# US 12,117,843 B2 · Low-cost autonomous driving shuttle and a method of operating same

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- Number: US 12,117,843 B2
- Document ID: US12117843B2
- Status: Granted
- Kind: B2
- Application number: 18/144,584
- Filed: 2023-05-08
- Published: 2023-09-07
- Granted: 2024-10-15
- Earliest claimed: 2019-02-21
- Assignees: Hyundai Motor Company; Kia Corporation
- Applicants: Hyundai Motor Company; Kia Corporation
- Inventors: Jae Jun Ha; Young Jun Moon
- Web page: https://patentgrep.com/patent/US12117843B2

## CPC

- G05D 1/0234: {using optical markers or beacons (optical beacons per se G01S1/70)}
- G05D 1/0223: {involving speed control of the vehicle (vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00)}
- G05D 1/0246: {using a video camera in combination with image processing means}
- G05D 1/0276: {using signals provided by a source external to the vehicle (involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058)}
- G05D 1/247: using signals provided by artificial sources external to the vehicle, e.g. navigation beacons
- G05D 1/249: from positioning sensors located off-board the vehicle, e.g. from cameras
- G05D 1/65: Following a desired speed profile
- G06V 10/82: using neural networks
- G06V 20/10: Terrestrial scenes (scenes under surveillance with static cameras G06V20/52; scenes perceived from the exterior of a vehicle G06V20/56; scenes perceived from the interior of a vehicle G06V20/59)
- 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
- G06V 20/588: {Recognition of the road, e.g. of lane markings; Recognition of the vehicle driving pattern in relation to the road}
- G06V 20/647: {by matching two-dimensional images to three-dimensional objects}
- G06F 18/2148: {characterised by the process organisation or structure, e.g. boosting cascade}
- G05D: SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06F: ELECTRIC DIGITAL DATA PROCESSING (computer systems based on specific computational models G06N)

## Abstract

An autonomous driving shuttle includes a camera unit configured to acquire an image and a processor configured to control the camera unit. The processor is configured to identify information on an operation of the autonomous driving shuttle and to recognize a guide line using at least one camera included in the camera unit. The autonomous driving shuttle is configured to drive using the information on the operation and the recognized guide line.

## Claims

### Claim 1

An autonomous driving shuttle comprising:
a camera unit configured to acquire an image; and
a processor configured to control the camera unit,
wherein the processor is configured to identify information on an operation of the autonomous driving shuttle, and recognize a guide line using at least one camera included in the camera unit,
wherein the autonomous driving shuttle is configured to drive using the information on the operation and the recognized guide line,
wherein, in response to the autonomous driving shuttle recognizing a vehicle as an obstacle, the processor of the autonomous driving shuttle identifies whether the vehicle is a shuttle on a shuttle list, and
wherein, in response to the vehicle not being the shuttle on the shuttle list, the processor of the autonomous driving shuttle stops the driving until the driving of the vehicle is completed.

### Claim 2 (depends on 1)

The autonomous driving shuttle of claim 1, further comprising:
a transceiver configured to transmit and receive a signal,
wherein the information on the operation of the autonomous driving shuttle is received through the transceiver.