# US 10,870,450 B2 · Vehicle control apparatus > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 10,870,450 B2 - Document ID: US10870450B2 - Status: Granted - Kind: B2 - Application number: 16/232,836 - Filed: 2018-12-26 - Published: 2019-06-27 - Granted: 2020-12-22 - Earliest claimed: 2017-12-27 - Assignees: Denso Corporation - Applicants: Denso Corporation - Inventors: Yusuke Matsumoto - Web page: https://patentgrep.com/patent/US10870450B2 ## CPC - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - B62D 6/00: Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract A vehicle control apparatus estimates a curvature of the own lane ahead of the own vehicle based on both left and right markings in a captured image and performs a steering control of the own vehicle based on the estimated curvature of the own lane. The control unit determines the direction of the own vehicle and determines whether a change in the road slope is present. When the vehicle control apparatus determines that the direction of the own vehicle changes and the road slope ahead of the own vehicle changes, the vehicle control apparatus applies a restriction to the steering control performed based on the curvature of the own lane. ## Claims ### Claim 1 A vehicle control apparatus comprising: one or more processors comprising: a marking detection unit that detects a marking defining an own lane based on an image of a region ahead of an own vehicle captured by an imaging device; a curvature estimation unit that estimates a curvature of the own lane ahead of the own vehicle based on both of left and right markings detected by the marking detection unit; a control unit that performs a steering control of the own vehicle based on the curvature of the own lane estimated by the curvature estimation unit; a change determination unit that determines whether a direction of the own vehicle has changed with respect to a direction where the own lane extends; and a slope determination unit that determines whether a change in a road slope is present ahead of the own vehicle, wherein the control unit is configured to inhibit influence of an estimation error of the curvature of the own lane estimated by the curvature estimation unit that is caused by a difference of degree of distortion between the left and right markings in the image due to the change in the road slope by applying a restriction to the steering control performed based on the curvature of the own lane during a state where a change in the direction of the own vehicle has been detected and a change in the road slope ahead of the own vehicle has been detected. ### Claim 2 (depends on 1) The vehicle control apparatus according to claim 1 further comprising: a yaw angle acquiring unit that acquires a yaw angle that changes depending on a direction of the own vehicle; and a change amount acquiring unit that acquires a change amount of the road slope when the slope determination unit determines that the road slope changes, wherein the control unit is configured to set a degree of the restriction to be variable based on the yaw angle acquired by the yaw angle acquiring unit and the change amount acquired by the change amount acquiring unit. ### Claim 3 (depends on 1) The vehicle control apparatus according to claim 1 further comprising an increase/decrease determination unit that determines whether the road slope is increasing or decreasing when determining that the road slope changes, wherein the control unit is configured to strengthen the restriction applied to the steering control more than a case where the road slope increases when the increase/decrease determination unit determines that the road slope decreases. ### Claim 4 (depends on 1) The vehicle control apparatus according to claim 1 further comprising a deviation calculation unit that calculate a deviation of distance between a center of the own lane and a position of the own vehicle in a vehicle width direction, wherein the control unit is configured to increase a degree of the restriction such that the restriction increases as the deviation calculated by the deviation calculation unit increases. ### Claim 5 (depends on 1) The vehicle control apparatus according to claim 1, wherein in response to the marking detection unit detecting both of left and right markings, the change determination unit determines whether the direction of the own vehicle has changed, in response to the change determination unit determining that the direction of the own vehicle has changed, the slope determination unit determines whether a change in a road slope is present ahead of the own vehicle, in response to the slope determination unit determining that a change in a road slope is present ahead of the own vehicle, a change amount acquiring unit acquires a change amount of the road slope, and based on the change amount of the slope acquired by the change amount acquiring unit and the curvature of the own lane estimated by the curvature estimation unit, the control unit sets a target steering amount and a steering change rate, and performs the steering control of the own vehicle according to the target steering amount and the steering change rate. ### Claim 6 (depends on 1) The vehicle control apparatus according to claim 1, wherein the curvature estimation unit is configured to calculate the curvature based on both of left and right markings at a predetermined period and perform a smoothing process of the curvature calculated at the predetermined period to estimate a current value of the curvature; and the control unit is configured to perform the steering control based on the current value of the curvature, and continuously apply the restriction to the steering control in a first travelling section which is a vicinity side of the own vehicle with respect to a change point of the road slope and a second travelling section which is a distance side of the own vehicle when determining that the direction of the own vehicle changes and the road slope changes. ### Claim 7 (depends on 3) The vehicle control apparatus according to claim 3, wherein the control unit is configured to apply a first restriction to the steering control when the own vehicle travels in the first travelling section, and apply a second restriction of which a degree of restriction of the second restriction is less than that of the first restriction to the steering control when the own vehicle travels in the second travelling section. ### Claim 8 (depends on 1) The vehicle control apparatus according to claim 1, wherein wherein the restriction comprises performing the steering control according to at least one of a target steering amount and a steering change rate. ### Claim 9 (depends on 8) The vehicle control apparatus according to claim 8, wherein the steering change rate increases as the curvature of the own lane increases. ### Claim 10 (depends on 8) The vehicle control apparatus according to claim 8, wherein the steering change rate decreases as a yaw angle of the vehicle increases, and the steering change rate decreases as a change amount of the road slope increases. ### Claim 11 A vehicle control apparatus comprising: one or more processors comprising: a marking detection unit that detects a marking defining an own lane based on an image ahead of an own vehicle captured by an imaging device; a curvature estimation unit that estimates a curvature of the own lane ahead of the own vehicle based on both of left and right markings detected by the marking detection unit; a control unit that performs a steering control of the own vehicle based on the curvature of the own lane estimated by the curvature estimation unit; a change determination unit that determines a direction difference between a direction of the own vehicle and a direction of the own lane; and a slope determination unit that determines whether a change in a road slope is present ahead of the own vehicle, wherein the control unit is configured to inhibit influence of an estimation error of the curvature of the own lane estimated by the curvature estimation unit that is caused by a difference of degree of distortion between the left and right markings in the image due to the change in the road slope by applying a restriction to the steering control performed based on the curvature of the own lane when the direction difference determined by the change determination unit exceeds a predetermined difference and the slope determination unit determines that there is a change in the road slope ahead of the own vehicle.