# US 11,305,788 B2 · Vehicle control apparatus, vehicle, operation method of vehicle control apparatus, and non-transitory computer-readable storage medium

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- Number: US 11,305,788 B2
- Document ID: US11305788B2
- Status: Granted
- Kind: B2
- Application number: 16/890,067
- Filed: 2020-06-02
- Published: 2020-12-10
- Granted: 2022-04-19
- Earliest claimed: 2019-06-06
- Assignees: Honda Motor Co., Ltd.
- Applicants: Honda Motor Co., Ltd.
- Inventors: Atsuhiro Eguchi
- Web page: https://patentgrep.com/patent/US11305788B2

## CPC

- B60W 30/12: Lane keeping
- B60W 60/0025: {specially adapted for specific operations}
- B60W 30/18163: {Lane change; Overtaking manoeuvres}
- B60W 2520/10: Longitudinal speed
- B60W 2520/14: Yaw
- B60W 2552/53: Road markings, e.g. lane marker or crosswalk
- B60W 2554/801: Lateral distance
- B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data
- 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

## Abstract

A vehicle control apparatus comprising: a detector configured to detect a division line of a road; a speed detector configured to detect a speed of a vehicle traveling on the road; and a controller that can execute lane departure suppression control to suppress the vehicle from departing from the division line, wherein the controller changes, in accordance with the speed detected by the speed detector, an execution timing of the lane departure suppression control with respect to the division line.

## Claims

### Claim 1

A vehicle control apparatus comprising:
a camera configured to detect a division line of a road;
a vehicle speed sensor configured to detect a speed of a vehicle traveling on the road; and
a controller that can execute lane departure suppression control to suppress the vehicle from departing from the division line,
wherein the controller changes, in accordance with the speed detected by the vehicle speed sensor, an execution timing of the lane departure suppression control with respect to the division line,
wherein the controller increases a delay of the execution timing of the lane departure suppression control with respect to the division line in response to a decrease in the speed of the vehicle, and
advances the execution timing of the lane departure suppression control with respect to the division line in response to an increase of the speed of the vehicle,
wherein the execution timing is not changed since a position of the division line is set as the execution timing of the lane departure suppression control when the speed of the vehicle is a predetermined vehicle speed or less.

### Claim 2 (depends on 1)

The apparatus according to claim 1, wherein the camera further detects a road boundary, and
in a case in which the road boundary is a three-dimensional object present at a position above a height of the road, the controller will perform one of
an operation to execute, without changing the execution timing of the lane departure suppression control with respect to the division line in correspondence with the speed, the lane departure suppression control with respect to the division line at a predetermined timing, and
an operation to suppress a degree of change of the execution timing performed in correspondence with the speed.

### Claim 3 (depends on 1)

The apparatus according to claim 1, wherein the further detects a road boundary, and
in a case in which a distance between the division line and the road boundary is not more than a predetermined distance, the controller will perform one of
an operation to execute, without changing the execution timing of the lane departure suppression control with respect to the division line in correspondence with the speed, the lane departure suppression control with respect to the division line at a predetermined timing, and
an operation to suppress a degree of change of the execution timing performed in correspondence with the speed.

### Claim 4 (depends on 1)

The apparatus according to claim 1, wherein the controller can further execute lane departure suppression control to suppress the vehicle from departing from a road boundary, and
the controller performs control to execute, without changing the execution timing of the lane departure suppression control with respect to the road boundary, the lane departure suppression control with respect to the road boundary at a predetermined timing.

### Claim 5 (depends on 1)

The apparatus according to claim 1, wherein the controller can further execute lane departure suppression control to suppress the vehicle from departing from a road boundary, and
in a case in which the speed is not more than a predetermined speed, the controller executes the lane departure suppression control with respect to the road boundary, and does not execute the lane departure suppression control with respect to the division line.

### Claim 6 (depends on 1)

The apparatus according to claim 1, wherein the controller determines, based on a distance between the vehicle and the division line, the execution timing of the lane departure suppression control with respect to the division line.

### Claim 7 (depends on 1)

The apparatus according to claim 1, wherein the controller predicts a time until the vehicle arrives at the division line and determines, based on the predicted time, the execution timing of the lane departure suppression control with respect to the division line.

### Claim 8 (depends on 1)

A vehicle comprising a vehicle control apparatus defined in claim 1.

### Claim 9

An operation method of a vehicle control apparatus, the method comprising:
detecting a division line of a road;
detecting a speed of a vehicle traveling on the road; and
executing lane departure suppression control to suppress the vehicle from departing from the division line,
wherein in the executing, an execution timing of the lane departure suppression control with respect to the division line is changed in accordance with the detected speed,
wherein a delay of the execution timing of the lane departure suppression control is increased with respect to the divisional line in response to a decrease in the speed of the vehicle, and
the execution timing of the lane departure suppression control is advanced with respect to the division line in response to an increase of the speed of the vehicle,
wherein the execution timing is not changed since a position of the division line is set as the execution timing of the lane departure suppression control when the speed of the vehicle is a predetermined vehicle speed or less.

### Claim 10

A non-transitory computer-readable storage medium storing a program for causing a computer to execute an operation method of a vehicle control apparatus, the method comprising:
detecting a division line of a road;
detecting a speed of a vehicle traveling on the road; and
executing lane departure suppression control to suppress the vehicle from departing from the division line,
wherein in the executing, an execution timing of the lane departure suppression control with respect to the division line is changed in accordance with the detected speed,
wherein a delay of the execution timing of the lane departure suppression control is increased with respect to the divisional line in response to a decrease in the speed of the vehicle, and
the execution timing of the lane departure suppression control is advanced with respect to the division line in response to an increase of the speed of the vehicle,
wherein the execution timing is not changed since a position of the division line is set as the execution timing of the lane departure suppression control when the speed of the vehicle is a predetermined vehicle speed or less.