US 12,292,507 B2
Method and apparatus for detecting curb using LiDAR sensor and recording medium storing program to execute the method
Jin Won Park, Seoul (KR); and Yoon Ho Jang, Suwon-si (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 May 17, 2022, as Appl. No. 17/746,204.
Claims priority of application No. 10-2021-0074225 (KR), filed on Jun. 8, 2021.
Prior Publication US 2022/0390608 A1, Dec. 8, 2022
Int. Cl. G01S 17/89 (2020.01); G01S 17/931 (2020.01); B60W 60/00 (2020.01)
CPC G01S 17/89 (2013.01) [G01S 17/931 (2020.01); B60W 60/001 (2020.02); B60W 2420/408 (2024.01); B60W 2552/50 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A method of using a LiDAR sensor to detect a curb, the method comprising:
using the LiDAR sensor to acquire a point cloud;
selecting road points from the point cloud acquired by the LiDAR sensor;
detecting multiple consecutive points, having a constant first slope in a first plane viewed from above and a second slope having a constant sign in a second plane viewed from a side, as curb candidate points from among the road points, the curb candidate points being candidates for curb points; and
using the curb candidate points to recognize a curb so that a vehicle equipped with the LiDAR sensor and being driven can be positioned on a lane of a road that is present together with the curb.