Back to results
US 2024/0255290 A1Published application
Vehicle And Method Of Estimating Distance According To Change In Vehicle Position
AssigneesHyundai Motor Company, Kia Corporation
InventorJaehong Lee
Life of this patent
Estimating the term…
Abstract
A vehicle and a method of estimating a distance according to a change in vehicle position are provided. The vehicle may include: a camera mounted on the vehicle to obtain an image outside the vehicle; an inertial measurement unit (IMU) device; and a processor configured to estimate a vehicle position of the vehicle based on the image obtained from the camera, and adjust the estimated vehicle position based on a measurement of the IMU device.
Claims21
A vehicle comprising:
- a camera mounted on the vehicle to obtain an image outside the vehicle;
- an inertial measurement unit (IMU) device;
- and
- a processor configured to:
- estimate, based on the image obtained from the camera, a vehicle position of the vehicle to yield a first estimated vehicle position;
- adjust, based on a measurement of the IMU device, the first estimated vehicle position to yield a second estimated vehicle position;
- and
- cause, based on the at least one of the first estimated vehicle position or the second estimated vehicle position, the vehicle to adjust at least one of:
- acceleration, steering, or braking.
6 more elements
A method comprising:
- estimating, based on an image obtained via a camera, a position of a vehicle to yield a first estimated vehicle position;
- adjusting, based on a measurement by an inertial measurement unit (IMU) device, the first estimated vehicle position to yield a second estimated vehicle position;
- based on a determination that the first estimated vehicle position is different from the second estimated vehicle position, adjusting a point of a three-dimensional (3D) coordinate system of an actual ground area according to a difference between the first estimated vehicle position and the second estimated vehicle position;
- obtaining a point of a camera coordinate system corresponding to the adjusted point of the 3D coordinate system of the actual ground area;
- estimating, based on a two-dimensional (2D) coordinate system of a ground area in the image, the 3D coordinate system of the actual ground area;
- estimating, based on the estimated 3D coordinate system of the actual ground area, a distance to an actual object that corresponds to a position of an object in the image;
- and
- causing, based on the at least one of the first estimated vehicle position or the second estimated vehicle position, the vehicle to adjust at least one of:
- acceleration, steering, or braking.
6 more elements
Dependencies are inferred from the claim text.