# US 12,179,666 B2 · Driver assistance apparatus, a vehicle, and a method of controlling a vehicle > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,179,666 B2 - Document ID: US12179666B2 - Status: Granted - Kind: B2 - Application number: 18/377,207 - Filed: 2023-10-05 - Published: 2024-02-01 - Granted: 2024-12-31 - Earliest claimed: 2020-12-30 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Min Kyung Noh; Jaeseob Choi; Yonghun Lee - Web page: https://patentgrep.com/patent/US12179666B2 ## CPC - B60R 1/00: Optical viewing arrangements; Real-time viewing arrangements for drivers or passengers using optical image capturing systems, e.g. cameras or video systems specially adapted for use in or on vehicles - B60R 1/27: providing all-round vision, e.g. using omnidirectional cameras - B60R 11/04: Mounting of cameras operative during drive; Arrangement of controls thereof relative to the vehicle - G01S 15/86: Combinations of sonar systems with lidar systems; Combinations of sonar systems with systems not using wave reflection - G01S 15/87: Combinations of sonar systems - G01S 15/931: of land vehicles - B60R 2300/105: using multiple cameras - B60R 2300/301: combining image information with other obstacle sensor information, e.g. using RADAR/LIDAR/SONAR sensors for estimating risk of collision - B60R 2300/303: using joined images, e.g. multiple camera images - B60R 2300/8093: for obstacle warning - B60R: VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract A vehicle includes a first camera mounted on the vehicle to have a first field of view facing a front or rear of the vehicle and configured to acquire first image data, a second camera mounted on the vehicle to have a second field of view facing a left or right side of the vehicle and configured to acquire second image data, and a display. The vehicle also has a controller configured to display first around-view data in which the first image data and the second image data are combined so that a boundary between the first image data and the second image data becomes a first reference angle on the display. The controller is also configured to combine the first image data and the second image data so that an angle between the boundary and a driving direction of the vehicle becomes a second reference angle greater than the first reference angle based on an opening of a door or trunk lid or gate of the vehicle. ## Claims ### Claim 1 A vehicle comprising: a first camera mounted on the vehicle to have a first field of view facing a front or rear of the vehicle and configured to acquire first image data; a second camera mounted on the vehicle to have a second field of view facing a left side or a right side of the vehicle and configured to acquire second image data; a display; and a controller, wherein the controller is configured to display first around-view data in which the first image data and the second image data are combined so that a boundary between the first image data and the second image data becomes a first reference angle on the display, and combine the first image data and the second image data so that an angle between the boundary and a driving direction of the vehicle becomes a second reference angle greater than the first reference angle based on an opening of a vehicle door. ### Claim 2 (depends on 1) The vehicle of claim 1, wherein the controller is configured to combine the first image data and the second image data so that the angle between the boundary and the driving direction of the vehicle becomes a third reference angle less than the first reference angle based on a driving speed of the vehicle being equal to or greater than a reference speed. ### Claim 3 (depends on 1) The vehicle of claim 1, wherein the controller is configured to combine the first image data and the second image data so that an area occupied by the first image data in the first around-view data is expanded based on an obstacle located in the first field of view. ### Claim 4 (depends on 1) The vehicle of claim 1, wherein the controller is configured to combine the first image data and the second image data so that an area occupied by the second image data in second around-view data is expanded based on an obstacle located in the second field of view. ### Claim 5 (depends on 1) The vehicle of claim 1, wherein: the first camera has the first field of view facing a first direction; the second camera has the second field of view facing a second direction; and the controller is configured to combine the first image data and the second image data so that the boundary faces the second direction based on an obstacle located in the first field of view. ### Claim 6 (depends on 1) The vehicle of claim 1, wherein: the first camera has the first field of view facing a first direction; the second camera has the second field of view facing a second direction; and the controller is configured to combine the first image data and the second image data so that the boundary faces the first direction based on an obstacle located in the second field of view. ### Claim 7 (depends on 1) The vehicle of claim 1, wherein the controller is configured to combine the first image data and the second image data so that the angle between the boundary and the driving direction of the vehicle becomes the second reference angle greater than the first reference angle based on an obstacle located in front or rear of the vehicle. ### Claim 8 (depends on 1) The vehicle of claim 1, wherein the controller is configured to combine the first image data and the second image data so that the angle between the boundary and the driving direction of the vehicle becomes a third reference angle less than the first reference angle based on an obstacle located on the right side or the left side of the vehicle. ### Claim 9 (depends on 1) The vehicle of claim 1, wherein the controller is configured to combine the first image data and the second image data so that the angle between the boundary and the driving direction of the vehicle becomes the second reference angle less than the first reference angle based on an opening of a trunk gate or trunk lid of the vehicle. ### Claim 10 (depends on 1) The vehicle of claim 1, further comprising: a first ultrasound sensor mounted on the vehicle to have a first detection area overlapping the first field of view and configured to detect an obstacle; and a second ultrasound sensor mounted on the vehicle to have a second detection area overlapping the second field of view and configured to detect the obstacle. ### Claim 11 (depends on 10) The vehicle of claim 10, wherein the controller is configured to combine the first image data and the second image data so that an area occupied by the first image data in second around-view data is expanded when the obstacle is detected by the first ultrasound sensor. ### Claim 12 (depends on 10) The vehicle of claim 10, wherein the controller is configured to combine the first image data and the second image data so that an area occupied by the second image data in second around-view data is expanded when the obstacle is detected by the second ultrasound sensor. ### Claim 13 (depends on 10) The vehicle of claim 10, wherein the first ultrasound sensor has a first detection area facing a front or rear of the vehicle, and wherein the second ultrasound sensor has a second detection area facing the left side or the right side of the vehicle. ### Claim 14 (depends on 10) The vehicle of claim 10, wherein the controller is configured to combine the first image data and the second image data so that the angle between the boundary and the driving direction of the vehicle becomes the second reference angle greater than the first reference angle when the obstacle is detected by the first ultrasound sensor. ### Claim 15 (depends on 10) The vehicle of claim 10, wherein the controller is configured to combine the first image data and the second image data so that the angle between the boundary and the driving direction of the vehicle becomes a third reference angle less than the first reference angle when the obstacle is detected by the second ultrasound sensor. ### Claim 16 A vehicle comprising: a first camera mounted on the vehicle to have a first field of view facing a front or rear of the vehicle and configured to acquire first image data; a second camera mounted on the vehicle to have a second field of view facing a left side or a right side of the vehicle and configured to acquire second image data; a display; and a controller, wherein the controller is configured to display first around-view data in which the first image data and the second image data are combined so that a boundary between the first image data and the second image data becomes a first reference angle on the display, and combine the first image data and the second image data so that an angle between the boundary and a driving direction of the vehicle becomes a second reference angle less than the first reference angle based on an opening of a trunk lid or trunk gate of the vehicle. ### Claim 17 (depends on 16) The vehicle of claim 16, wherein the controller is configured to combine the first image data and the second image data so that the angle between the boundary and the driving direction of the vehicle becomes the second reference angle less than the first reference angle based on a driving speed of the vehicle being equal to or greater than a reference speed. ### Claim 18 (depends on 16) The vehicle of claim 16, wherein the controller is configured to: determine an obstacle is located nearby the vehicle within a view of the first camera and/or the second camera; and in response to the determination, display the first around-view data in which the first image data and the second image data are combined so that the boundary between the first image data and the second image data becomes the second reference angle on the display based on the obstacle located nearby the vehicle. ### Claim 19 (depends on 18) The vehicle of claim 18, wherein the controller is configured to combine the first image data and the second image data so that an area occupied by the first image data in the first around-view data is expanded based on the obstacle located in the first field of view.