VEHICLE MOTION INTEGRATED CONTROL TYPE LANE-KEEPING ASSISTANCE SYSTEM

摘要

The present invention provides a lane-keeping assistance system for improving traveling lane-tracking performance on a curved road and uniformly maintaining steering feel so as to improve sensitivity, wherein the traffic lane-keeping assistance system comprises: a vehicle sensor part for measuring steering angle, yaw rate, acceleration and speed of a vehicle; a vehicle observation part for estimating lateral velocity and steering angular speed of the vehicle from the steering angle, the yaw rate, the acceleration and the speed of the vehicle obtained from the vehicle sensor part; an image sensor part for measuring departure angle and departure distance of the vehicle; a lane detection part for providing lane information including road curvature information; and a vehicle control unit for the integratively controlling an electric power steering (EPS) device and an electronic stability control (ESC) device from the steering angle, the yaw rate, the lateral velocity, the steering angular speed, the departure angle, the departure distance and the lane information provided from the vehicle sensor part, the vehicle observation part, the image sensor part, and the lane detection part.