
Assigned to Hyundai Motor Company, South (KR); and Kia Corporation, South (KR)
Filed by Kia Corporation, Seoul (KR); and Hyundai Motor Company, Seoul (KR)
Filed on Mar. 7, 2023, as Appl. No. 18/179,885.
Claims priority of application No. 10-2022-0089621 (KR), filed on Jul. 20, 2022.
Prior Publication US 2024/0025402 A1, Jan. 25, 2024
Int. Cl. B60W 30/12 (2020.01); B60W 50/00 (2006.01); B62D 15/02 (2006.01)
CPC B60W 30/12 (2013.01) [B60W 50/00 (2013.01); B62D 15/025 (2013.01); B60W 2050/0012 (2013.01); B60W 2050/0056 (2013.01); B60W 2510/20 (2013.01); B60W 2520/10 (2013.01); B60W 2530/201 (2020.02); B60W 2540/18 (2013.01)] 19 Claims
OG exemplary drawing
 
1. A lane keeping control apparatus comprising:
a storage configured to store data and algorithms for a processor; and
the processor configured to:
calculate a target curvature depending on a target path of a vehicle,
calculate a first lateral control value based on a feedforward control by using the target curvature,
calculate a second lateral control value based on a feedback control by using vehicle information collected from a sensing device of the vehicle,
estimate a disturbance by using the vehicle information collected from the sensing device of the vehicle, and
calculate a final lateral control command value by summing the first lateral control value, the second lateral control value, and the disturbance, and
perform a lateral control of the vehicle based on the final lateral control command value,
wherein the processor, after controlling the vehicle with the final lateral control command value, is further configured to:
calculate a rotational curvature of the vehicle by using the vehicle information collected from the sensing device of the vehicle, and
subtract the rotational curvature of the vehicle from the target curvature.