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US 12,691,879 B2Granted
Method and apparatus for generating virtual stop line
Assignee42Dot Inc.
InventorsChan Ho Ko, Jin Soo Yang, Kyu Hwan Yeon
Life of this patent
Estimating the term…
Abstract
Provided are a method and apparatus for generating a virtual stop line, wherein the method includes determining a target crosswalk from among one or more crosswalks on a driving route, setting a region of interest for the target crosswalk, and determining whether or not to generate a virtual stop line, on the basis of a location of a pedestrian within the region of interest.
Claims10
A method of generating a virtual stop line, the method comprising:
- determining a target crosswalk from among one or more crosswalks on a driving route of an autonomous vehicle;
- setting a region of interest for the target crosswalk;
- determining whether or not to generate a virtual stop line, on the basis of a location of a pedestrian within the region of interest and
- controlling speed of the autonomous vehicle based on the determination of whether or not to generate the virtual stop line,
- wherein a first region corresponds to a region inside the target crosswalk and a second region corresponds to an intersection of a region outside the target crosswalk and a region inside the region of interest,
- wherein the determining whether or not to generate a virtual stop line comprises:
- in response to determining that the pedestrian is located in the first region, determining to generate the virtual stop line;
- in response to determining that the pedestrian is located in the second region,
- comparing a distance between the autonomous vehicle and the target crosswalk with a certain distance;
- determining to generate the virtual stop line when the distance between the autonomous vehicle and the target crosswalk is greater than or equal to the certain distance, and
- determining not to generate the virtual stop when the distance between the autonomous vehicle and the target crosswalk is less than the certain distance,
- wherein the controlling speed of the autonomous vehicle comprises:
- reducing the speed of the autonomous vehicle only when the virtual stop line is generated.
10 more elements
An apparatus for generating a virtual stop line, the apparatus comprising:
- a memory storing at least one program;
- and
- a processor configured to, by executing the at least one program:
- wherein the processor configured to:
- determine a target crosswalk from among one or more crosswalks on a driving route of an autonomous vehicle;
- set a region of interest for the target crosswalk;
- determine whether or not to generate a virtual stop line, on the basis of a location of a pedestrian within the region of interest;
- and
- control speed of the autonomous vehicle based on the determination of whether or not to generate the virtual stop line,
- wherein the processor is further configured to:
- wherein a first region corresponds to a region inside the target crosswalk and a second region corresponds to an intersection of a region outside the target crosswalk and a region inside the region of interest,
- wherein the processor, in determining whether or not to generate a virtual stop line, performs:
- in response to determining that the pedestrian is located in the first region, determining to generate the virtual stop line;
- in response to determining that the pedestrian is located in the second region,
- comparing a distance between the autonomous vehicle and the target crosswalk with a certain distance;
- determining to generate the virtual stop line when the distance between the autonomous vehicle and the target crosswalk is greater than or equal to the certain distance, and
- determining not to generate the virtual stop when the distance between the autonomous vehicle and the target crosswalk is less than the certain distance,
- wherein the processor is further configured to reduce the speed of the autonomous vehicle only when the virtual stop line is generated.
15 more elements
Dependencies are inferred from the claim text.