# US 11,908,201 B2 · Apparatus for supporting driving of vehicle and operating method of the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,908,201 B2 - Document ID: US11908201B2 - Status: Granted - Kind: B2 - Application number: 17/474,351 - Filed: 2021-09-14 - Published: 2022-09-29 - Granted: 2024-02-20 - Earliest claimed: 2021-03-24 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Hyo Won Kim - Web page: https://patentgrep.com/patent/US11908201B2 ## CPC - G06V 20/58: Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads - B60W 40/09: Driving style or behaviour - G06V 10/25: Determination of region of interest [ROI] or a volume of interest [VOI] - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2420/408: Radar; Laser, e.g. lidar - B60W 2554/4049: Relationship among other objects, e.g. converging dynamic objects - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - B60W: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT ## Abstract An apparatus that supports driving of a vehicle may include a location check device that determines whether the vehicle is located within a circuit area, based on location information of the vehicle, a camera device that obtains an image around the vehicle, and a processor that recognizes a specific object from the obtained image based on whether the vehicle is located within the circuit area, sets a region of interest (ROI) with respect to the specific object, and performs image-processing on the ROI preferentially. ## Claims ### Claim 1 An apparatus for supporting driving of a vehicle, the apparatus comprising: a location check device configured to determine whether the vehicle is located within a circuit area, based on location information of the vehicle; a camera device configured to obtain an image around the vehicle; and a processor configured to: recognize a specific object from the obtained image based on whether the vehicle is located within the circuit area; set a region of interest (ROI) with respect to the specific object; and perform image-processing on the ROI preferentially, wherein the specific object includes a post configured to provide a signal to a driver of the vehicle using a signal flag, and wherein the post is located within the circuit area. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the processor is configured to: recognize the specific object from the obtained image when the vehicle is located within the circuit area. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the processor is configured to: recognize the signal flag by preferentially performing image-processing on the ROI. ### Claim 4 (depends on 3) The apparatus of claim 3, further comprising: an output device configured to output content for the signal flag when the processor recognizes the signal flag. ### Claim 5 (depends on 3) The apparatus of claim 3, wherein the processor is configured to: set a right-side area of the post to a first ROI when the post is located on a right side based on a traveling direction of the vehicle; and set a left-side area of the post to a second ROI when the post is located on a left side based on the traveling direction of the vehicle. ### Claim 6 (depends on 5) The apparatus of claim 5, wherein the processor is configured to: obtain map information of the circuit area in which a location of the post is stored; and recognize the location of the post, which is to be reached with respect to the traveling direction of the vehicle, based on the map information and the location information of the vehicle. ### Claim 7 (depends on 6) The apparatus of claim 6, wherein the processor is configured to: recognize the signal flag by preferentially performing image-processing on the first ROI when the post to be reached is located on a right side with respect to the traveling direction of the vehicle; and recognize the signal flag by preferentially performing image-processing on the second ROI when the post to be reached is located on a left side with respect to the traveling direction of the vehicle. ### Claim 8 (depends on 4) The apparatus of claim 4, wherein the processor is configured to: recognize whether an unusual situation occurs, from the obtained image. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the processor is configured to: recognize that the unusual situation occurs in at least one of a case that an obstacle is recognized in front of the vehicle in the obtained image, a case that another vehicle without movement in front of the vehicle is recognized in the obtained image, a case that a specific vehicle is recognized in front of the vehicle in the obtained image, a case that another vehicle is recognized behind the vehicle in the obtained image, and a case that the specific vehicle is recognized behind the vehicle in the obtained image. ### Claim 10 (depends on 8) The apparatus of claim 8, wherein the processor is configured to: set an area other than the first ROI and the second ROI in the obtained image to a third ROI for recognizing whether the unusual situation occurs. ### Claim 11 (depends on 1) The apparatus of claim 1, wherein the camera device includes: a front camera configured to obtain an image in front of the vehicle; and a rear camera configured to obtain an image behind the vehicle. ### Claim 12 (depends on 1) The apparatus of claim 1, further comprising: a LIDAR sensor configured to detect and analyze an obstacle in front and rear of the vehicle. ### Claim 13 An operating method of a driving supporting apparatus of a vehicle, the method comprising: identifying location information of the vehicle; determining whether the vehicle is located within a circuit area; obtaining an image around the vehicle; recognizing a specific object in the obtained image when the vehicle is located within the circuit area; setting an ROI with respect to the specific object; and performing image-processing on the ROI preferentially, wherein the specific object includes a post configured to provide a signal to a driver of the vehicle using a signal flag, and wherein the post is located within the circuit area. ### Claim 14 (depends on 13) The method of claim 13, wherein the performing of the image-processing on the ROI preferentially includes: recognizing the signal flag; and recognizing whether an unusual situation occurs. ### Claim 15 (depends on 14) The method of claim 14, wherein the setting of the ROI with respect to the specific object includes: setting a right-side area of the post to a first ROI when the post is located on a right side based on a traveling direction of the vehicle; and setting a left-side area of the post to a second ROI when the post is located on a left side based on the traveling direction of the vehicle. ### Claim 16 (depends on 15) The method of claim 15, wherein the recognizing of the specific object in the obtained image when the vehicle is located within the circuit area includes: obtaining map information in which a location of the post; and recognizing the location of the post, which is to be reached with respect to the traveling direction of the vehicle, based on the map information and the location information of the vehicle. ### Claim 17 (depends on 16) The method of claim 16, wherein the recognizing of the specific object includes: recognizing the signal flag by preferentially performing image-processing on the first ROI when the post to be reached is located on a right side with respect to the traveling direction of the vehicle; and recognizing the signal flag by preferentially performing image-processing on the second ROI when the post to be reached is located on a left side with respect to the traveling direction of the vehicle. ### Claim 18 (depends on 15) The method of claim 15, wherein the setting of the ROI includes: setting an area other than the first ROI and the second ROI in the obtained image to a third ROI for recognizing whether the unusual situation occurs.