Granted Patent B2

US 12,479,441 · App. 18/172,705 · Granted Nov 25, 2025

Inventor: Min Han Kim (Anyang-si, KR)

Assignees: Hyundai Motor Company; Kia Corporation

B60W40/072B60W30/09B60W60/001G06V20/588B60W2420/403B60W2554/80

Abstract

Claims (54)

1 . An apparatus for controlling a vehicle, the apparatus comprising:

a camera; and

a controller configured to:

generate a detection line having a specified width based on a traveling direction of the vehicle within a road image obtained by the camera;

generate a first corner point at a point where the detection line meets a line identified in the road image;

generate corner points comprising three points including the first corner point based on intersections between the detection line, a center line, and the identified line; and

control a speed of the vehicle by estimating a curvature of a road based on the first corner point or control steering based on an angle between the detection line and the line,

wherein the speed control is determined based on vehicle characteristics at the corner points.

2 . The apparatus of claim 1 , wherein the controller is configured to:

generate a second corner point at a second point where the detection line meets the line;

generate a cornering line that connects the first corner point and the second corner point and the center line that coincides with the traveling direction of the vehicle and passes through a center of the vehicle when the first corner point and the second corner point are generated; and

estimate the curvature of the road based on an angle between the cornering line and the center line.

3 . The apparatus of claim 2 , wherein the controller is configured to generate an arc passing through the first corner point and estimate the curvature of the road based on a radius of curvature of the arc when two or more corner points are generated by additionally generating corner points where the center line meets the line.

4 . The apparatus of claim 2 , wherein the controller is configured to set the cornering line as a barrier line and to control braking when a distance to an obstacle detected in front of the vehicle is less than a distance to the barrier line.

5 . The apparatus of claim 1 , wherein the controller is configured to determine a target cornering speed corresponding to the estimated curvature of the road based on vehicle characteristics, a learned vehicle condition, weather information, traffic information, road information, or driving information.

6 . The apparatus of claim 5 , wherein the controller is configured to:

control deceleration when a current speed of the vehicle is greater than or equal to the target cornering speed; and

control to maintain the current speed when the current speed of the vehicle is less than the target cornering speed.

7 . The apparatus of claim 1 , wherein the controller is configured to generate a target point at a center of a road based on the first corner point when the first corner point is generated, determine the angle between the detection line and the line, determine whether the vehicle is located at a shorter distance to an inner line or an outer line based on the angle, and control steering according to a determination result.

8 . The apparatus of claim 7 , wherein the controller is configured to determine, among both side lines of a lane in which the vehicle travels, the line in which the first corner point is generated as the inner line and determine the line in which the first corner point is not generated as the outer line.

9 . The apparatus of claim 7 , wherein the controller is configured to increase a steering angular velocity as the vehicle approaches the inner line.

10 . The apparatus of claim 1 , wherein the camera comprises:

a first camera configured to obtain the road image in a first field of view (FOV); and

a second camera configured to obtain a plurality of curved road images in a second FOV that is wider than the first FOV.

11 . A method of controlling a vehicle, the method comprising:

obtaining a road image by using a camera;

generating a detection line having a specified width based on a traveling direction of the vehicle within the road image;

generating a first corner point at a point where the detection line meets a line identified in the road image;

generating corner points comprising three points including the first corner point based on intersections between the detection line, a center line, and a line identified in the road image; and

controlling a vehicle speed by estimating a curvature of a road based on the first corner point or controlling steering based on an angle between the detection line and the line,

wherein the speed control is determined based on vehicle characteristics at the corner points.

12 . The method of claim 11 , further comprising:

generating a second corner point at a second point where the detection line meets the line identified in the road image;

generating a cornering line that connects the first corner point and the second corner point and the center line that coincides with the traveling direction of the vehicle and passes through a center of the vehicle when the first corner point and the second corner point are generated; and

estimating the curvature of the road based on an angle between the cornering line and the center line.

13 . The method of claim 12 , further comprising generating an arc passing through the first corner point and estimating the curvature of the road based on a radius of curvature of the arc when two or more points are generated by additionally generating corner points where the center line meets the line.

14 . The method of claim 12 , further comprising:

setting the cornering line as a barrier line; and

controlling braking when a distance to an obstacle detected in front of the vehicle is less than a distance to the barrier line.

15 . The method of claim 11 , further comprising determining a target cornering speed corresponding to the estimated curvature of the road based on vehicle characteristics, a learned vehicle condition, weather information, traffic information, road information, or driving information.

16 . The method of claim 15 , further comprising:

controlling deceleration when a current speed of the vehicle is greater than or equal to the target cornering speed; and

controlling to maintain the current speed when the current speed of the vehicle is less than the target cornering speed.

17 . The method of claim 11 , further comprising:

generating a target point at a center of the road based on the first corner point when the first corner point is generated;

determining whether the vehicle is located at a shorter distance to an inner line or an outer line based on the angle;

determining the angle between the detection line and the line; and

controlling steering according to a determination result.

18 . The method of claim 17 , further comprising:

determining, among both side lines of a lane in which the vehicle travels, the line in which the first corner point is generated as the inner line and determining the line in which the first corner point is not generated as the outer line.

19 . The method of claim 17 , further comprising increasing a steering angular velocity as the vehicle approaches the inner line.

20 . The method of claim 11 , wherein the camera comprises:

a first camera that obtains the road image in a first field of view (FOV); and

a second camera that obtains a plurality of curved road images in a second FOV that is wider than the first FOV.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (66)