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US 2025/0093511 A1Published application
Apparatus for Controlling Vehicle and Method Thereof
AssigneesHyundai Motor Company, Kia Corporation
InventorWon Je Jang
Life of this patent
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Abstract
A vehicle control apparatus may include a light detection and ranging (LiDAR), and a processor. The processor may identify a first speed of an external vehicle based on identifying a first virtual box corresponding to the external. The processor may determine a confidence level of the first speed, and may determine whether the first speed is stable. When the first speed is determined to be unstable, the processor may assign, to a second virtual box, one of a plurality of speeds.
Claims20
An apparatus s of a first vehicle, the apparatus comprising:
- at least one sensor;
- and
- a processor,
- wherein the processor is configured to:
- determine, based on the at least one sensor, a first virtual box corresponding to an external vehicle and associated with a first time point;
- identify, based on the first virtual box, a first speed of the external vehicle at the first time point;
- determine whether a confidence level of the first speed exceeds a reference confidence level, based on at least one of information of the first virtual box, information of a second virtual box identified at a second time point after the first time point, or driving information of the first vehicle, or any combination thereof;
- determine whether the first speed is stable, based on a first displacement obtained by a difference between a first location of the first virtual box and a second location of the second virtual box, a predicted displacement of the first virtual box predicted by the first speed of the external vehicle at the first time point, and a predetermined threshold displacement, after the confidence level of the first speed exceeds the reference confidence level;
- select a second displacement, which has the smallest difference from the predicted displacement, from among displacements based on a difference between first representative points included in the first virtual box, and second representative points, which respectively correspond to the first representative points and which are included in the second virtual box, after the first speed is determined to be unstable;
- and
- assign, to the second virtual box, one of a second speed based on the selected second displacement, a third speed based on the second displacement and a third displacement obtained by applying an algorithm to first points included in the first virtual box and second points included in the second virtual box, or a fourth speed based on the second displacement and the predicted displacement.
8 more elements
A method performed by an apparatus of a first vehicle, the method comprising:
- determining, based on at least one sensor, a first virtual box corresponding to an external vehicle and associated with a first time point;
- identifying, based on the first virtual box, a first speed of the external vehicle at the first time point;
- determining whether a confidence level of the first speed exceeds a reference confidence level, based on at least one of information of the first virtual box, information of a second virtual box identified at a second time point after the first time point, or driving information of the first vehicle, or any combination thereof;
- determining whether the first speed is stable, based on a first displacement obtained by a difference between a first location of the first virtual box and a second location of the second virtual box, a predicted displacement of the first virtual box predicted by the first speed of the external vehicle at the first time point, and a predetermined threshold displacement, after the confidence level of the first speed exceeds the reference confidence level;
- selecting a second displacement, which has the smallest difference from the predicted displacement, from among displacements based on a difference between first representative points included in the first virtual box, and second representative points, which respectively correspond to the first representative points and which are included in the second virtual box, after the first speed is determined to be unstable;
- and
- assigning, to the second virtual box, one of a second speed based on the selected second displacement, a third speed based on the second displacement and a third displacement obtained by applying an algorithm to first points included in the first virtual box and second points included in the second virtual box, or a fourth speed based on the second displacement and the predicted displacement.
4 more elements
Dependencies are inferred from the claim text.