Apparatus for controlling vehicle and method thereof
AssigneesHyundai Motor Company, Kia Corporation, Hyundai Mobis Co., Ltd.
InventorsJu Hyeok RA, Young Joo Kim
Life of this patent
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Abstract
An apparatus for controlling a vehicle is introduced. The apparatus may comprise a sensor and a processor configured to determine different virtual boxes corresponding to objects detected by the sensor at different times, convert a first set of points included in first virtual boxes to a second set of points, generate, based on the convert, a plurality of clusters, adjust, based on the clusters, another set of points included in other virtual boxes, determine, based on the adjusted set of points, the other virtual boxes as a road edge, and output, based on the road edge, a signal to control the vehicle.
Claims20
An apparatus for controlling a vehicle, the apparatus comprising:
- a processor;
- and
- a sensor;
- wherein the processor is configured to:
- at a first time point, determine first virtual boxes corresponding to objects detected by the sensor, wherein the objects are external to the vehicle, and the first virtual boxes comprise a plurality of first points;
- at a second time point after the first time point, convert the plurality of first points into a plurality of second points while the vehicle is driving and determine second virtual boxes corresponding to the objects detected at the second time point, wherein the second virtual boxes comprise a plurality of fifth points;
- perform, based on the converting, clustering on the plurality of second points to generate a plurality of clusters comprising a first cluster and a second cluster;
- generate a third cluster obtained by merging the first cluster and the second cluster based on at least one of slope information or distance information which is obtained by the first cluster and the second cluster;
- determine a direction, in which the third cluster is located relative to the vehicle, based on at least one of:
- an intermediate value of a plurality of third points included in the third cluster, or
- a minimum value of the plurality of third points;
- adjust the plurality of fifth points based on a plurality of fourth points obtained by sampling the plurality of third points at an interval;
- determine, based on the adjusted plurality of fifth points, the second virtual boxes as a road edge;
- and
- output, based on the road edge, a signal to control the vehicle.
A method for controlling a vehicle, the method comprising:
- at a first time point, determining first virtual boxes corresponding to objects detected by a sensor, wherein the objects are external to the vehicle, and the first virtual boxes comprise a plurality of first points;
- at a second time point after the first time point, converting the plurality of first points into a plurality of second points while the vehicle is driving and determining second virtual boxes corresponding to the objects detected at the second time point, wherein the second virtual boxes comprise a plurality of fifth points;
- performing, based on the converting, clustering on the plurality of second points to generate a plurality of clusters comprising a first cluster and a second cluster;
- generating a third cluster obtained by merging the first cluster and the second cluster based on at least one of slope information or distance information, which is obtained by the first cluster and the second cluster;
- determining a direction, in which the third cluster is located relative to the vehicle, based on at least one of:
- an intermediate value of a plurality of third points included in the third cluster, or
- a minimum value of the plurality of third points;
- adjusting a plurality of fifth points based on a plurality of fourth points obtained by sampling the plurality of third points at an interval;
- determining, based on the adjusting, the second virtual boxes as a road edge;
- and
- outputting, based on the road edge, a signal to control the vehicle.
Dependencies are inferred from the claim text.