US 12,187,283 B2
Apparatus and method for assisting driving of vehicle
Taehan Kim, Anyang-si (KR)
Assigned to HL KLEMOVE CORP., Incheon (KR)
Filed by HL Klemove Corp., Incheon (KR)
Filed on Apr. 27, 2022, as Appl. No. 17/730,647.
Claims priority of application No. 10-2021-0055243 (KR), filed on Apr. 28, 2021.
Prior Publication US 2022/0348207 A1, Nov. 3, 2022
Int. Cl. B60W 30/18 (2012.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B60W 30/18163 (2013.01) [G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2520/10 (2013.01); B60W 2552/05 (2020.02); B60W 2552/10 (2020.02); B60W 2552/53 (2020.02); B60W 2554/20 (2020.02); B60W 2554/4041 (2020.02); B60W 2554/802 (2020.02)] 16 Claims
OG exemplary drawing
 
1. An apparatus for assisting driving of a vehicle comprising:
a camera installed in the vehicle to have a front field of view of the vehicle and obtain image data; and
a controller to process the image data,
wherein the controller is configured to:
identify objects surrounding the vehicle and lane markers defining a road on which the vehicle travels based on the processing of the image data;
identify a lane in which the vehicle travels based on relative positions of the surrounding objects; and
control the vehicle to change lanes based on a distance to an additional lane for entering an exit road from the road on which the vehicle is traveling,
wherein the controller is configured to:
calculate, while the vehicle currently travels in the lane, driving lane scores for at least two lanes of the road based on the respective relative positions of the surrounding objects; and
identify, while the vehicle currently travels in the lane, a lane having a highest driving lane score, from among the at least two lanes of the road, as the lane in which the vehicle currently travels based on the calculating of the driving lane cores,
wherein the controller is configured to calculate the driving lane scores by:
a first driving lane score impartation in which, when an object moving on a left side of the vehicle is detected, driving lane scores are imparted to a lane in which the moving object is detected and all lanes to the right thereof;
a second driving lane score impartation, in which, when an object moving on a right side of the vehicle is detected, driving lane scores are imparted to a lane in which the moving object is detected and all lanes to the left thereof;
a third driving lane score impartation, in which, when an object stationary on the left side of the vehicle is detected, driving lane scores are imparted to all lanes to the left of a lane in which the stationary object is detected, and
a fourth driving lane score impartation, in which, when an object stationary on the right side of the vehicle is detected, driving lane scores are imparted to all lanes to the right of a lane in which the stationary object is detected.