Patent Document ID: 20140229073
Application ID: 14177401
Patent Flag: 0

Claim One:
1. A vehicle steering controlling apparatus comprising: a camera that captures an image of a view in a direction in which a vehicle is driving; a shape recognizer configured to recognize a shape of a road along which the vehicle is driving by performing a first approximation that is an approximation using a monomial or a polynomial having a degree of one or two, using the image captured by the camera; a steering controller configured to control steering of the vehicle on the basis of the shape of the road recognized by the shape recognizer; and a determiner configured to make a determination whether or not the shape of the road recognized by the shape recognizer is that of a transitional section between a curved road and a linear road, wherein, in a case where the determination made by the determiner is affirmative, the shape recognizer recognizes the shape of the road by performing a second approximation that is an approximation using a monomial or a polynomial having a degree of three or higher.