# US 12,110,016 B2 · Vehicle capable of preventing rolling on non-uniform road surfces and control method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,016 B2 - Document ID: US12110016B2 - Status: Granted - Kind: B2 - Application number: 17/680,030 - Filed: 2022-02-24 - Published: 2022-12-29 - Granted: 2024-10-08 - Earliest claimed: 2021-06-23 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Taeho Ahn - Web page: https://patentgrep.com/patent/US12110016B2 ## CPC - B60W 30/12: Lane keeping - B60W 30/14: {Adaptive} cruise control - B60W 40/072: Curvature of the road - B60W 40/105: Speed - B60W 40/107: Longitudinal acceleration - B60W 40/114: Yaw movement - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2520/10: Longitudinal speed - B60W 2520/105: Longitudinal acceleration - B60W 2520/125: Lateral acceleration - B60W 2520/14: Yaw - B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads - B60W 2552/30: Road curve radius - B60W 2552/35: Road bumpiness, e.g. potholes - B60W 2556/50: of positioning data, e.g. GPS [Global Positioning System] data - B60W 2720/10: Longitudinal speed - B60W 2720/106: Longitudinal acceleration - 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 includes a navigation device, a sensor device, and a control device configured to identify an entry of the vehicle into a predetermined section of a road through the navigation device. In particular, the control device may identify at least one of a curvature of the road, a speed of the vehicle, or an acceleration of the vehicle through the sensor device in response to the entry of the vehicle into the predetermined section, and perform a lateral control of the vehicle based on at least one of the curvature of the road, the speed of the vehicle, or the acceleration of the vehicle. ## Claims ### Claim 1 A vehicle comprising: a navigation device; a sensor device; and a processor configured to: identify an entry of the vehicle into a tining section of a road through the navigation device, identify a curvature of the road, a speed of the vehicle, and an acceleration of the vehicle through the sensor device in response to the entry of the vehicle into the tining section, determine whether the vehicle is traveling in i) a first tining section including uniform unevenness and uniform unevenness intervals or ii) a second tining section including at least one of non-uniform unevenness and non-uniform unevenness intervals, based on the curvature of the road, the speed of the vehicle, and the acceleration of the vehicle, and perform a lateral control of the vehicle corresponding to the second tining section based on the determination that the vehicle is travelling in the second tining section, wherein the lateral control of the vehicle comprises a control of increasing an angular velocity damping value of the vehicle. ### Claim 2 (depends on 1) The vehicle according to claim 1, further comprising: a memory configured to store reference accelerations corresponding to a plurality of reference curvatures and a plurality of reference speeds, respectively, wherein the processor is further configured to: identify a first reference acceleration corresponding to the curvature of the road and the speed of the vehicle among the reference accelerations stored in the memory, and determine that the vehicle is traveling in the second tining section based on the acceleration of the vehicle and the first reference acceleration. ### Claim 3 (depends on 2) The vehicle according to claim 2, wherein the processor is further configured to determine that the vehicle is traveling in the second tining section when the acceleration of the vehicle is equal to or greater than a predetermined ratio of the first reference acceleration. ### Claim 4 (depends on 1) The vehicle according to claim 1, wherein the lateral control of the vehicle comprises a control of at least one of an angular velocity of the vehicle, a lane following assist of the vehicle, a yaw rate of the vehicle, a feedback angle gain of the vehicle, or a heading angle of the vehicle. ### Claim 5 (depends on 1) The vehicle according to claim 1, wherein the processor is configured to perform a longitudinal control of the vehicle based on at least one of the curvature of the road, the speed of the vehicle, or the acceleration of the vehicle. ### Claim 6 (depends on 1) The vehicle according to claim 1, wherein the processor is further configured to identify at least one of the curvature of the road, the speed of the vehicle, or the acceleration of the vehicle, based on information obtained through the sensor device for a predetermined time. ### Claim 7 (depends on 1) The vehicle according to claim 1, wherein the sensor device comprises at least one of at least one camera, at least one radar, an acceleration sensor, or a speed sensor. ### Claim 8 A control method of a vehicle, comprising: identifying an entry of the vehicle into a tining section of a road through a navigation device of the vehicle; identifying a curvature of the road, a speed of the vehicle, and an acceleration of the vehicle in response to the entry of the vehicle into the tining section; determining whether the vehicle is traveling in i) a first tining section including uniform unevenness and uniform unevenness intervals or ii) a second tining section including at least one of non-uniform unevenness and non-uniform unevenness intervals, based on the curvature of the road, the speed of the vehicle, and the acceleration of the vehicle; and performing a lateral control of the vehicle corresponding to the second tining section, based on the determination that the vehicle is travelling in the second tining section, wherein the lateral control of the vehicle comprises a control of increasing an angular velocity damping value of the vehicle. ### Claim 9 (depends on 8) The control method according to claim 8, wherein the determining of whether the vehicle is traveling in the second tining section comprises: identifying a first reference acceleration corresponding to the curvature of the road and the speed of the vehicle among reference accelerations corresponding to a plurality of reference curvatures and a plurality of reference speeds, respectively; and determining that the vehicle is traveling in the second tining section based on the acceleration of the vehicle and the first reference acceleration. ### Claim 10 (depends on 9) The control method according to claim 9, wherein the determining of whether the vehicle is traveling in the second tining section comprises determining that the vehicle is traveling in the second tining section when the acceleration of the vehicle is equal to or greater than a predetermined ratio of the first reference acceleration. ### Claim 11 (depends on 8) The control method according to claim 8, wherein the lateral control of the vehicle comprises a control of at least one of an angular velocity of the vehicle, a lane following assist of the vehicle, a yaw rate of the vehicle, a feedback angle gain of the vehicle, or a heading angle of the vehicle. ### Claim 12 (depends on 8) The control method according to claim 8, further comprising: performing a longitudinal control of the vehicle based on at least one of the curvature of the road, the speed of the vehicle, or the acceleration of the vehicle. ### Claim 13 (depends on 8) The control method according to claim 8, wherein the identifying of at least one of the curvature of the road, the speed of the vehicle, or the acceleration of the vehicle is performed based on information obtained through a sensor device for a predetermined time.