# US 2019/0168804 A1 · Vehicular control system with steering adjustment > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2019/0168804 A1 - Document ID: US20190168804A1 - Status: Published application - Kind: A1 - Application number: 16/266,183 - Filed: 2019-02-04 - Published: 2019-06-06 - Earliest claimed: 2014-04-10 - Assignees: Magna Electronics Inc. - Applicants: Magna Electronics Inc. - Inventors: Devendra Bajpai; Honghao Tan - Web page: https://patentgrep.com/patent/US20190168804A1 ## CPC - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - B60R 1/23: with a predetermined field of view - B62D 6/00: Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits (means for initiating a change in direction B62D1/00; steering valves B62D5/06; combined with means for inclining the vehicle body or wheels on bends B62D9/00) - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - G06V 40/20: Movements or behaviour, e.g. gesture recognition (recognition of facial expressions G06V40/16) - H04N 23/51: Housings - H04N 23/54: Mounting of pick-up tubes, electronic image sensors, deviation or focusing coils - B60R 2300/10: characterised by the type of camera system used - B60R 2300/30: characterised by the type of image processing - B60R 2300/8033: for pedestrian protection - B60R 2300/804: for lane monitoring - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - H04N: PICTORIAL COMMUNICATION, e.g. TELEVISION ## Abstract A vehicular control system includes a forward viewing camera having a field of view forward of the vehicle. A control includes an image processor operable to process image data captured by the camera to determine road curvature of a curved section of a road being traveled by the vehicle. Based on the determined road curvature, the control determines tangents to the determined road curvature along the curved section of the road. The control steers the equipped vehicle along the curved section of the road by adjusting steering of the vehicle to follow the determined tangents to the determined road curvature as the vehicle moves along the curved section of the road. ## Claims ### Claim 1 A vehicular control system, said vehicular control system comprising: a forward viewing camera disposed at an interior-cabin side of a windshield of a vehicle equipped with said vehicular control system and having a field of view through the windshield exterior and forward of the equipped vehicle; said camera comprising at least 1 million photosensor elements arranged in a two-dimensional photosensor array having rows and columns; a control comprising an image processor operable to process image data captured by said camera; wherein said image processor processes image data captured by said camera to determine road curvature of a curved section of a road being traveled by the equipped vehicle; wherein, based on the determined road curvature, said control determines tangents to the determined road curvature along the curved section of the road; and wherein said control steers the equipped vehicle along the curved section of the road by adjusting steering of the equipped vehicle to follow the determined tangents to the determined road curvature as the equipped vehicle moves along the curved section of the road. ### Claim 2 (depends on 1) The vehicular control system of claim 1, wherein said control adjusts steering of the equipped vehicle to have a wheel of the equipped vehicle parallel to a determined tangent to the determined road curvature as the equipped vehicle moves along the curved section of the road. ### Claim 3 (depends on 1) The vehicular control system of claim 1, wherein said control adjusts steering of the equipped vehicle to have a front wheel of the equipped vehicle parallel to a determined tangent to the determined road curvature as the equipped vehicle moves along the curved section of the road. ### Claim 4 (depends on 1) The vehicular control system of claim 1, wherein said control determines trajectory of the equipped vehicle at least in part responsive to (i) velocity of the equipped vehicle and (ii) yaw rate of the equipped vehicle. ### Claim 5 (depends on 4) The vehicular control system of claim 4, wherein determination of the trajectory comprise generation of a heading of the equipped vehicle. ### Claim 6 (depends on 1) The vehicular control system of claim 1, wherein said image processor processes image data captured by said camera to determine lane boundaries of a traffic lane occupied by the equipped vehicle as the equipped vehicle moves along the curved section of the road. ### Claim 7 (depends on 6) The vehicular control system of claim 6, wherein said control, at least in part responsive to processing by said image processor of captured image data, maintains the equipped vehicle within the determined lane boundaries of the traffic lane. ### Claim 8 (depends on 7) The vehicular control system of claim 7, wherein said control applies a steering correction to maintain the equipped vehicle within the determined lane boundaries of the traffic lane. ### Claim 9 (depends on 8) The vehicular control system of claim 8, wherein the steering correction comprises a torque applied to a steering mechanism of the equipped vehicle. ### Claim 10 (depends on 1) The vehicular control system of claim 1, wherein said control, responsive at least in part to processing by said image processor of captured image data, determines an end of the curved section of the road where the road straightens, and wherein said control, responsive to determination that the equipped vehicle is at the end of the curved section of the road where the road straightens, adjusts steering of the equipped vehicle such that the equipped vehicle travels parallel to a tangent of the road after the equipped vehicle has traversed the curved section of the road and is at a straight section of the road. ### Claim 11 (depends on 10) The vehicular control system of claim 10, wherein, after the equipped vehicle has traversed the curved section and is at the straight section of the road, the equipped vehicle has zero lateral acceleration and zero lateral velocity. ### Claim 12 (depends on 1) The vehicular control system of claim 1, wherein said image processor processes captured image data to detect at least one selected from the group consisting of (i) an object present in the field of view of said camera, (ii) a vehicle present in the field of view of said camera and (iii) a pedestrian present in the field of view of said camera. ### Claim 13 (depends on 1) The vehicular control system of claim 1, wherein said image processor processes image data captured by said camera for at least one selected from the group consisting of (i) a vehicle headlamp control system of the equipped vehicle, (ii) a pedestrian detection system of the equipped vehicle, (iii) a collision avoidance system of the equipped vehicle and (iv) a traffic sign recognition system of the equipped vehicle. ### Claim 14 A vehicular control system, said vehicular control system comprising: a forward viewing camera disposed at an interior-cabin side of a windshield of a vehicle equipped with said vehicular control system and having a field of view through the windshield exterior and forward of the equipped vehicle; said camera comprising at least 1 million photosensor elements arranged in a two-dimensional photosensor array having rows and columns; a control comprising an image processor operable to process image data captured by said camera; wherein said image processor processes image data captured by said camera to determine road curvature of a curved section of a road being traveled by the equipped vehicle; wherein said image processor processes image data captured by said camera to determine lane boundaries of a traffic lane occupied by the equipped vehicle as the equipped vehicle moves along the curved section of the road; wherein, based on the determined road curvature, said control determines tangents to the determined road curvature along the curved section of the road; wherein said control steers the equipped vehicle along the curved section of the road by adjusting steering of the equipped vehicle to follow the determined tangents to the determined road curvature as the equipped vehicle moves along the curved section of the road; wherein said control, at least in part responsive to processing by said image processor of captured image data, maintains the equipped vehicle within the determined lane boundaries of the traffic lane as the equipped vehicle moves along the curved section of the road; wherein said control applies a steering correction to maintain the equipped vehicle within the determined lane boundaries of the traffic lane as the equipped vehicle moves along the curved section of the road; and wherein said control, responsive at least in part to processing by said image processor of captured image data, determines an end of the curved section of the road where the road straightens, and wherein said control, responsive to determination that the equipped vehicle is at the end of the curved section of the road where the road straightens, adjusts steering of the equipped vehicle such that the equipped vehicle travels parallel to a tangent of the road after the equipped vehicle has traversed the curved section of the road and is at a straight section of the road. ### Claim 15 (depends on 14) The vehicular control system of claim 14, wherein said control adjusts steering of the equipped vehicle to have a wheel of the equipped vehicle parallel to a determined tangent to the determined road curvature as the equipped vehicle moves along the curved section of the road. ### Claim 16 (depends on 14) The vehicular control system of claim 14, wherein the steering correction comprises a torque applied to a steering mechanism of the equipped vehicle. ### Claim 17 (depends on 14) The vehicular control system of claim 14, wherein, after the equipped vehicle has traversed the curved section and is at the straight section of the road, the equipped vehicle has zero lateral acceleration and zero lateral velocity. ### Claim 18 A vehicular control system, said vehicular control system comprising: a forward viewing camera disposed at an interior-cabin side of a windshield of a vehicle equipped with said vehicular control system and having a field of view through the windshield exterior and forward of the equipped vehicle; said camera comprising at least 1 million photosensor elements arranged in a two-dimensional photosensor array having rows and columns; a control comprising an image processor operable to process image data captured by said camera; wherein said image processor processes image data captured by said camera to determine road curvature of a curved section of a road being traveled by the equipped vehicle; wherein, based on the determined road curvature, said control determines tangents to the determined road curvature along the curved section of the road; wherein said control steers the equipped vehicle along the curved section of the road by adjusting steering of the equipped vehicle to follow the determined tangents to the determined road curvature as the equipped vehicle moves along the curved section of the road; wherein said control, responsive at least in part to processing by said image processor of captured image data, determines an end of the curved section of the road where the road straightens, and wherein said control adjusts steering of the equipped vehicle such that the equipped vehicle travels parallel to a tangent of the road after the equipped vehicle has traversed the curved section of the road and is at a straight section of the road; and wherein said image processor processes image data captured by said camera for at least one selected from the group consisting of (i) a vehicle headlamp control system of the equipped vehicle, (ii) a pedestrian detection system of the equipped vehicle, (iii) a collision avoidance system of the equipped vehicle and (iv) a traffic sign recognition system of the equipped vehicle. ### Claim 19 (depends on 18) The vehicular control system of claim 18, wherein said control adjusts steering of the equipped vehicle to have a wheel of the equipped vehicle parallel to a determined tangent to the determined road curvature as the equipped vehicle moves along the curved section of the road. ### Claim 20 (depends on 18) The vehicular control system of claim 18, wherein, after the equipped vehicle has traversed the curved section and is at the straight section of the road, the equipped vehicle has zero lateral acceleration and zero lateral velocity.