METHOD FOR PRE-PREDICTION OF LANE KEEPING ASSIST SYSTEM CAPABLE OF APPLYING STEERING TENDENCY BY PREDICTING DEVIATION AMOUNT OF VEHICLES

摘要

PURPOSE: A method for pre-prediction of lane keeping assist system is provided to predict deviation amount during drive and prevent deviation of a vehicle in advance, thereby improving lane keeping performance and minimizing steering difference of an operator.;CONSTITUTION: A method for pre-prediction of lane keeping assist system comprises next steps: collecting lane information from an image sensor(100); and computing predicted deviation amount by using lane information. A process of computing predicted deviation amount comprises next steps: computing predicted deviation by calculating sin function and multiplying car speed and relative yaw angle; computing the predicted deviation based on car speed vector; computing predicted deviation amount based on car speed vector by multiplying car speed, time to arrive to front spot, and opposite side reentrant angle sin function; computing a goal reentrant angle by using a secession prediction amount; computing a goal yaw rate by using a goal reentrant angle; computing a steering angle by using the goal yaw rate.;COPYRIGHT KIPO 2012