{
  "$type": "site.standard.document",
  "description": "Provided is a control apparatus of a vehicle for changing a lane, including: a target lane generator configured to generate a target lane; a target distance generator configured to generate a target distance; a circular trace generator configured to generate a circular trace passing a current point…",
  "path": "/patents/975144",
  "publishedAt": "2014-05-07T00:00:00.000Z",
  "site": "at://did:plc:oql6ds5vnff4ugar6rruliwd/site.standard.publication/3mn3ohu7oxx5w",
  "tags": [
    "B60W30/10",
    "HYUNDAI MOBIS CO LTD [KR]"
  ],
  "textContent": "Provided is a control apparatus of a vehicle for changing a lane, including: a target lane generator configured to generate a target lane; a target distance generator configured to generate a target distance; a circular trace generator configured to generate a circular trace passing a current point of a vehicle and a point on a center line of the target lane spaced by the target distance based on the vehicle, and having a driving direction of the vehicle as a tangential direction in real time; and a steering controller configured to calculate a target rate and a target steering angle so as for the vehicle to follow the generated circular trace, thereby providing an advantageous effect of preventing a sense of steering difference and a pulling phenomenon of the vehicle when changing a lane.",
  "title": "Control apparatus of vehicle for changing lane and control method of the same"
}