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US 12,576,837 B2Granted
Object perception method for vehicle and object perception apparatus
AssigneesHyundai Motor Company, Kia Corporation
InventorsJu Hyeok Ra, Hyun Ju Kim
Life of this patent
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Abstract
The present disclosure relates to an object perception method and an object perception apparatus. An object perception method may include detecting candidate objects by using at least one sensor; determining objects from a vehicle among the candidate objects; determining preceding objects among the vehicle objects from the vehicle; and determining the first closest preceding object and the second closest preceding object among the preceding objects.
Claims20
A method performed by a host vehicle comprising:
- detecting candidate objects using at least one sensor mounted on the host vehicle;
- determining ego-lane objects from among the candidate objects, the ego-lane objects being objects detected as located in an ego-lane in which the host vehicle is traveling;
- determining preceding objects, among the ego-lane objects, traveling ahead of the host vehicle in the ego-lane;
- determining a first closest preceding object and a second closest preceding object from among the preceding objects, the first closest preceding object being an ego-lane object which travels at a closest distance from the host vehicle, and the second closest preceding object being an ego-lane object which travels at a second closest distance from the host vehicle;
- and
- controlling, based on movements of the first closest preceding object and the second closest preceding object, driving of the host vehicle.
3 more elements
An apparatus of a host vehicle, the apparatus comprising:
- at least one sensor that is mounted on the host vehicle and detects surrounding objects;
- one or more processors;
- and
- a computer-readable recording medium storing instructions that, when executed by the one or more processors, cause the apparatus to:
- detect candidate objects using the at least one sensor;
- determine ego-lane objects among the candidate objects, the ego-lane objects being objects detected as located in an ego-lane in which the host vehicle is traveling;
- determine preceding objects, among the ego-lane objects, traveling ahead of the host vehicle in the ego-lane;
- determine a first closest preceding object and a second closest preceding object among the preceding objects, the first closest preceding object being an ego-lane object which travels at a closest distance from the host vehicle, and the second closest preceding object being an ego-lane object which travels at a second closest distance from the host vehicle;
- and
- control, based on movements of the first closest preceding object and the second closest preceding object, driving of the host vehicle.
7 more elements
Dependencies are inferred from the claim text.