US 11,713,044 B2
Vehicle for estimation a state of the other vehicle using reference point of the other vehicle, and method of controlling the vehicle
Jihee Han, Seoul (KR); Jong Hoon Kwak, Gunpo-si (KR); Heechul Choi, Seoul (KR); Jonghyuk Lim, Seoul (KR); Junsik An, Seoul (KR); and Junhyung Kim, Seoul (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Corporation, Seoul (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); and KIA CORPORATION, Seoul (KR)
Filed on Jun. 8, 2021, as Appl. No. 17/341,793.
Claims priority of application No. 10-2020-0119660 (KR), filed on Sep. 17, 2020.
Prior Publication US 2022/0080974 A1, Mar. 17, 2022
Int. Cl. G06T 7/62 (2017.01); G06T 7/73 (2017.01); B60W 30/095 (2012.01); G06V 10/42 (2022.01); G06V 10/44 (2022.01); G06V 20/58 (2022.01); B60W 40/04 (2006.01)
CPC B60W 40/04 (2013.01) [B60W 30/0956 (2013.01); G06T 7/62 (2017.01); G06T 7/73 (2017.01); G06V 10/42 (2022.01); G06V 10/44 (2022.01); G06V 20/58 (2022.01); B60W 2420/42 (2013.01); B60W 2554/4041 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4043 (2020.02); B60W 2554/801 (2020.02); B60W 2554/802 (2020.02); G06T 2207/30261 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle for estimation a state of other vehicle using reference point of the other vehicle, the vehicle comprising:
a camera configured to obtain an image of the other surrounding vehicle; and
a controller configured to:
identify at least one of full area data, wheel area data, and bumper area data of the other vehicle based on the image obtained by the camera,
in response to the full area data being identified and at least one of the wheel area data, and the bumper area data being identified, control a performance of a pairing of the full area data and the at least one identified area data among the wheel area data and the bumper area data,
in response that the full area data is not identified, or the wheel area data, and the bumper area data is not identified, control a non-performance of the pairing of the full area data, the wheel area data and the bumper area data,
set a reference point in the at least one of the full area data, the wheel area data, and the bumper area data, and
predict a driving speed of the other vehicle to provide for autonomous driving systems according to a change in a position of the set reference point,
wherein the controller sets the position of the reference point differently in response that whether or not the pairing is performed, and
wherein the pairing is grouping the full area data and the at least one identified area data among the wheel area data and the bumper area data.