US 11,961,309 B2
Vehicle and control method thereof
Hayeon Lee, Gwacheon-si (KR); JongHoon Kwak, Goyang-si (KR); Jinwook Choi, Seoul (KR); Jihee Han, Seoul (KR); Jongmo Kim, Goyang-si (KR); Jonghyuk Lim, Seoul (KR); Junsik An, Seoul (KR); and Minsung Son, Gwacheon-si (KR)
Assigned to Hyundai Motor Company, Seoul (KR); and Kia Motors Corporation, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); and Kia Motors Corporation, Seoul (KR)
Filed on Dec. 11, 2020, as Appl. No. 17/120,058.
Claims priority of application No. 10-2020-0106850 (KR), filed on Aug. 25, 2020.
Prior Publication US 2022/0067400 A1, Mar. 3, 2022
Int. Cl. G06V 20/58 (2022.01); B60W 30/06 (2006.01); B60W 30/095 (2012.01); B60W 60/00 (2020.01); G06F 18/214 (2023.01); G06T 7/62 (2017.01); G06V 10/44 (2022.01); G06V 20/56 (2022.01); G06V 10/22 (2022.01)
CPC G06V 20/58 (2022.01) [B60W 30/06 (2013.01); B60W 30/0953 (2013.01); B60W 30/0956 (2013.01); B60W 60/0015 (2020.02); G06F 18/2148 (2023.01); G06T 7/62 (2017.01); G06V 10/44 (2022.01); G06V 20/588 (2022.01); B60W 2420/403 (2013.01); B60W 2554/4029 (2020.02); G06T 2207/30264 (2013.01); G06V 10/22 (2022.01)] 18 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a camera obtaining a surrounding image around the vehicle; and
a controller connected to the camera and configured to determine spatial recognition data by learning the surrounding image of the vehicle as an input value of the controller,
wherein controller is configured to determine object recognition data including wheel area data of a surrounding vehicle around the vehicle by learning the surrounding image of the vehicle as an input value of the controller, to determine a ground clearance between a bottom surface of a vehicle body of the surrounding vehicle and a ground by use of the spatial recognition data and the wheel area data, and to control the vehicle to park the vehicle according to the determined ground clearance, and
wherein the controller is configured to apply the ground clearance to a remaining area excluding a wheel area of the surrounding vehicle.