# US 12,600,380 B2 · Autonomous driving control apparatus for determining a road security mirror and method thereof > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 12,600,380 B2 - Document ID: US12600380B2 - Status: Granted - Kind: B2 - Application number: 18/456,172 - Filed: 2023-08-25 - Published: 2024-11-21 - Granted: 2026-04-14 - Earliest claimed: 2023-05-15 - Assignees: Hyundai Motor Company; Kia Corporation - Applicants: Hyundai Motor Company; Kia Corporation - Inventors: Sang Woo Chun - Web page: https://patentgrep.com/patent/US12600380B2 ## CPC - B60W 60/0015: {specially adapted for safety} - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - B60W 2420/403: Image sensing, e.g. optical camera - B60W 2552/53: Road markings, e.g. lane marker or crosswalk - 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 - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING ## Abstract An embodiment of an autonomous driving control apparatus includes a sensor device, a memory storing at least one instruction, and a controller operatively connected with the sensor device and the memory. The at least one instruction can be configured to, when executed by the controller, cause the autonomous driving control apparatus to perform operations including identifying a road security mirror being present in front of a host vehicle, using the sensor device, stop driving movement of the host vehicle, in response to the road security mirror meeting a specified condition, detecting an image change rate of at least one security mirror included in the road security mirror, and resume driving the host vehicle, in response to the image change rate being less than or equal to a specified value during a specified time. ## Claims ### Claim 1 An autonomous driving control apparatus comprising: a sensor device; a memory storing at least one instruction; and a controller operatively connected with the sensor device and the memory, wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to perform operations comprising: determining that a road security mirror is present in front of a host vehicle, using the sensor device; determining that the road security mirror meets a specified condition, in response to a vertical length of the road security mirror corresponding to a specified length; stopping driving the host vehicle, in response to the road security mirror meeting the specified condition; determining an image change rate of at least one security mirror included in the road security mirror; and resuming driving the host vehicle, in response to the image change rate being less than or equal to a specified value during a specified time. ### Claim 2 (depends on 1) The autonomous driving control apparatus of claim 1, wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to perform the operations further comprising: determining that the road security mirror meets the specified condition, in response to the road security mirror being present at a right of a driving direction of the host vehicle or the road security mirror comprising two security mirrors. ### Claim 3 (depends on 1) The autonomous driving control apparatus of claim 1, wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to perform the operations further comprising: determining that the road security mirror meets the specified condition, in response to a horizontal length of the road security mirror being greater than half of the vertical length of the road security mirror as viewed from the host vehicle. ### Claim 4 (depends on 1) The autonomous driving control apparatus of claim 1, wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to perform the operations further comprising: determining that the road security mirror does not meet the specified condition, in response to identifying that the road security mirror is present in an area within a specified angle with respect to a real-time driving direction of the host vehicle. ### Claim 5 (depends on 1) The autonomous driving control apparatus of claim 1, wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to perform the operations further comprising: determining that the road security mirror meets the specified condition, in response to a shortest distance from a furthest road line from the host vehicle among horizontal lines at an intersection being present in front of the host vehicle to the road security mirror and being within a specified range. ### Claim 6 (depends on 1) The autonomous driving control apparatus of claim 1, wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to perform the operations further comprising: identifying an expected driving route of the host vehicle; identifying a specified security mirror among the at least one security mirror of the road security mirror, based on the expected driving route; and determining at least one road to identify the image change rate among roads in an image identified by use of the specified security mirror, based on the expected driving route. ### Claim 7 (depends on 6) The autonomous driving control apparatus of claim 6, wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to perform the operations further comprising: in response to the host vehicle traveling at a T-shaped intersection, identifying a left security mirror among the at least one security mirror of the road security mirror as the specified security mirror, in response to the expected driving route of the host vehicle corresponding to a right turn; and identifying the image change rate for a road above a center line among the roads in the image identified by use of the left security mirror. ### Claim 8 (depends on 6) The autonomous driving control apparatus of claim 6, wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to perform the operations further comprising: in response to the host vehicle traveling at a T-shaped intersection, identifying a left security mirror and a right security mirror among the at least one security mirror of the road security mirror as the specified security mirror, in response to the expected driving route of the host vehicle corresponding to a left turn; identifying the image change rate for a road above a first center line among the roads in the image identified by use of the left security mirror; and identifying the image change rate for a road below a second center line among the roads in the image identified by use of the right security mirror. ### Claim 9 (depends on 6) The autonomous driving control apparatus of claim 6, wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to perform the operations further comprising: in response to the host vehicle traveling at a crossroads, identifying the image change rate for a road above a center line among the roads in the image identified by use of the specified security mirror; identifying information about another vehicle in front of the host vehicle using the sensor device; and controlling driving motion of the host vehicle, in response to the image change rate being less than or equal to the specified value during the specified time and in response to determining that the host vehicle is able to travel along the expected driving route based on the information about the other vehicle. ### Claim 10 An autonomous driving control method comprising: determining, by a controller, that a road security mirror is present in front of a host vehicle, using a sensor device; determining, by the controller, that the road security mirror meets a specified condition, in response to a vertical length of the road security mirror corresponding to a specified length; stopping, by the controller, driving motion of the host vehicle, in response to the road security mirror meeting the specified condition; determining, by the controller, an image change rate of at least one security mirror included in the road security mirror; and resuming, by the controller, driving the host vehicle in response to the image change rate being less than or equal to a specified value during a specified time. ### Claim 11 (depends on 10) The autonomous driving control method of claim 10, wherein controlling the driving motion of the host vehicle by the controller in response to the road security mirror meeting the specified condition comprises: determining, by the controller, that the road security mirror meets the specified condition, in response to the road security mirror being present at a right of a driving direction of the host vehicle or the road security mirror comprising two security mirrors. ### Claim 12 (depends on 10) The autonomous driving control method of claim 10, wherein controlling the driving motion of the host vehicle by the controller in response to the road security mirror meeting the specified condition comprises: determining, by the controller, that the road security mirror meets the specified condition, in response to a horizontal length of the road security mirror being greater than half of the vertical length of the road security mirror as viewed from the host vehicle. ### Claim 13 (depends on 10) The autonomous driving control method of claim 10, wherein controlling the driving motion of the host vehicle by the controller in response to the road security mirror meeting the specified condition comprises: determining, by the controller, that the road security mirror does not meet the specified condition, in response to identifying that the road security mirror is present in an area within a specified angle with respect to a real-time driving direction of the host vehicle. ### Claim 14 (depends on 10) The autonomous driving control method of claim 10, wherein controlling the driving motion of the host vehicle by the controller in response to the road security mirror meeting the specified condition comprises: determining, by the controller, that the road security mirror meets the specified condition, in response to a shortest distance from a furthest road line from the host vehicle among horizontal lines at an intersection being present in front of the host vehicle to the road security mirror and being within a specified range. ### Claim 15 (depends on 10) The autonomous driving control method of claim 10, further comprising: identifying, by the controller, an expected driving route of the host vehicle; identifying, by the controller, a specified security mirror among the at least one security mirror of the road security mirror, based on the expected driving route; and determining, by the controller, at least one road to identify the image change rate among roads in an image identified by use of the specified security mirror, based on the expected driving route. ### Claim 16 (depends on 15) The autonomous driving control method of claim 15, wherein determining the at least one road to identify the image change rate among the roads in the image identified by use of the specified security mirror based on the expected driving route by the controller comprises: in response to the host vehicle traveling at a T-shaped intersection, identifying, by the controller, a left security mirror among the at least one security mirror of the road security mirror as the specified security mirror, in response to the expected driving route of the host vehicle corresponding to a right turn; and identifying, by the controller, the image change rate for a road above a center line among the roads in the image identified by use of the left security mirror. ### Claim 17 (depends on 15) The autonomous driving control method of claim 15, wherein determining the at least one road to identify the image change rate among the roads in the image identified by use of the specified security mirror based on the expected driving route by the controller comprises: in response to the host vehicle traveling at a T-shaped intersection, identifying, by the controller, a left security mirror and a right security mirror among the at least one security mirror of the road security mirror as the specified security mirror, in response to the expected driving route of the host vehicle corresponding to a left turn; identifying, by the controller, the image change rate for a road above a first center line among the roads in the image identified by use of the left security mirror; and identifying, by the controller, the image change rate for a road below a second center line among the roads in the image identified by use of the right security mirror. ### Claim 18 (depends on 15) The autonomous driving control method of claim 15, wherein determining the at least one road to identify the image change rate among the roads in the image identified by use of the specified security mirror based on the expected driving route by the controller comprises: in response to the host vehicle traveling at a crossroads, identifying, by the controller, the image change rate for a road above a center line among the roads in the image identified by use of the specified security mirror; identifying, by the controller, information about another vehicle in front of the host vehicle using the sensor device; and controlling, by the controller, the driving motion of the host vehicle, in response to the image change rate being less than or equal to the specified value during the specified time and in response to determining that the host vehicle is able to travel along the expected driving route based on whether there is the other vehicle. ### Claim 19 An autonomous driving control apparatus comprising: a sensor device; a memory storing at least one instruction; and a controller operatively connected with the sensor device and the memory, wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to perform operations comprising: determining that a road security mirror is present in front of a host vehicle, using the sensor device; determining that the road security mirror meets a specified condition, in response to a shortest distance from a furthest road line from the host vehicle of a plurality of horizontal lines at an intersection in front of the host vehicle to the road security mirror, the shortest distance being within a specified range; stoppping driving the host vehicle, in response to the road security mirror meeting the specified condition; determining an image change rate of at least one security mirror included in the road security mirror; and resuming driving the host vehicle, in response to the image change rate being less than or equal to a specified value during a specified time. ### Claim 20 (depends on 19) The autonomous driving control apparatus of claim 19, wherein the at least one instruction is configured to, when executed by the controller, cause the autonomous driving control apparatus to perform the operations further comprising: determining that the road security mirror meets the specified condition, in response to a horizontal length of the road security mirror being greater than half of a vertical length of the road security mirror as viewed from the host vehicle.