# US 12,110,054 B2 · Apparatus and method for controlling driving of vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,110,054 B2 - Document ID: US12110054B2 - Status: Granted - Kind: B2 - Application number: 17/721,817 - Filed: 2022-04-15 - Published: 2023-01-19 - Granted: 2024-10-08 - Earliest claimed: 2021-07-13 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Jae Won Jung - Web page: https://patentgrep.com/patent/US12110054B2 ## CPC - B62D 15/0265: {Automatic obstacle avoidance by steering} - B60Q 1/249: {for illuminating the field of view of a sensor or camera} - B60Q 1/2665: {on rear-view mirrors (lighting devices for vehicle interior on or for rear-view mirrors B60Q3/258)} - B60Q 1/48: for parking purposes - B60Q 9/008: {for anti-collision purposes} - B60R 1/1207: {with lamps; with turn indicators} - B60W 40/02: related to ambient conditions - B60W 50/14: Means for informing the driver, warning the driver or prompting a driver intervention - B62D 15/025: {Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation (B62D1/28 takes precedence)} - B62D 15/027: {Parking aids, e.g. instruction means} - G06T 7/50: Depth or shape recovery - G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road} - B60W 30/12: Lane keeping - B60W 2050/143: {Alarm means} - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - B60W 2710/207: Steering angle of wheels - G06T 2207/30256: Lane; Road marking - G06T 2207/30261: Obstacle - B62D: MOTOR VEHICLES; TRAILERS (steering, or guiding on a desired track, of agricultural machines or implements A01B69/00; wheels, castors, axles, increasing wheel adhesion B60B; vehicle tyres, tyre inflation or tyre changing B60C; connections between vehicles of a train or the like B60D; vehicles for use on rail and road, amphibious or convertible vehicles B60F; suspension arrangements B60G; heating, cooling, ventilating or other air treating devices B60H; windows, windscreens, non-fixed roofs, doors or similar devices, protective coverings for vehicles not in use B60J; propulsion plant arrangements, auxiliary drives, transmissions, controls, instrumentation or dashboards B60K; electric equipment or propulsion of electrically-propelled vehicles B60L; power supply for electrically-propelled vehicles B60M; passenger accommodation not otherwise provided for B60N; adaptations for load transportation or to carry special loads or objects B60P; arrangement of signalling or lighting devices, the mounting or supporting thereof or circuits therefor, for vehicles in general B60Q; vehicles, vehicle fittings or vehicle parts not otherwise provided for B60R; servicing, cleaning, repairing, supporting, lifting, or manoeuvring, not otherwise provided for, B60S; brake arrangements, brake control systems or parts thereof B60T; air-cushion vehicles B60V; motor-cycles, accessories therefor B62J, B62K; testing of vehicles G01M) - B60Q: ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - 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 - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract An apparatus and method for controlling driving of a vehicle are provided and the apparatus includes a lamp that projects a lamp light onto one of a left floor surface or a right floor surface of the vehicle, a camera that obtains an image of an area onto which the lamp light is projected, and a controller that determines whether to output a warning based on the image of the area onto which the lamp light is projected when the lamp light is projected onto a boundary stone located around at least one of the left floor surface or the right floor surface of the vehicle. ## Claims ### Claim 1 An apparatus for controlling driving of a vehicle, the apparatus comprising: a lamp configured to project a lamp light onto one of a left floor surface or a right floor surface of the vehicle; a camera configured to obtain an image of an area onto which the lamp light is projected; and a controller configured to determine whether to output a warning based on the image of the area onto which the lamp light is projected when the lamp light is projected onto a boundary stone located around at least one of the left floor surface or the right floor surface of the vehicle, wherein the controller controls the lamp to be turned on, when input information for generating a surround view image by the camera is received from an input device. ### Claim 2 (depends on 1) The apparatus of claim 1, wherein the controller is further configured to determine whether to output the warning based on the image of the area of a floor surface onto which the lamp light is projected in a same direction as a direction in which the vehicle turns. ### Claim 3 (depends on 1) The apparatus of claim 1, wherein the controller is further configured to determine a distance between the vehicle and the boundary stone based on the image of the area onto which the lamp light is projected. ### Claim 4 (depends on 1) The apparatus of claim 1, wherein the controller is further configured to compare a distance between the vehicle and the boundary stone with a safety distance and to determine whether to output the warning based on a comparison result. ### Claim 5 (depends on 4) The apparatus of claim 4, wherein the safety distance varies corresponding to a steering angle of a steering wheel of the vehicle. ### Claim 6 (depends on 4) The apparatus of claim 4, wherein the safety distance increases as a steering angle of a steering wheel of the vehicle increases. ### Claim 7 (depends on 4) The apparatus of claim 4, wherein the controller is further configured to control to output the warning when the distance between the vehicle and the boundary stone is less than the safety distance. ### Claim 8 (depends on 4) The apparatus of claim 4, wherein the controller is further configured to control a steering angle of a steering wheel of the vehicle to keep the distance between the vehicle and the boundary stone to be the safety distance when the distance between the vehicle and the boundary stone is less than the safety distance. ### Claim 9 (depends on 8) The apparatus of claim 8, wherein the controller is further configured to control the steering angle of the steering wheel of the vehicle by using a lane keeping assistance system. ### Claim 10 (depends on 1) The apparatus of claim 1, wherein the lamp is disposed on at least one of a lower portion of a left side mirror or a lower portion of a right side mirror of the vehicle. ### Claim 11 A method of controlling driving of a vehicle, the method comprising: projecting a lamp light onto one of a left floor surface or a right floor surface of the vehicle; obtaining an image of an area onto which the lamp light is projected; and determining whether to output a warning based on the image of the area onto which the lamp light is projected when the lamp light is projected onto a boundary stone located around at least one of the left floor surface or the right floor surface of the vehicle, wherein the lamp is turned on, when input information for generating a surround view image by the camera is received from an input device. ### Claim 12 (depends on 11) The method of claim 11, wherein the determining whether to output a warning includes: determining whether to output the warning based on the image of the area of a floor surface onto which the lamp light is projected in a same direction as a direction in which the vehicle turns. ### Claim 13 (depends on 11) The method of claim 11, further comprising: determining a distance between the vehicle and the boundary stone based on the image of the area onto which the lamp light is projected. ### Claim 14 (depends on 11) The method of claim 11, wherein the determining whether to output a warning includes: comparing a distance between the vehicle and the boundary stone with a safety distance and determining whether to output the warning based on a comparison result. ### Claim 15 (depends on 14) The method of claim 14, wherein the safety distance varies corresponding to a steering angle of a steering wheel of the vehicle. ### Claim 16 (depends on 14) The method of claim 14, wherein the safety distance increases as a steering angle of a steering wheel of the vehicle increases. ### Claim 17 (depends on 14) The method of claim 14, further comprising: controlling to output the warning when the distance between the vehicle and the boundary stone is less than the safety distance. ### Claim 18 (depends on 14) The method of claim 14, further comprising: controlling a steering angle of a steering wheel of the vehicle to keep the distance between the vehicle and the boundary stone to be the safety distance when the distance between the vehicle and the boundary stone is less than the safety distance. ### Claim 19 (depends on 18) The method of claim 18, further comprising: controlling the steering angle of the steering wheel of the vehicle by using a lane keeping assistance system. ### Claim 20 (depends on 11) The method of claim 11, wherein the lamp is disposed on at least one of a lower portion of a left side mirror or a lower portion of a right side mirror of the vehicle.