# US 2021/0279481 A1 · Driver assistance apparatus and method of controlling the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 2021/0279481 A1 - Document ID: US20210279481A1 - Status: Published application - Kind: A1 - Application number: 17/186,716 - Filed: 2021-02-26 - Published: 2021-09-09 - Earliest claimed: 2020-03-04 - Assignees: Mando Corporation - Applicants: Mando Corporation - Inventors: Yeongho Son - Web page: https://patentgrep.com/patent/US20210279481A1 ## CPC - G06V 20/56: exterior to a vehicle by using sensors mounted on the vehicle - G01S 19/42: Determining position - G01S 19/485: {whereby the further system is an optical system or imaging system} - G06V 10/98: Detection or correction of errors, e.g. by rescanning the pattern or by human intervention; Evaluation of the quality of the acquired patterns - G08G 1/0112: {from the vehicle, e.g. floating car data [FCD]} - G08G 1/0116: {from roadside infrastructure, e.g. beacons} - G08G 1/096716: {where the received information does not generate an automatic action on the vehicle control} - G08G 1/09675: {where a selection from the received information takes place in the vehicle} - G08G 1/096783: {where the origin of the information is a roadside individual element} - G01S 19/40: Correcting position, velocity or attitude - G06T 7/70: Determining position or orientation of objects or cameras (camera calibration G06T7/80) - G06V: IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES - G08G: TRAFFIC CONTROL SYSTEMS (guiding railway traffic, ensuring the safety of railway traffic B61L; arrangement of road signs or traffic signals E01F9/00; radar or analogous systems, sonar systems, lidar systems specially adapted for traffic control G01S13/91, G01S15/88, G01S17/88; {radar or analogous systems, sonar systems, lidar systems specially adapted for anti-collision purposes G01S13/93, G01S15/93, G01S17/93}) - G06T: IMAGE DATA PROCESSING OR GENERATION, IN GENERAL ## Abstract A driver assistance apparatus includes a global positioning system (GPS) module configured to obtain position data of a vehicle; a Light Detection And Ranging (LiDAR) installed in the vehicle to have an external field of view of the vehicle, and configured to obtain first image data for the external field of view of the vehicle; a communication interface configured to receive second image data obtained by an external LiDAR disposed at a position different from the vehicle; and a controller including at least one processor configured to process the first image data and the second image data. The controller may be configured to compare the first image data and the second image data, and to correct the position data when an error occurs as a result of the comparison. ## Claims ### Claim 1 An apparatus for assisting driving of a host vehicle, comprising: a global positioning system (GPS) module configured to obtain position data of a vehicle; a Light Detection And Ranging (LiDAR) installed in the host vehicle to have an external field of view of the host vehicle, and configured to obtain first image data for the external field of view of the host vehicle; a communication interface configured to receive second image data obtained by an external LiDAR disposed at a position different from the host vehicle; and a controller including at least one processor configured to process the first image data and the second image data, wherein the controller is configured to compare the first image data and the second image data, and to correct the position data when an error occurs as a result of the comparison. ### Claim 2 (depends on 1) The apparatus according to claim 1, wherein; the communication interface is configured to receive the second image data obtained by the external LiDAR installed in an external facility; and the external facility comprises at least one of a traffic light, a sign, and a street light. ### Claim 3 (depends on 2) The apparatus according to claim 2, wherein the controller is configured to obtain facility position data of the external facility, and to match a partial area of the second image data with an area of the first image data based on the facility position data. ### Claim 4 (depends on 3) The apparatus according to claim 3, wherein the controller is configured to compare the area of the first image data and the partial area of the second image data, and to correct the position data when an error occurs as a result of the comparison. ### Claim 5 (depends on 2) The apparatus according to claim 2, wherein the controller is configured to extract at least one first fixed object included in the first image data, and to extract at least one second fixed object included in the second image data. ### Claim 6 (depends on 5) The apparatus according to claim 5, wherein the controller is configured to compare the area of the first image data and the partial area of the second image data, and to correct the position data when an error of more than a predetermined value occurs between the first fixed object and the second fixed object. ### Claim 7 (depends on 5) The apparatus according to claim 5, wherein the controller is configured to determine whether the at least one first fixed object and the at least one second fixed object are the same facility. ### Claim 8 (depends on 5) The apparatus according to claim 5, wherein the first fixed object and the second fixed object are fixed buildings other than the external facility. ### Claim 9 (depends on 1) The apparatus according to claim 1, wherein the controller is configured to exclude at least one first moving object included in the first image data, and to exclude at least one second moving object included in the second image data. ### Claim 10 (depends on 9) The apparatus according to claim 9, wherein the first moving object and the second moving object are other vehicles in motion other than the host vehicle. ### Claim 11 A method for assisting driving of a host vehicle, the method comprising: obtaining, by a global positioning system (GPS) module, position data of the host vehicle; obtaining first image data for the external field of view of the host vehicle by a Light Detection And Ranging (LiDAR) installed in the host vehicle to have an external field of view of the host vehicle; receiving, by a communication interface, second image data obtained by an external LiDAR disposed at a position different from the host vehicle; and comparing, by a controller, the first image data and the second image data, and correcting the position data when an error occurs as a result of the comparison. ### Claim 12 (depends on 11) The method according to claim 11, wherein the receiving of the second image data comprises: receiving the second image data obtained by the external LiDAR installed in an external facility; and wherein the external facility comprises at least one of a traffic light, a sign, and a street light. ### Claim 13 (depends on 12) The method according to claim 12, wherein the correcting of the position data comprises: obtaining facility position data of the external facility; and matching a partial area of the second image data with an area of the first image data based on the facility position data. ### Claim 14 (depends on 13) The method according to claim 13, wherein the correcting of the position data comprises: comparing the area of the first image data and the partial area of the second image data; and correcting the position data when an error occurs as a result of the comparison. ### Claim 15 (depends on 12) The method according to claim 12, wherein the correcting of the position data comprises: extracting at least one first fixed object included in the first image data; and extracting at least one second fixed object included in the second image data. ### Claim 16 (depends on 15) The method according to claim 15, wherein the correcting of the position data comprises: comparing the area of the first image data and the partial area of the second image data; and correcting the position data when an error of more than a predetermined value occurs between the first fixed object and the second fixed object. ### Claim 17 (depends on 15) The method according to claim 15, wherein the correcting of the position data comprises: determining whether the at least one first fixed object and the at least one second fixed object are the same facility. ### Claim 18 (depends on 15) The method according to claim 15, wherein the first fixed object and the second fixed object are fixed buildings other than the external facility. ### Claim 19 (depends on 11) The method according to claim 11, wherein the correcting of the position data comprises: excluding at least one first moving object included in the first image data; and excluding at least one second moving object included in the second image data. ### Claim 20 A non-transitory computer readable-medium storing computer-executable instructions when executed by a processor, the computer readable-medium comprising: program instructions that obtain, by a global positioning system (GPS) module, position data of a host vehicle; program instructions that obtain first image data for the external field of view of the host vehicle by a Light Detection And Ranging (LiDAR) installed in the host vehicle to have an external field of view of the host vehicle; program instructions that receive, by a communication interface, second image data obtained by an external LiDAR disposed at a position different from the host vehicle; and program instructions that compare, by a controller, the first image data and the second image data, and correcting the position data when an error occurs as a result of the comparison.