Granted Patent B2

US 12,479,465 · App. 18/212,998 · Granted Nov 25, 2025

Inventors: Ho Jun Kim (Seoul, KR); Woo Joong Kim (Seoul, KR); Yea Bin Lee (Seoul, KR)

Assignees: Hyundai Motor Company; Kia Corporation

B60W60/001B60W50/14G01C21/30B60W2556/40

Abstract

Claims (36)

1 . An autonomous driving control method which is performed in a vehicle by a processor executing computer program stored in a non-transitory computer readable storage medium, the method comprising:

extracting from high definition (HD) map data an HD road boundary and an HD lane line;

generating a real-time map representing a road environment around the vehicle using sensor information detected by a sensor mounted on the vehicle;

extracting a real-time road boundary and a real-time lane line based on the generated real-time map; and

comparing the HD road boundary with the real-time road boundary and the HD lane line with the real-time lane line, and determining whether the HD map data is discrepant with the real-time map based on a result of the comparing,

wherein the extracting of the HD road boundary and the HD lane line includes extracting a HD-map-based location based on the HD road boundary and extracting a HD-map-based lane width based on a distance between the HD lane line and a neighboring HD lane line,

wherein the extracting of the real-time road boundary and the real-time lane line includes extracting a real-time-based location based on the real-time road boundary and extracting a real-time-based lane width based on a distance between the real-time lane line and a neighboring real-time lane line,

wherein the extracting of the HD-map-based lane width comprises:

obtaining two perpendicular lines from a central point to the HD lane line and the neighboring HD lane line, the central point being located in a central line of the HD lane line and the neighboring HD lane line;

obtaining a first line passing two points at which the two perpendicular lines intersect the HD lane line and the neighboring HD lane line;

obtaining a second line parallel to the first line and passing through the center point; and

calculating, as the HD-map-based lane width, a length between two points at which the second line intersects the HD lane line and the neighboring HD lane line,

wherein the extracting of the real-time-based lane width comprises:

calculating, as the real-time-based lane width, a length between two points at which the second line intersects the real-time lane line and the neighboring real-time lane line, and

wherein the comparing of the HD lane line with the real-time lane line includes comparing the HD-map-based lane width with the real-time-based lane width.

2 . The autonomous driving control method of claim 1 , further including:

turning off an autonomous driving mode for the vehicle or providing a notification signal to a driver of the vehicle according to the result of the comparing.

3 . The autonomous driving control method of claim 1 , wherein the comparing of the HD road boundary with the real-time road boundary includes comparing the HD-map-based location and the real-time-based location.

4 . A vehicle comprising:

at least one sensor mounted on the vehicle; and

a processor mounted on the vehicle and configured to control autonomous driving of the vehicle,

wherein the processor is configured to:

extract from high definition (HD) map data a HD road boundary and a HD lane line,

generate a real-time map indicating a road environment around the vehicle using sensor information detected by the at least one sensor,

extract a real-time road boundary and a real-time lane line based on the generated real-time map,

compare the HD road boundary with the real-time road boundary and the HD lane line with the real-time lane line, and determine whether the HD map data is discrepant with the real-time map based on a result of the comparing,

wherein the processor is further configured to extract a HD-map-based location based on the HD road boundary and a HD-map-based lane width based on the HD lane line, and extract a real-time-based location based on the real-time road boundary and a real-time-based lane width based on a distance between the real-time lane line and a neighboring real-time lane line,

wherein the processor is further configured to:

obtain two perpendicular lines from a central point to the HD lane line and the neighboring HD lane line, the central point being located in a central line of the HD lane line and the neighboring HD lane line;

obtain a first line passing two points at which the two perpendicular lines intersect the HD lane line and the neighboring HD lane line;

obtain a second line parallel to the first line and passing through the center point;

calculate, as the HD-map-based lane width, a length between two points at which the second line intersects the HD lane line and the neighboring HD lane line; and

calculate, as the real-time-based lane width, a length between two points at which the second line intersects the real-time lane line and the neighboring real-time lane line, and

wherein the processor is further configured to compare the HD-map-based lane width with the real-time-based lane width.

5 . The vehicle of claim 4 , wherein the processor is further configured to turn off an autonomous driving mode for the vehicle or provide a notification signal to a driver of the vehicle according to the result of the comparing.

6 . The vehicle of claim 4 , wherein the processor is further configured to compare the HD-map-based location with the real-time-based location.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (17)