SYSTEM FOR CONTROLLING LANE KEEPING OF VEHICLE USING EXPONENTIAL SMOOTHING, AND APPARATUS FOR GENERATING VIRTUAL LANE USING EXPONENTIAL SMOOTHING

摘要

The present invention proposes a lane keeping control and virtual lane generation system which virtually generates an unrecognized/misrecognized lane and controls a vehicle to stay in a lane based on a recognized lane or a virtual lane using an exponential smoothing method. The lane keeping control and virtual lane generation system according to the present invention comprises a front image recording unit to obtain an image in front of a vehicle in motion; a lane detection unit to detect a first lane and a second lane on left and right sides in the image; a virtual lane generation unit to generate the second lane based on the first land and width thereof when only the first lane is detected between the second lane and the first lane, and virtually generate the first lane and the second lane using the exponential smoothing method when neither of two lanes is detected; and a lane keeping control unit to control the vehicle to stay in the lane based on one of three groups. Three groups are a first group which includes the first and second lanes detected; a second group which includes the first land and the virtually generated second lane; and a third group which includes the virtually generated first and second lanes.