{
  "$type": "site.standard.document",
  "description": "A vehicle control device recognizes a border of a traveling area of a vehicle based on image data acquired when a camera photographs a forward view of the vehicle, and performs at least one of a departure alarm and a departure control when the vehicle is predicted to depart from a reference line…",
  "path": "/patents/1364811",
  "publishedAt": "2024-06-13T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/12",
    "TOYOTA JIDOSHA KABUSHIKI KAISHA"
  ],
  "textContent": "A vehicle control device recognizes a border of a traveling area of a vehicle based on image data acquired when a camera photographs a forward view of the vehicle, and performs at least one of a departure alarm and a departure control when the vehicle is predicted to depart from a reference line set based on the border or when the vehicle has departed from the border. Furthermore, the vehicle control device determines whether a particular registered three-dimensional object that is previously registered exists, based on the image data, and makes it easier to recognize the border in a predetermined easing area set based on the position of the registered three-dimensional object on the image data, than in a normal area on the image data other than the easing area, when it is determined that the registered three-dimensional object exists.",
  "title": "VEHICLE CONTROL DEVICE"
}