Granted Patent B2

US 12,654,748 · App. 18/118,407 · Granted Jun 16, 2026

Inventor: Inhan Kim (Seongnam-si, KR)

Assignee: HL Klemove Corp.

B60W60/0027B60W2420/403B60W2552/53B60W2554/4041B60W2554/80

Abstract

Claims (38)

1 . A driver assistance apparatus comprising:

a controller configured to process electrical signal acquired from a camera installed on a vehicle,

wherein the controller is configured to:

acquire center lines of lanes related to a lane on which the vehicle currently travels based on a lane network of a high definition (HD) map, including, an intersection where the lane on which the vehicle currently travels meets another road;

identify a position of an object positioned around the vehicle based on the processed electrical signal;

identify a plurality of trajectories, each generated substantially along a corresponding one of the center lines of the lanes based on the position of the object, along which the object is movable;

select a traveling trajectory of the vehicle based on the processed electrical signal;

select a predicted trajectory among the plurality of trajectories, based on the predicted trajectory being first to intersect the traveling trajectory, and identify the predicted trajectory as having the highest collision risk with the vehicle;

generate a first coordinate system in which the predicted trajectory is one axis;

predict a position of the object in the first coordinate system based on the position and a speed of the object;

generate a second coordinate system in which the traveling trajectory of the vehicle is one axis;

convert the position of the object predicted in the first coordinate system into that in the second coordinate system;

and generate a target trajectory of the vehicle avoiding the predicted trajectory based on the converted position.

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

store the lane network of the lanes related to the lane on which the vehicle currently travels.

3 . The driver assistance apparatus of claim 1 , wherein the controller selects the predicted trajectory among the plurality of trajectories based on a distance between the vehicle and each of the plurality of trajectories.

4 . The driver assistance apparatus of claim 3 , wherein the controller selects the predicted trajectory having a minimum distance from the vehicle among the plurality of trajectories.

5 . The driver assistance apparatus of claim 1 , wherein the controller selects the predicted trajectory among the plurality of trajectories based on a time at which the vehicle and each of the plurality of trajectories cross.

6 . The driver assistance apparatus of claim 1 , wherein the controller generates the target trajectory of the vehicle based on the position of the object converted in the second coordinate system.

7 . The driver assistance apparatus of claim 1 , wherein the controller controls at least one of a driving device, a braking device, and a steering device of the vehicle so that the vehicle travels along the target trajectory.

8 . A driver assistance method comprising:

Processing electrical signal acquired from a camera installed on a vehicle;

Acquiring center lines of lanes related to a lane on which the vehicle currently travels based on a lane network of a high definition (DH) map, including, an intersection where the lane on which the vehicle currently travels meets another road;

Identifying a position of an object positioned around the vehicle based on the processed electrical signal;

Identifying a plurality of trajectories, each generated substantially along a corresponding one of the center lines of the lanes based on the position of the object, along which the object is moveable;

Selecting a traveling trajectory of the vehicle based on the processed electrical signal;

Selecting a predicted trajectory among the plurality of trajectories, based on the predicted trajectory being first to intersect the traveling trajectory, and identifying the predicted trajectory as having the highest collision risk with the vehicle;

Generating a first coordinate system in which the predicted trajectory is one axis;

Predicting a position of the object in the first coordinate system based on the position and a speed of the object;

Generating a second coordinate system in which the traveling trajectory of the vehicle is one axis;

Converting the position of the object prediction in the first coordinate system into that in the second coordinate system;

And generating a target trajectory of the vehicle avoiding the predicted trajectory based on the converted position.

9 . The driver assistance method of claim 8 , wherein the acquiring of the center lines of the lanes comprises: storing the lane network of the lanes related to the lane on which the vehicle currently travels.

10 . The driver assistance method of claim 8 , wherein the selecting of the predicted trajectory comprises selecting the predicted trajectory among the plurality of trajectories based on a distance between the vehicle and each of the plurality of trajectories.

11 . The driver assistance method of claim 10 , wherein the selecting of the predicted trajectory comprises selecting the predicted trajectory having a minimum distance from the vehicle among the plurality of trajectories.

12 . The driver assistance method of claim 8 , wherein the selecting of the predicted trajectory comprises selecting the predicted trajectory among the plurality of trajectories based on a time at which the vehicle and each of the plurality of trajectories cross.

13 . The driver assistance method of claim 8 , wherein the generating of the target trajectory of the vehicle further comprises generating a target trajectory of the vehicle based on the position of the object converted in the second coordinate system.

14 . The driver assistance method of claim 8 , further comprising controlling at least one of a driving device, a braking device, and a steering device of the vehicle so that the vehicle travels along the target trajectory.

Assignments (1)

Priority Claims (1)

Continuity (1)

References Cited (23)