Lane keeping assistance apparatus, vehicle having the same and method for controlling the same

• Main Author: Kim, Heong-Tae
• Format: Patent
• Language: English
• Published: 23.02.2021
• Subjects: AGRICULTURE; AIRCRAFT CARRIERS; ANIMAL HUSBANDRY; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS INVEHICLES; ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OFTRANSMISSIONS IN VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GASEXHAUST OR FUEL SUPPLY OF PROPULSION UNITS, IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; CALCULATING; COMPUTING; CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; CONTROLLING; COUNTING; ELECTRIC DIGITAL DATA PROCESSING; FISHING; FORESTRY; HANDLING RECORD CARRIERS; HUMAN NECESSITIES; HUNTING; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS; MARINE PROPULSION OR STEERING; MINE-LAYING; MINE-SWEEPING; MOTOR VEHICLES; OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES ORIMPLEMENTS, IN GENERAL; PERFORMING OPERATIONS; PHYSICS; PRESENTATION OF DATA; RECOGNITION OF DATA; RECORD CARRIERS; REGULATING; RELATED EQUIPMENT; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; SHIPS OR OTHER WATERBORNE VESSELS; SOIL WORKING IN AGRICULTURE OR FORESTRY; SUBMARINES; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES; TRAILERS; TRANSPORTING; TRAPPING; VEHICLES IN GENERAL

Provided is a vehicle capable of: acquiring an image of a road in front of a vehicle in an autonomous driving mode; recognizing a lane line, a subject lane, and an obstacle on the acquired image of the road; determining whether the recognized obstacle is in a stationary state based on obstacle information detected by an obstacle detector; acquiring, if the obstacle in the stationary state exists on at least one of two subject lane lines constituting the subject lane, a width of involvement of the lane line crossed by the obstacle; determining whether keeping of travelling on the subject lane is to be performed based on the acquired width of involvement; performing a deflection control within the subject lane to avoid the obstacle in the stationary state if it is determined that the keeping of travelling on the subject lane is to be performed; and performing control of departure from the subject lane or deceleration control if it is determined that the keeping of travelling on the subject lane is not to be performed.