# US 9,751,530 B2 · Vehicle and method for controlling thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 9,751,530 B2 - Document ID: US9751530B2 - Status: Granted - Kind: B2 - Application number: 14/958,510 - Filed: 2015-12-03 - Published: 2017-03-02 - Granted: 2017-09-05 - Earliest claimed: 2015-08-27 - Assignees: Hyundai Motor Company - Applicants: Hyundai Motor Company - Inventors: Woon Ki Cho - Web page: https://patentgrep.com/patent/US9751530B2 ## 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)} - B60W 50/085: {Changing the parameters of the control units, e.g. changing limit values, working points by control input} - B60W 2050/146: {Display means} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2520/14: Yaw - B60W 2540/21: Voice - B60W 2540/215: Selection or confirmation of options - B60W 2540/26: Incapacity - B60W 2552/05: Type of road, e.g. motorways, local streets, paved or unpaved roads - B60W 2710/202: Steering torque - 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) - 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 an input unit configured to receive an input of a control point and a control degree related to lane keeping; a lane controller configured to determine whether to perform a lane keeping control based on the input control point, road conditions and a vehicle condition in the road; and a controller configured to control the vehicle's driving based on the control degree when the lane controller determines to perform the lane keeping control. ## Claims ### Claim 1 A vehicle comprising: an input unit configured to receive an input of a control point and a control degree related to lane keeping; a lane controller configured to determine whether to perform a lane keeping control based on the input control point, road conditions and vehicle conditions in the road; and a controller configured to control the vehicle's driving based on the control degree when the lane controller determines to perform the lane keeping control, wherein the lane controller derives road condition information used to recognize the road conditions and vehicle condition information used to recognize the vehicle conditions. ### Claim 2 (depends on 1) The vehicle of claim 1, wherein the input unit receives an input of a control point for a left lane and a control degree for a left lane, and a control point for a left lane and a control degree for a right lane, individually. ### Claim 3 (depends on 1) The vehicle of claim 1, wherein the input unit receives an input of a lane keeping level, which relates the control point and the control degree. ### Claim 4 (depends on 1) The vehicle of claim 1, wherein the controller displays a user interface configured to receive an input of at least one of the control point, the control degree, and a lane keeping level of the vehicle in a display unit. ### Claim 5 (depends on 1) The vehicle of claim 1, wherein the controller displays a user interface configured to receive input of at least one of the control point, the control degree, and a lane keeping level, where the lane keeping level is within a pre-set range. ### Claim 6 (depends on 1) The vehicle of claim 1, further comprising: a recording unit configured to acquire image information related to a front area of the vehicle. ### Claim 7 (depends on 6) The vehicle of claim 6, wherein the lane controller derives the road condition information and the vehicle condition information from the image information acquired by the recording unit by image processing. ### Claim 8 (depends on 7) The vehicle of claim 7, wherein the lane controller determines whether to perform the lane keeping control based on the road condition information, the vehicle condition information, and the input control point. ### Claim 9 (depends on 1) The vehicle of claim 1, wherein the lane controller determines a steering torque value to be applied to a steering wheel based on the input control degree. ### Claim 10 (depends on 9) The vehicle of claim 9, wherein the lane controller applies a torque to the steering wheel based on the steering torque value. ### Claim 11 (depends on 2) The vehicle of claim 2, wherein the lane controller independently determines whether to perform the lane keeping control for the left lane and the right lane based on the input control points for the left lane and the right lane, respectively, and independently determines steering torques for the left lane and the right lane based on the input control degrees for the left lane and the right lane, respectively. ### Claim 12 A control method of a vehicle comprising steps of: receiving an input of a control point and a control degree related to lane keeping; determining whether to perform a lane keeping control based on the input control point, road conditions and vehicle conditions in the road; and controlling the vehicle's driving based on the control degree when the lane keeping control is determined to be performed, wherein the determining further comprises deriving road condition information used to recognize road the conditions and vehicle condition information used to recognize the vehicle conditions. ### Claim 13 (depends on 12) The control method of claim 12 wherein the step of receiving an input includes receiving an input of a control point for a left lane, a control degree for a left lane, a control point for a right lane and a control degree for a right lane, individually. ### Claim 14 (depends on 12) The control method of claim 12 wherein the step of receiving an input includes receiving a lane keeping level which relates the control point and the control degree. ### Claim 15 (depends on 12) The control method of claim 12 wherein the step of receiving an input comprises acquiring image information related to a front area of the vehicle. ### Claim 16 (depends on 15) The control method of claim 15 wherein the step of determining further comprises deriving the road condition information and the vehicle condition information from the acquired image information by image processing. ### Claim 17 (depends on 16) The control method of claim 16 wherein the step of determining further comprises determining whether to perform the lane keeping control based on the road condition information, the vehicle condition information, and the input control point. ### Claim 18 (depends on 12) The control method of claim 12 wherein the step of determining includes determining a steering torque value applied to a steering wheel based on the input control degree. ### Claim 19 (depends on 12) The control method of claim 12 wherein the step of controlling includes applying a torque to the steering wheel based on the steering torque value. ### Claim 20 (depends on 13) The control method of claim 13 wherein the step of determining further comprises determining whether to perform the lane keeping control for the left lane and the right lane based on the control points of the left lane and the right lane, respectively, and determining steering torques for the left lane and the right lane based on the input control degrees of the left lane and the right lane, respectively.