| CPC B60W 40/06 (2013.01) [B60W 30/09 (2013.01); B60W 30/0956 (2013.01); B60W 60/0015 (2020.02); G06F 18/217 (2023.01); G06F 18/23 (2023.01); G06V 20/56 (2022.01); G06V 20/584 (2022.01); G06V 20/588 (2022.01); B60W 2420/42 (2013.01); B60W 2552/00 (2020.02)] | 13 Claims |
|
1. An operating method of a vehicle control apparatus controlling autonomous driving of a vehicle based on a vehicle external object, the method comprising:
performing primary object detection based on a first vehicle external image received from a camera to obtain first object information;
setting a first reflective area for reflection light based on the first object information;
generating a second vehicle external image, in which a reflective image inside the first reflective area is removed from the first vehicle external image, using pixel values inside the first reflective area;
performing secondary object detection based on the second vehicle external image to obtain second object information;
determining reliability of the second object information based on information about the reflective image and the second object information; and
when the reliability of the second object information is higher than a setting value, controlling the autonomous driving of the vehicle based on the second object information,
wherein the obtaining of the first object information includes:
detecting a light source from the first vehicle external image; and
obtaining the first object information including at least one of location information, size information, brightness information, and color information of the light source,
wherein the setting of the first reflective area includes:
detecting a road horizontal line from the first vehicle external image;
determining a horizontal location of the first reflective area corresponding to an intersection point between a center line of the light source and the road horizontal line;
determining a width of the first reflective area proportional to a width of the light source, based on the first object information; and
determining a length of the first reflective area extending in a first direction from the road horizontal line, and
wherein the first direction is a y-axis direction perpendicular to the road horizontal line, and
wherein the generating of the second vehicle external image includes:
calculating the pixel values inside the first reflective area;
generating a cluster corresponding to the reflective image based on the pixel values;
setting a second reflective area included in the first reflective area based on the cluster, and
removing the cluster within the second reflective area.
|