Vehicle control apparatus
AssigneeDenso Corporation
InventorYusuke MATSUMOTO
Life of this patent
Estimating the term…
Abstract
A vehicle control apparatus estimates a curvature of the own lane ahead of the own vehicle based on both left and right markings in a captured image and performs a steering control of the own vehicle based on the estimated curvature of the own lane. The control unit determines the direction of the own vehicle and determines whether a change in the road slope is present. When the vehicle control apparatus determines that the direction of the own vehicle changes and the road slope ahead of the own vehicle changes, the vehicle control apparatus applies a restriction to the steering control performed based on the curvature of the own lane.
Claims7
A vehicle control apparatus comprising:
- a marking detection unit that detects a marking defining an own lane based on an image of a region ahead of an own vehicle captured by an imaging device;
- a curvature estimation unit that estimates a curvature of the own lane ahead of the own vehicle based on both of left and right markings detected by the marking detection unit;
- a control unit that performs a steering control of the own vehicle based on the curvature of the own lane estimated by the curvature estimation unit;
- a change determination unit that determines whether a direction of the own vehicle has changed with respect to a direction where the own lane extends;
- and
- a slope determination unit that determines whether a change in a road slope is present ahead of the own vehicle,
- wherein
- the control unit is configured to apply a restriction to the steering control performed based on the curvature of the own lane during a state where a change in the direction of the own vehicle has been detected and a change in the road slope ahead of the own vehicle has been detected.
A vehicle control apparatus comprising:
- a marking detection unit that detects a marking defining an own lane based on an image ahead of an own vehicle captured by an imaging device;
- a curvature estimation unit that estimates a curvature of the own lane ahead of the own vehicle based on both of left and right markings detected by the marking detection unit;
- a control unit that performs a steering control of the own vehicle based on the curvature of the own lane estimated by the curvature estimation unit;
- a change determination unit that determines a direction difference between a direction of the own vehicle and a direction of the own lane;
- and
- a slope determination unit that determines whether a change in a road slope is present ahead of the own vehicle,
- wherein
- the control unit is configured to apply a restriction to the steering control performed based on the curvature of the own lane when the direction difference determined by the change determination unit exceeds a predetermined difference and the slope determination unit determines that there is a change in the road slope ahead of the own vehicle.
Dependencies are inferred from the claim text.