Method and apparatus for controlling vehicle
AssigneesHyundai Motor Company, Kia Corporation
InventorsJung Hyun Lee, Dong Hoon Koo
Life of this patent
Estimating the term…
Abstract
A vehicle control method, includes estimating, by an estimator, a first slope inclination of a first area by photographing the first area using a first camera if a vehicle is located in an area where an inclination of a vehicle floor is the same as a slope inclination of a road surface, estimating, by the estimator, a second slope inclination of a second area by photographing the second area located farther from the vehicle than the first area using a second camera, and estimating, by the estimator, a third slope inclination of the second area by photographing the second area using the first camera if the vehicle is driven and located in the first area.
Claims18
A method of controlling a vehicle, the method comprising:
- estimating, by an estimator, a first slope inclination of a first area by photographing the first area using a first camera in a state that the vehicle is located in an area where an inclination of a vehicle floor is the same as a slope inclination of a road surface;
- estimating, by the estimator, a second slope inclination of a second area by photographing the second area located farther from the vehicle than the first area using a second camera;
- estimating, by the estimator, a third slope inclination of the second area by photographing the second area using the first camera in a state that the vehicle is driven and located in the first area;
- estimating, by the estimator, a final slope inclination of the second area or a line shape of the second area based on a comparison result between the second slope inclination and the third slope inclination;
- and
- controlling, by a controller, the vehicle based on road surface information including at least a part of the first slope inclination, the final slope inclination of the second area, and the line shape of the second area.
A vehicle control apparatus comprising:
- a first camera;
- a second camera;
- a memory configured to store computer-executable instructions;
- and
- at least one or more processors configured to access the memory and execute the instructions, and
- wherein the at least one or more processors are configured to:
- estimate a first slope inclination of a first area by photographing the first area using the first camera in a state that a vehicle is located in an area where an inclination of a vehicle floor is the same as a slope inclination of a road surface, estimate a second slope inclination of a second area by photographing the second area located farther from the vehicle than the first area using the second camera, estimate a third slope inclination of the second area by photographing the second area using the first camera in a state that the vehicle is driven and located in the first area, and estimate a final slope inclination of the second area or a line shape of the second area based on a comparison result between the second slope inclination and the third slope inclination, and
- control the vehicle based on road surface information including at least a part of the first slope inclination, the final slope inclination of the second area, and the line shape of the second area.
Dependencies are inferred from the claim text.