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US 12,600,360 B2Granted
Vehicle and method of controlling the same
AssigneeHyundai Mobis Co., Ltd.
InventorNam Soo Kim
Life of this patent
Estimating the term…
Abstract
An apparatus and method of controlling a vehicle are provided. The method includes determining whether the vehicle is being driven in a predetermined section of a road, outputting forward image information by a camera, comparing a sensed curvature on a driving lane measured through the forward image information with a map curvature of the driving lane included in map information of a navigation system while the vehicle is in the predetermined section, and applying the sensed curvature or the map curvature to a steering control curvature based on the comparison result.
Claims18
A method of controlling a vehicle, the method comprising:
- determining whether the vehicle is being driven in a predetermined section of a road;
- outputting forward image information by a camera;
- comparing a sensed curvature on a driving lane measured through the forward image information with a map curvature of the driving lane included in map information of a navigation system while the vehicle is in the predetermined section;
- and
- applying the sensed curvature or the map curvature to a steering control curvature based on the comparison result,
- wherein the predetermined section corresponds to a road branching section,
- wherein the method further comprises determining whether the vehicle is being driven in the road branching section,
- wherein the determining of whether the vehicle is being driven in the road branching section includes:
- determining whether the driving lane is an outermost lane of the road;
- determining whether the vehicle has entered the road branching section in response to the determination that the driving lane is the outermost lane;
- determining whether the vehicle has passed the road branching section in response to the vehicle entering the road branching section, and
- wherein the determining of whether the vehicle has passed the road branching section includes:
- measuring road edge distance between the lane line having the property of prohibiting lane changes and the road edge of the road, and
- determining that the vehicle has passed the road branching section in response to the current measurement value of the road edge distance differing from the average value of the road edge distance measured before entering the road branching section by a predetermined value or less.
11 more elements
A vehicle comprising:
- a camera outputting forward image information;
- a navigation system outputting map information;
- and
- a controller comprising a processor configured to:
- determine whether the vehicle is being driven in a predetermined section of a road;
- compare sensed curvature of a driving lane measured through the forward image information with a map curvature of the driving lane included in map information in response to the vehicle being driven in the predetermined section;
- and
- applying either the sensed curvature or the map curvature to a steering control curvature based on a comparison result,
- wherein the predetermined section corresponds to a road branching section,
- wherein the method further comprises determining whether the vehicle is being driven in the road branching section,
- wherein the determining of whether the vehicle is being driven in the road branching section includes:
- determining whether the driving lane is an outermost lane of the road;
- determining whether the vehicle has entered the road branching section in response to the determination that the driving lane is the outermost lane;
- determining whether the vehicle has passed the road branching section in response to the vehicle entering the road branching section, and
- wherein the determining of whether the vehicle has passed the road branching section includes:
- measuring road edge distance between the lane line having the property of prohibiting lane changes and the road edge of the road, and
- determining that the vehicle has passed the road branching section in response to the current measurement value of the road edge distance differing from the average value of the road edge distance measured before entering the road branching section by a predetermined value or less.
14 more elements
Dependencies are inferred from the claim text.