US 12,612,067 B2 · Autonomous driving control apparatus and method thereof

Abstract

An autonomous driving control apparatus for determining an object using high definition map and sensor fusion on a road with a gradient and a method thereof are provided. The autonomous driving control apparatus includes a sensor that obtain information about an object around a vehicle, a communication device that receives information about a high definition map around the vehicle, and a processor electrically connected with the sensor and the communication device The processor navigates a vehicle lane link and a target lane link based on the information about the object and the information about the high definition map, determines a valid contour region by applying a valid contour verification algorithm to the vehicle lane link and the target lane link, and recognizes an object in the valid contour region.

Claims18

Dependent claims

An autonomous driving control apparatus, comprising:

a sensor configured to obtain information about an object around a vehicle;
a communication device configured to receive information about a high definition map around the vehicle;
and
a processor electrically connected with the sensor and the communication device,
wherein the processor is configured to:
navigate a vehicle lane link and a target lane link based on the information about the object and the information about the high definition map;
determine a valid contour region by applying a valid contour verification algorithm to the vehicle lane link and the target lane link;
and
recognize an object in the valid contour region,
wherein the processor is configured to:
calculate a vector between the vehicle lane link and the target lane link;
rotational transform the calculated vector into a local coordinate system with respect to a center point of a front bumper of the vehicle;
and
set the valid contour region based on the rotational transformed vector.

11 more elements

An autonomous driving control method, comprising:

receiving, by a processor, information about an object around a vehicle and a high definition map around the vehicle;
navigating, by the processor, a vehicle lane link and a target lane link based on the information about the object and the high definition map;
determining, by the processor, a valid contour region by applying a valid contour verification algorithm to the vehicle lane link and the target lane link;
and
recognizing, by the processor, an object in the valid contour region,
wherein the determining the valid contour region includes:
calculating, by the processor, a vector between the vehicle lane link and the target lane link;
rotational transforming, by the processor, the calculated vector into a local coordinate system with respect to a center point of a front bumper of the vehicle;
and
setting, by the processor, the valid contour region based on the rotational transformed vector.

7 more elements

Dependencies are inferred from the claim text.

Autonomous driving control apparatus and method thereof

Life of this patent

Autonomous driving control apparatus and method thereof

Life of this patent

Abstract

Claims18