Apparatus and method of identifying short cut-in target
AssigneesHyundai Motor Company, Kia Motors Corporation
InventorsKyoung Jun Lee, Seung Joon Lee, Dong Gu Lee
Life of this patent
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Abstract
Disclosed are a short cut-in target identification apparatus and an identification method thereof. The short cut-in target identification apparatus includes an occupancy distance map (ODM) information calculator configured to calculate ODM information based on subject vehicle and surrounding object information, a track information calculator configured to calculate track information based on the subject vehicle and surrounding object information, and a short cut-in target selector configured to select a short cut-in target based on the ODM information and the track information.
Claims20
A short cut-in target identification apparatus comprising:
- an occupancy distance map (ODM) information calculator configured to calculate ODM information based on a subject vehicle and surrounding object information;
- a track information calculator configured to calculate track information based on the subject vehicle and the surrounding object information;
- and
- a short cut-in target selector configured to select a short cut-in target based on the ODM information and the track information, wherein the short cut-in target selector is configured to:
- determine whether the subject vehicle satisfies a short cut-in target identification entry condition;
- verify validity of the ODM information;
- remove invalid ODM information when the subject vehicle satisfies the short cut-in target identification entry condition;
- correct the ODM information based on a driving state of the subject vehicle;
- select an ODM track candidate group including a plurality of candidate tracks based on the track information;
- match each candidate track and an ODM object corresponding thereto to a grid map of the ODM information to identify short cut-in of the candidate track
- determine short cut-in target information from short cut-in candidate tracks;
- and
- output the determined short cut-in target information.
A method of identifying a short cut-in target based on ODM information and track information, the method comprising:
- determining whether a subject vehicle satisfies a short cut-in target identification entry condition;
- verifying validity of the ODM information and removing invalid ODM information when the subject vehicle satisfies the short cut-in target identification entry condition;
- correcting the ODM information based on a driving state of the subject vehicle;
- selecting an ODM track candidate group including a plurality of candidate tracks based on the track information;
- matching each candidate track and an ODM object corresponding thereto to a grid map of the ODM information to identify short cut-in of the candidate track;
- determining short cut-in target information from short cut-in candidate tracks;
- and
- outputting the determined short cut-in target information.
The method of claim ii, wherein correcting the ODM information comprises correcting the ODM information based on offset information or heading information of the subject vehicle.
The method of claim ii, wherein selecting the ODM track candidate group comprises selecting tracks in left and right lanes based on a subject vehicle lane as an ODM track candidate group among a plurality of sensor fusion tracks based on the track information.
The method of claim ii, wherein determining the short cut-in target information comprises determining a candidate track closest to the subject vehicle as a short cut-in target among candidate tracks identified for short cut-in in left and right lanes based on a subject vehicle lane.
The method of claim ii, wherein outputting the determined short cut-in target information comprises:
- calculating position information and relative speed information based on a measurement point of the short cut-in target;
- and
- outputting short cut-in target information including the calculated position and relative speed information.
A non-transitory computer-readable recording medium having recorded thereon a program for executing the method of claim ii.
A vehicle comprising:
- a sensing apparatus configured to sense a subject vehicle and a surrounding object;
- and
- a short cut-in target identification apparatus configured to identify a short cut-in vehicle based on subject vehicle and surrounding object information received from the sensing apparatus, wherein the short cut-in target identification apparatus comprises:
- an occupancy distance map (ODM) information calculator configured to calculate ODM information based on the subject vehicle and surrounding object information;
- a track information calculator configured to calculate track information based on the subject vehicle and surrounding object information;
- and
- a short cut-in target selector configured to determine whether the subject vehicle satisfies a short cut-in target identification entry condition, to verify the validity of the ODM information and to remove invalid ODM information when the subject vehicle satisfies the short cut-in target identification entry condition, to correct the ODM information based on a driving state of the subject vehicle, to select an ODM track candidate group including a plurality of candidate tracks based on the track information, to match each candidate track and an ODM object corresponding thereto to a grid map of the ODM information to identify short cut-in of the candidate track, to identify short cut-in target information from short cut-in candidate tracks, and to output the identified short cut-in target information.
Dependencies are inferred from the claim text.