Method and system for recognizing space of shoulder of road

A system for recognizing a space of a road shoulder, the system comprising:

• a radar disposed on a vehicle configured to transceive a signal;
• an ultrasonic sensor disposed on the vehicle configured to transceive the signal;
• an imaging device disposed on the vehicle configured to photograph a surface image of the road;
• and
• a controller configured to:
• control the radar to transmit a radar beam within a preset range based on the vehicle location;
• detect a fixed object located within the preset range using a reflective wave of the radar beam received by the radar;
• calculate a distance between the fixed object and the vehicle using the radar and the ultrasonic sensor when the fixed object is located within the preset range;
• detect a solid line lane marking in a front image of a travel lane obtained from the imaging device;
• and
• recognize the calculated distance between the fixed object and the vehicle as a space width of the road shoulder when the solid line lane marking is in the front image of the travel lane.

A non-transitory computer readable medium containing program instructions executed by a processor or controller, the computer readable medium comprising:

• program instructions that control a radar to transceive a signal;
• program instructions that control an ultrasonic sensor to transceive the signal;
• program instructions that control an imaging device to photograph a surface image of the road;
• program instructions that control the radar to transmit a radar beam within a preset range based on the vehicle location;
• program instructions that detect a fixed object located within the preset range using a reflective wave of the radar beam received by the radar;
• program instructions that calculate a distance between the fixed object and the vehicle using the radar and the ultrasonic sensor when the fixed object is located within the preset range;
• program instructions that detect a solid line lane marking in a front image of a travel lane obtained from the imaging device;
• and
• program instructions that recognize the calculated distance between the fixed object and the vehicle as a space width of the road shoulder when the solid line lane marking is in the front image of the travel lane.