US 2025/0363644 A1Published application

Apparatus for Controlling Vehicle and Method Thereof

AssigneesHyundai Motor Company, Kia Corporation

InventorMi Rim Noh

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Abstract

An apparatus for controlling autonomous driving of a vehicle may comprise a sensor that obtains virtual boxes corresponding to a plurality of external objects, and a processor. The processor may identify an interest virtual box from these virtual boxes based on factors such as the vehicle's operating state, the external object's location, or the size of the corresponding virtual box. The processor may determine a first distribution of contour points, centered on the interest virtual box, in a first coordinate system and a second distribution of the contour points in a second coordinate system, centered on the contour points. The interest virtual box may be validated based on criteria such as its heading direction, location, and the distributions of contour points. Based on this validation, the processor may determine whether to output the interest virtual box, generates a signal, and controls autonomous driving based on the signal.

Claims20

Dependent claims

An apparatus for controlling autonomous driving of a vehicle, the apparatus comprising:

a sensor configured to obtain virtual boxes respectively corresponding to a plurality of external objects;
and
a processor configured to:
determine an interest virtual box among the virtual boxes based on at least one of an operating state of the vehicle, a location of an external object, or a size of a virtual box corresponding to the external object;
determine a first distribution of contour points, in a first coordinate system, that forms the interest virtual box, wherein the first coordinate system is centered on the interest virtual box;
determine a second distribution of the contour points, in a second coordinate system, wherein the second coordinate system is centered on the contour points;
validate the interest virtual box based on at least one of a heading direction of the interest virtual box within a designated frame, a location of the interest virtual box, the first distribution, or the second distribution;
determine, based on the validation, whether to output the interest virtual box;
generate a signal indicating the interest virtual box;
and
control, based on the signal, the autonomous driving of the vehicle.

8 more elements

A method performed by an apparatus for controlling autonomous driving of a vehicle, the method comprising:

determining an interest virtual box among virtual boxes based on at least one of an operating state of the vehicle, a location of an external object, or a size of a virtual box corresponding to the external object, wherein the virtual boxes correspond to a plurality of external objects;
determining a first distribution of contour points, in a first coordinate system, that form the interest virtual box, wherein the first coordinate system is centered on the interest virtual box;
determining a second distribution of the contour points, in a second coordinate system, wherein the second coordinate system is centered on the contour points;
validating the interest virtual box based on at least one of a heading direction of the interest virtual box within a designated frame, a location of the interest virtual box, the first distribution;
and
determining, based on the validation, whether to output the interest virtual box;
generating a signal indicating the interest virtual box;
and
controlling, based on the signal, the autonomous driving of the vehicle.

6 more elements

Dependencies are inferred from the claim text.

Facts

Application: 18/965,242Filed 2 Dec 2024
Priority: KR 10-2024-006804824 May 2024
Published: 27 Nov 2025
Term ends: Not estimatedThe source records don’t support an estimate.

Classification16 codes

G06T 7/246
Analysis of motion: using feature-based methods, e.g. the tracking of corners or segments
B60W 60/00
Drive control systems specially adapted for autonomous road vehicles
B60W 60/001
Drive control systems specially adapted for autonomous road vehicles: planning or execution of driving tasks
G01S 7/4802
Of systems according to group G01S17/00: using analysis of echo signal for target characterisation; Target signature; Target cross-section

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