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US 12,698,980 B2Granted
Apparatus for controlling a vehicle and method thereof
AssigneesHyundai Motor Company, Kia Corporation
InventorHyun Ju Kim
Life of this patent
Estimating the term…
Abstract
The present disclosure may relate to a vehicle control apparatus and a method thereof. The vehicle control apparatus with a sensor and processor may generate a first virtual box based on sensor data and first points representing an external vehicle and protruding object and create a second virtual box from second points excluding the object portion. Validity of the second virtual box is determined using criteria including location, angle, and distance relative to the first virtual box. If valid, the second virtual box is mapped onto the external vehicle, and a signal is generated indicating this mapping.
Claims20
An apparatus comprising:
- a light detection and ranging (LiDAR) sensor;
- and
- a processor,
- wherein the processor is configured to:
- generate, based on sensing information obtained by the LiDAR sensor and a plurality of first points detected within a first reference height from a ground, a first virtual box, wherein the plurality of first points correspond to an external vehicle and an object protruding from the external vehicle;
- generate, based on a plurality of second points, a second virtual box, wherein the plurality of second points detected within a second reference height smaller than the first reference height from the ground are obtained by excluding a portion corresponding to the object, from among the plurality of first points, wherein the second reference height is set to be smaller than a height at which the object is placed;
- determine validity of the second virtual box based on at least one of:
- a location of the second virtual box,
- an angle between a first heading direction of the first virtual box and a second heading direction of the second virtual box,
- the second heading direction, or
- a distance between the first virtual box and the second virtual box;
- map, based on the second virtual box being valid, the second virtual box onto the external vehicle;
- generate a signal indicating the second virtual box mapped onto the external vehicle;
- determine a heading direction of the external vehicle based on the signal;
- and
- output the determined heading direction of the external vehicle.
13 more elements
A method performed by a processor, the method comprising:
- generating, based on sensing information obtained by a light detection and ranging (LiDAR) sensor and a plurality of first points, a first virtual box, wherein the plurality of first points correspond to an external vehicle and an object protruding from the external vehicle;
- generating, based on a plurality of second points, a second virtual box, wherein the plurality of second points are obtained by excluding a portion corresponding to the object, from among the plurality of first points;
- determining validity of the second virtual box based on at least one of:
- a location of the second virtual box,
- an angle between a first heading direction of the first virtual box and a second heading direction of the second virtual box,
- the second heading direction, or
- a distance between the first virtual box and the second virtual box;
- mapping, based on the second virtual box being valid, the second virtual box onto the external vehicle;
- generating a signal indicating the second virtual box mapped onto the external vehicle;
- determining a heading direction of the external vehicle based on the signal;
- and
- outputting the determined heading direction of the external vehicle.
9 more elements
A vehicle comprising:
- a light detection and ranging (LiDAR) sensor;
- and
- a processor,
- wherein the processor is configured to:
- generate, based on a plurality of first points obtained via the LiDAR sensor, a first virtual box, wherein the plurality of first points correspond to an external vehicle and an object protruding from the external vehicle;
- generate, based on a plurality of second points, a second virtual box, wherein the plurality of second points are obtained by excluding a portion corresponding to the object, from among the plurality of first points;
- determine validity of the second virtual box based on at least one of:
- a location of the second virtual box,
- an angle between a first heading direction of the first virtual box and a second heading direction of the second virtual box,
- the second heading direction, or
- a distance between the first virtual box and the second virtual box;
- map, based on the second virtual box being valid, the second virtual box onto the external vehicle;
- determine, based on the second virtual box mapped onto the external vehicle, a heading direction of the external vehicle in real time;
- and
- control, based on the determined heading direction of the external vehicle, a driving operation of the vehicle.
12 more elements
Dependencies are inferred from the claim text.