Granted Patent B2

US 12,248,069 · App. 18/071,193 · Granted Mar 11, 2025

Inventor: Sang Bok Won (Hwaseong-si, KR)

Assignees: HYUNDAI MOTOR COMPANY; KIA CORPORATION

G01S17/86B60W40/02G01S13/865G01S13/867G01S13/89G01S13/931G01S17/89G01S17/931B60W2420/403B60W2420/408

Abstract

Claims (49)

1. A vehicle driving control system controlling vehicle driving by using a driving path generated by sensor fusion technology, the vehicle driving control system comprising:

a sensor unit including at least one camera, radar sensor, and LiDAR sensor; and

a controller electrically connected to the sensor unit,

wherein the controller is configured to:

receive LiDAR data and camera and/or radar data obtained for a region of interest around a host vehicle;

obtain information for localization on objects of interest by executing a first process for the LiDAR data and the camera and/or radar data; and

output the information for localization,

wherein the first process includes:

determining a score according to classification information of the camera data or mobility information of the radar data, and obtaining information for localization on the objects of interest based on the score.

2. The vehicle driving control system of claim 1 , wherein the objects of interest include a road boundary.

3. The vehicle driving control system of claim 1 , wherein the first process includes obtaining the information for localization according to a result of assessing the LiDAR data by use of the camera and/or radar data.

4. The vehicle driving control system of claim 3 , wherein the first process further includes performing the assessing by use of grid mapping information of the camera and/or radar data.

5. The vehicle driving control system of claim 4 , wherein the grid mapping information includes:

first grid map information obtained by mapping the camera data to a grid map; and

second grid map information obtained by mapping the radar data to the grid map.

6. The vehicle driving control system of claim 5 ,

wherein the first grid map information includes a first score determined for each cell according to classification information on the objects obtained by use of the camera data, and

wherein the second grid map information includes a second score determined for each cell according to mobility information on the objects obtained by use of the radar data.

7. The vehicle driving control system of claim 6 , wherein the information for localization is obtained from the LiDAR data associated with cells of which the first score and/or the second score is equal to or over a predetermined threshold.

8. The vehicle driving control system of claim 6 , wherein the first grid map information and the second grid map information are obtained by accumulating a plurality of data frames.

9. The vehicle driving control system of claim 1 ,

wherein the controller is further configured to:

obtain information for driving path on the objects by executing a second process for the LiDAR data and the camera and/or radar data; and

output the information for driving path, and

wherein the second process includes obtaining the information for driving path by use of the LiDAR data associated with the information for localization.

10. The vehicle driving control system of claim 9 , wherein the second process further includes dividing the region of interest into a plurality of sections, and using a fusion free space in which the LiDAR data and the camera and/or radar data are fused to be expressed as a point for each section.

11. The vehicle driving control system of claim 10 , wherein the second process further includes using Kaman Filter or Weighted Sum as a tracking algorithm.

12. A driving control method for controlling vehicle driving by using a driving path generated by sensor fusion technology, the driving control method comprises:

receiving, by a controller, LiDAR data and camera and/or radar data obtained for a region of interest around a host vehicle; and

obtaining, by the controller, information for localization on objects of interest by executing a first process for the LiDAR data and the camera and/or radar data; and

wherein the first process includes:

determining a score according to classification information of the camera data or mobility information of the radar data, and

obtaining information for localization on the objects of interest based on the score.

13. The driving control method of claim 12 , wherein the first process includes determining the information for localization according to a result of assessing the LiDAR data by use of the camera and/or radar data.

14. The driving control method of claim 13 , wherein the first process further includes performing the assessing by use of grid mapping information of the camera and/or radar data.

15. The driving control method of claim 14 , wherein the grid mapping information includes:

first grid map information obtained by mapping the camera data to a grid map; and

second grid map information obtained by mapping the radar data to the grid map.

16. The driving control method of claim 15 ,

wherein the first grid map information includes a first score determined for each cell according to classification information on the objects obtained by use of the camera data, and

wherein the second grid map information includes a second score determined for each cell according to mobility information on the objects obtained by use of the radar data.

17. The driving control method of claim 16 , wherein the information for localization is obtained from the LiDAR data associated with cells of which the first score and/or the second score is equal to or over a predetermined threshold.

18. The driving control method of claim 16 , wherein the first grid map information and the second grid map information are obtained by accumulating a plurality of data frames.

19. The driving control method of claim 12 ,

wherein the driving control method further includes:

obtaining, by the controller, information for driving path on the objects by executing a second process for the LiDAR data and the camera and/or radar data; and

outputting, by the controller, the information for driving path, and

wherein the second process includes determining the information for driving path by use of the LiDAR data associated with the information for localization.

20. The driving control method of claim 19 , wherein the second process includes dividing the region of interest into a plurality of sections, and using a fusion free space in which the LiDAR data and the camera and/or radar data are fused to be expressed as a point for each section.

Assignments (2)

Priority Claims (1)

Continuity (1)

References Cited (21)