Patent ID: 8095266

Claim:
A lane-keeping assist system (LKAS) for a vehicle, comprising: a video sensor unit for capturing video image or images outside of the vehicle and measuring location information of the vehicle and a curvature (ρ p ) of a lane with respect to a measuring point; a sensor unit for measuring a variable value or values related to one or more kinematic characteristics of the vehicle; a control unit for performing lane keeping control based on the location information, the lane curvature and the variable value or values related to the kinematic characteristics; and a compensation unit for estimating a deviation angle (θ p ) and a deviation distance (y p ) based on data from the video sensor unit, the sensor unit and the control unit in a period that is a control data processing period of the control unit but is not a measurement period of the video sensor unit, and transmitting the estimated values to the control unit.