Vehicle and method of controlling the same
AssigneesHyundai Motor Company, Kia Motors Corporation
InventorsJunho YANG, Donghee KANG, Kyujin PARK, Changhwan SONG
Life of this patent
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Abstract
The vehicle includes: a sensor part configured to acquire occupancy information of an surrounding area of the vehicle and a speed of the vehicle; a camera configured to acquire a surrounding image of the vehicle; and a controller configured to form map information based on the occupancy information according to movement of the vehicle, determine presence or absence of an obstacle around the vehicle based on the map information and the surrounding image, and control, in response to presence of the obstacle, the vehicle based on the presence of the obstacle and a possibility of collision of the vehicle derived from the speed of the vehicle and the map information.
Claims20
A vehicle comprising:
- a sensor part configured to acquire occupancy information of a surrounding area of the vehicle and a speed of the vehicle;
- a camera configured to acquire a surrounding image of the vehicle;
- and
- a controller configured to:
- form map information based on the occupancy information according to movement of the vehicle;
- determine presence or absence of an obstacle around the vehicle based on the map information and the surrounding image;
- and
- control, in response to the presence of the obstacle, the vehicle based on the presence of the obstacle and a possibility of collision of the vehicle derived from the speed of the vehicle and the map information.
A method of controlling a vehicle, the method comprising:
- acquiring, by a sensor part, occupancy information of a surrounding area of the vehicle and a speed of the vehicle;
- acquiring, by a camera, a surrounding image of the vehicle;
- forming, by a controller, map information based on the occupancy information according to movement of the vehicle;
- determining, by a controller, a presence or absence of an obstacle around the vehicle based on the map information and the surrounding image;
- and
- controlling, by a controller, in response to the presence of the obstacle, the vehicle based on the presence of the obstacle and a possibility of collision of the vehicle derived from the speed of the vehicle and the map information.
A vehicle comprising:
- an ultrasonic sensor configured to acquire occupancy information of a surrounding area of the vehicle based on an ultrasonic signal;
- a wheel speed sensor configured to acquire a speed of the vehicle;
- a camera configured to acquire a surrounding image of the vehicle;
- and
- at least one processor configured to:
- assign an occupation probability corresponding to the occupancy information;
- by using a time-slice measurement model determined based on the speed of the vehicle, assign a first weight to occupancy information of a first area that is measured in real time, assign a second weight greater than the first weight to occupancy information of a second area that is previously measured to determine an occupancy probability of the second area, assign a third weight to occupancy information corresponding to a third area that has no obstacle to reduce an occupancy probability corresponding to the third area;
- determine coordinate information corresponding to the surrounding image and the vehicle;
- determine an obstacle map by classifying each pixel corresponding to the occupancy information into at least one of a space, a low obstacle, and a normal obstacle on the basis of a covariance corresponding to map information based on the occupancy information and a covariance of coordinate information based on the surrounding image;
- and
- control the vehicle based on the obstacle map.
Dependencies are inferred from the claim text.