# US 11,077,853 B2 · Apparatus and method for controlling lane-keeping > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,077,853 B2 - Document ID: US11077853B2 - Status: Granted - Kind: B2 - Application number: 16/146,033 - Filed: 2018-09-28 - Published: 2019-04-04 - Granted: 2021-08-03 - Earliest claimed: 2017-09-29 - Assignees: Mando Corporation - Applicants: Mando Corporation - Inventors: ChangBeom Oh - Web page: https://patentgrep.com/patent/US11077853B2 ## CPC - B60W 30/18163: {Lane change; Overtaking manoeuvres} - B60W 30/12: Lane keeping - B60W 30/143: {Speed control (B60W30/16 takes precedence)} - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/04: using optical or ultrasonic detectors - G08G 1/163: {involving continuous checking} - G08G 1/166: {for active traffic, e.g. moving vehicles, pedestrians, bikes} - G08G 1/167: {Driving aids for lane monitoring, lane changing, e.g. blind spot detection} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2520/10: Longitudinal speed - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2554/80: Spatial relation or speed relative to objects - B60W 2554/801: Lateral distance - B60W 2754/10: Spatial relation or speed relative to objects - B60W 2754/20: Lateral distance - B60W 2754/30: Longitudinal distance - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) ## Abstract The present disclosure relates to an apparatus and method for controlling lane-keeping. An embodiment provides an apparatus for controlling lane-keeping, including a sensing unit configured to recognize lane lines of a driving lane in which a host vehicle travels and configured to sense a plurality of other vehicles traveling in the driving lane or lanes next to the driving lane, a calculation unit configured to calculate a first transverse separation distance between the sensed other vehicles or a second transverse separation distance between the host vehicle and the other vehicles, a determination unit configured to determine an optimum position of the host vehicle within the driving lane by comparing space widths for the calculated first transverse separation distance and the calculated second transverse separation distance, and an output unit configured to output a speed control signal to control a travel speed of the host vehicle so as to have the host vehicle located at the determined optimum position. ## Claims ### Claim 1 A control system for a vehicle, comprising: an image sensor operable to be disposed on the vehicle so as to have a field of view of an exterior of the vehicle and configured to capture image data; a non-image sensor operable to be disposed on the vehicle so as to sense the exterior of the vehicle and configured to capture sensing data; and one or more processors configured to process at least one of the image data captured by the image sensor and the sensing data captured by the non-image sensor, wherein the control system is configured to: recognize lane lines of a driving lane, in which a host vehicle travels, from the image data and sense a plurality of other vehicles traveling in the driving lane or lanes next to the driving lane from the sensing data; calculate at least one of one or more first transverse separation distances between the other vehicles present on the same transverse line and a second transverse separation distance between the other vehicles present on the same transverse line as the host vehicle; determine an optimum position of the host vehicle within the driving lane by comparing space widths for the calculated first transverse separation distances and the calculated second transverse separation distance; and output a speed control signal to control a travel speed of the host vehicle so as to have the host vehicle located at the determined optimum position. ### Claim 2 (depends on 1) The control system of claim 1, wherein the control system senses positions of the plurality of other vehicles located ahead of, on sides of, and behind the host vehicle. ### Claim 3 (depends on 1) The control system of claim 1, wherein the control system calculates at least one of a first transverse separation distance between the other vehicles located ahead of the host vehicle and present on the same transverse line, a first transverse separation distance between the other vehicles located behind the host vehicle and present on the same transverse line, and a second transverse separation distance between the other vehicles present on the same transverse line as the host vehicle. ### Claim 4 (depends on 1) The control system of claim 1, wherein, when the other vehicles are not present on the same transverse line, the control system calculates a lane width of the driving lane and the lanes next to the driving lane and uses the lane width as the first transverse separation distance or the second transverse separation distance. ### Claim 5 (depends on 1) The control system of claim 1, wherein the control system calculates the space widths for an empty space of the driving lane by performing an operation on the first transverse separation distances and the second transverse separation distance based on a pre-stored vehicle width of the host vehicle and determines the optimum position by comparing the space widths. ### Claim 6 (depends on 5) The control system of claim 5, wherein the control system determines a point having the greatest calculated space width as the optimum position. ### Claim 7 (depends on 5) The control system of claim 5, wherein the control system further checks vehicle length information about the host vehicle and vehicle length information about the other vehicles, wherein the control system uses at least one of the vehicle length information about the host vehicle and the vehicle length information about the other vehicles in determining the optimum position. ### Claim 8 (depends on 5) The control system of claim 5, wherein, when points having the greatest space width are present ahead of and behind the host vehicle at the same time, the control system determines the point having the greatest space width and located ahead of the host vehicle as the optimum position. ### Claim 9 (depends on 1) The control system of claim 1, wherein the control system outputs the speed control signal to accelerate the host vehicle when the optimum position is ahead of the host vehicle, and outputs the speed control signal to decelerate the host vehicle when the optimum position is behind the host vehicle. ### Claim 10 (depends on 1) The control system of claim 1, wherein the control system sets a threshold range of the speed of the host vehicle, wherein, when the speed of the host vehicle is out of the threshold range during movement of the host vehicle to the optimum position, the control system outputs the speed control signal such that the host vehicle travels at a maximum speed or a minimum speed in the threshold range. ### Claim 11 (depends on 10) The control system of claim 10, wherein, when the speed is out of the threshold range before the host vehicle moves to the optimum position, the control system re-determines the optimum position based on a current position of the host vehicle. ### Claim 12 A vehicle positioning system, comprising an image sensor operable to be disposed on the vehicle so as to have a field of view of an exterior of the vehicle and configured to capture image data; a non-image sensor operable to be disposed on the vehicle so as to sense the exterior of the vehicle and configured to capture sensing data; a Lane Keeping Assist (LKA) module configured to prevent a lane departure of the vehicle; and a controller comprising at least one processor configured to process at least one of the image data captured by the image sensor and the sensing data captured by the non-image sensor, wherein the vehicle positioning system is configured to: recognize lane lines of a driving lane, in which a host vehicle travels, from the image data and sense a plurality of other vehicles traveling in the driving lane or lanes next to the driving lane from the sensing data; calculate at least one of one or more first transverse separation distances between the other vehicles present on the same transverse line and a second transverse separation distance between the other vehicles present on the same transverse line as the host vehicle; determine an optimum position of the host vehicle within the driving lane by comparing space widths for the calculated first transverse separation distances and the calculated second transverse separation distance; and output a speed control signal to control a travel speed of the host vehicle so as to have the host vehicle located at the determined optimum position. ### Claim 13 (depends on 12) The vehicle positioning system of claim 12, wherein the vehicle positioning system senses positions of the plurality of other vehicles located ahead of, on sides of, and behind the host vehicle. ### Claim 14 (depends on 12) The vehicle positioning system of claim 12, wherein the vehicle positioning system calculates at least one of a first transverse separation distance between the other vehicles located ahead of the host vehicle and present on the same transverse line, a first transverse separation distance between the other vehicles located behind the host vehicle and present on the same transverse line, and a second transverse separation distance between the other vehicles present on the same transverse line as the host vehicle. ### Claim 15 (depends on 12) The vehicle positioning system of claim 12, wherein, when the other vehicles are not present on the same transverse line, the vehicle positioning system calculates a lane width of the driving lane and the lanes next to the driving lane and uses the lane width as the first transverse separation distance or the second transverse separation distance. ### Claim 16 (depends on 12) The vehicle positioning system of claim 12, wherein the vehicle positioning system calculates the space widths for an empty space of the driving lane by performing an operation on the first transverse separation distances and the second transverse separation distance based on a stored vehicle width of the host vehicle and determines the optimum position by comparing the space widths. ### Claim 17 (depends on 16) The vehicle positioning system of claim 16, wherein the vehicle positioning system determines a point having the greatest calculated space width as the optimum position. ### Claim 18 (depends on 16) The vehicle positioning system of claim 16, wherein, when points having the greatest space width are present ahead of and behind the host vehicle at the same time, the vehicle positioning system determines the point having the greatest space width and located ahead of the host vehicle as the optimum position. ### Claim 19 A control system for a vehicle, comprising: a camera operable to be disposed on the vehicle so as to have a field of view of an exterior of the vehicle and configured to capture image data; and a processor configured to process the image data captured by the camera, wherein the control system is configured to: recognize lane lines of a driving lane, in which a host vehicle travels, from the image data and sense a plurality of other vehicles traveling in the driving lane or lanes next to the driving lane from the sensing data; calculate at least one of one or more first transverse separation distances between the other vehicles present on the same transverse line and a second transverse separation distance between the other vehicles present on the same transverse line as the host vehicle; determine an optimum position of the host vehicle within the driving lane by comparing space widths for the calculated first transverse separation distances and the calculated second transverse separation distance; and output a speed control signal to control a travel speed of the host vehicle so as to have the host vehicle located at the determined optimum position. ### Claim 20 (depends on 19) The control system of claim 19, wherein the control system senses positions of the plurality of other vehicles located ahead of, on sides of, and behind the host vehicle. ### Claim 21 (depends on 19) The control system of claim 19, wherein the control system calculates at least one of a first transverse separation distance between the other vehicles located ahead of the host vehicle and present on the same transverse line, a first transverse separation distance between the other vehicles located behind the host vehicle and present on the same transverse line, and a second transverse separation distance between the other vehicles present on the same transverse line as the host vehicle. ### Claim 22 (depends on 19) The control system of claim 19, wherein, when the other vehicles are not present on the same transverse line, the control system calculates a lane width of the driving lane and the lanes next to the driving lane and uses the lane width as the first transverse separation distance or the second transverse separation distance. ### Claim 23 (depends on 19) The control system of claim 19, wherein the control system calculates the space widths for an empty space of the driving lane by performing an operation on the first transverse separation distances and the second transverse separation distance based on a stored vehicle width of the host vehicle and determines the optimum position by comparing the space widths. ### Claim 24 (depends on 23) The control system of claim 23, wherein the control system determines a point having the greatest calculated space width as the optimum position. ### Claim 25 (depends on 23) The control system of claim 23, wherein, when points having the greatest space width are present ahead of and behind the host vehicle at the same time, the control system determines the point having the greatest space width and located ahead of the host vehicle as the optimum position.