# US 12,600,360 B2 · Vehicle and method of controlling the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,600,360 B2 - Document ID: US12600360B2 - Status: Granted - Kind: B2 - Application number: 18/448,241 - Filed: 2023-08-11 - Published: 2024-02-22 - Granted: 2026-04-14 - Earliest claimed: 2022-08-19 - Assignees: Hyundai Mobis Co., Ltd. - Applicants: Hyundai Mobis Co., Ltd. - Inventors: Nam Soo Kim - Web page: https://patentgrep.com/patent/US12600360B2 ## CPC - B60W 40/072: Curvature of the road - G06V 10/44: Local feature extraction by analysis of parts of the pattern, e.g. by detecting edges, contours, loops, corners, strokes or intersections; Connectivity analysis, e.g. of connected components - B60W 60/001: {Planning or execution of driving tasks} - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - B60W 2420/403: Image sensing, e.g. optical camera - 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 - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## 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. ## Claims ### Claim 1 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. ### Claim 2 (depends on 1) The method of claim 1, wherein the applying includes: applying the map curvature to a steering control curvature in response to the sensed curvature differing from the map curvature by a predetermined value or more; and applying the sensed curvature to the steering control curvature in response to the sensed curvature differing from the map curvature by less than the predetermined value. ### Claim 3 (depends on 2) The method of claim 2, wherein the applying of the map curvature comprises converting the sensed curvature applied to the steering control curvature under the limit of predetermined curvature change rate into the map curvature. ### Claim 4 (depends on 2) The method of claim 2, wherein the applying of the map curvature is performed to apply the map curvature stored in a buffer before the vehicle enters the predetermined section to the steering control curvature. ### Claim 5 (depends on 1) The method of claim 1, further comprising: determining whether the difference between sensed curvatures for each of lane lines on both sides of the driving lane exceeds a threshold value in response to the vehicle being driven in the predetermined section, wherein the comparing is performed in response to the difference between the sensed curvatures being equal to the threshold value or less. ### Claim 6 (depends on 5) The method of claim 5, further comprising: selecting and applying the sensed curvature for either one of the lane lines on both sides of the driving lane to the steering control curvature in response to the difference between the sensed curvatures exceeding the threshold value. ### Claim 7 (depends on 6) The method of claim 6, wherein the predetermined section corresponds to a road branching section, and wherein the selecting and applying include selecting the sensed curvature for the lane line located opposite a branching road among the lane lines on both sides of the road branching section. ### Claim 8 (depends on 1) A non-transitory computer-readable recording medium having recorded thereon at least one program comprising commands, which, when executed by a computer, performs a method of controlling a vehicle according to claim 1. ### Claim 9 (depends on 1) The method of claim 1, wherein the determining of whether the driving lane is the outermost driving lane includes: determining whether either one lane line of the lane lines on both sides of the driving lane has a property of prohibiting lane changes; measuring road edge distance between the lane line having the property of prohibiting lane changes and a road edge of the road; and determining whether the driving lane is the outermost driving lane in response to the road edge distance being equal to a predetermined distance. ### Claim 10 (depends on 9) The method of claim 9, wherein different predetermined distances apply according to a road-type of the road. ### Claim 11 (depends on 1) The method of claim 1, wherein the determining of whether the vehicle has entered the road branching section includes: determining whether the vehicle has entered a road branching section after moving a predetermined distance in response to the link information of the road included in the map information indicating that there is a road branching section within the predetermined distance ahead of the vehicle. ### Claim 12 (depends on 1) The method of claim 1, wherein the determining of whether the vehicle has passed the road branching section includes: determining whether the vehicle has passed the road branching section in response to the link information of the road included in the map information indicating that there is no road branching section with a predetermined distance ahead of the vehicle. ### Claim 13 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. ### Claim 14 (depends on 13) The vehicle of claim 13, wherein the processor is further configured to apply the map curvature to the steering control curvature in response to the sensed curvature differing from the map curvature by a predetermined value or more; and apply the sensed curvature to the steering control curvature in response to the sensed curvature differing from the map curvature by the predetermined value or less. ### Claim 15 (depends on 13) The vehicle of claim 13, wherein the processor is further configured to: determine whether the difference between the sensed curvatures for each of the lane lines on both sides of the driving lane exceeds a threshold value in response to the vehicle being driven in the predetermined section; and compare the sensed curvature with the map curvature in response to the difference between the sensed curvatures being equal to the threshold value or less. ### Claim 16 (depends on 15) The vehicle of claim 15, wherein the processor is further configured to: select the sensed curvature for either one of the lane lines on both sides of the driving lanes; and apply the selected sensed curvature to the steering control curvature in response to the difference between the sensed curvatures exceeding the threshold value. ### Claim 17 (depends on 16) The vehicle of claim 16, wherein the predetermined section corresponds to a road branching section, and wherein the processor is further configured to select the sensed curvature for the lane line located opposite the branching road among the lane lines on both sides in the road branching section. ### Claim 18 (depends on 13) The vehicle of claim 13, wherein the predetermined section corresponds to a road branching section, and wherein the processor is further configured to determine whether the vehicle is being driven in the road branching section by sequentially determining whether the driving lane is the outermost driving lane of the road, whether the vehicle has entered the road branching section, and whether the vehicle has passed the road branching section.