US 12,280,775 B2
Method of and apparatus for controlling vehicle
Kwang Il Choi, Yongin-si (KR)
Assigned to Hyundai Mobis Co., Ltd., Seoul (KR)
Filed by HYUNDAI MOBIS CO., LTD., Seoul (KR)
Filed on Nov. 5, 2021, as Appl. No. 17/519,875.
Claims priority of application No. 10-2020-0167505 (KR), filed on Dec. 3, 2020.
Prior Publication US 2022/0176955 A1, Jun. 9, 2022
Int. Cl. B60W 30/12 (2020.01); B60W 10/20 (2006.01); B60W 40/04 (2006.01); B60W 40/072 (2012.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B60W 30/12 (2013.01) [B60W 10/20 (2013.01); B60W 40/04 (2013.01); B60W 40/072 (2013.01); G06V 20/584 (2022.01); G06V 20/588 (2022.01); B60W 2552/30 (2020.02); B60W 2552/53 (2020.02); B60W 2554/4044 (2020.02)] 12 Claims
OG exemplary drawing
 
1. A processor-implemented method of controlling a host vehicle, the method comprising:
determining whether the host vehicle is traveling on a last lane of a main road, the main road including at least a left vehicle lane border and a right vehicle lane border, and the last lane being an outermost lane of the main road which is adjacent to an exit road branching from the main road;
monitoring an amount of movement in a lateral direction of a preceding vehicle;
determining whether a curvature difference between the left vehicle lane border and the right vehicle lane border for the host vehicle meets a threshold;
determining whether the amount of movement in the lateral direction of the preceding vehicle is smaller than a reference movement, in response to the curvature difference between the left vehicle lane border and the right vehicle lane border meeting the threshold;
determining whether vehicle lane information associated with a side of the main road where the exit road is connected and information on a vehicle road border are similar to each other, in response to the amount of movement in the lateral direction of the preceding vehicle being equal to or larger than the reference movement;
correcting the vehicle lane information associated with the exit road side using the vehicle lane information associated with the side opposite to the side where the exit road is connected to the main road, in response to determining that the vehicle lane information associated with the side of the main road where the exit road is connected and the information on the vehicle road border are similar to each other; and
performing control for enabling the host vehicle to keep traveling on a vehicle lane by utilizing the corrected vehicle lane information.