Patent ID: 8401787

Claim:
A method of determining a drive lane using a steering wheel model, comprising: a step (S 100 ) of providing a digital map including first road lane information; a step (S 200 ) of estimating a first road lane where a vehicle is currently located using GPS information; a step (S 300 ) of (i) obtaining a current azimuth angle Ψ k+1 DR of the vehicle using a previous azimuth angle of the vehicle Ψ k GPS that is obtained by using the GPS information and an azimuth angle variation ΔΨ k+1 veh of the vehicle obtained by using a steering wheel model, and (ii) checking whether the first road lane information is normal using a difference between a current azimuth angle Ψ k+1 GPS of the vehicle obtained by using the GPS information and the current azimuth angle Ψ k+1 DR of the vehicle; if the first road lane information is normal, a step (S 500 ) of determining and outputting the first road lane information as a drive lane where the vehicle is currently located without a compensating step (S 400 ); and if the first road lane information is abnormal, performing the compensating step (S 400 ) to update the first road lane information into compensated second road lane information and performing the step (S 500 ) to determine and output the second road lane information as the drive lane where the vehicle is currently located, wherein the azimuth angle variation of the vehicle (ΔΨ k+1 veh ), which is obtained by using the steering wheel model, is calculated by the following Equations 2 and 3: Ψ k+1 veh =Ω Z ×t, Equation 2 wherein ΔΨ k+1 veh is the azimuth angle variation of the vehicle obtained by using the steering wheel model, Ω Z a rotational angular velocity of the vehicle, and t is time, and Ω z = V L ⁢ δ j , Equation ⁢ ⁢ 3 wherein Ω Z is the rotational angular velocity, V is a speed of the vehicle, L is a distance between front and rear axles, and δ j is a front wheel steering angle of the vehicle.