US 12,304,466 B2
Vehicle and method of controlling the same
Yongseok Kwon, Suwon-si (KR); Dae Seok Jeon, Hwaseong-si (KR); Dong Hyun Sung, Hwaseong-si (KR); Tae-Geun An, Yeongju-si (KR); Hyoungjong Wi, Seoul (KR); Joon Ho Lee, Seoul (KR); Eungseo Kim, Gwacheon-si (KR); and Sangmin Lee, 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 Dec. 14, 2022, as Appl. No. 18/081,129.
Claims priority of application No. 10-2022-0071260 (KR), filed on Jun. 13, 2022.
Prior Publication US 2023/0398982 A1, Dec. 14, 2023
Int. Cl. B60W 30/09 (2012.01); B60W 40/02 (2006.01); B60W 50/14 (2020.01); G01S 7/48 (2006.01); G01S 17/931 (2020.01)
CPC B60W 30/09 (2013.01) [B60W 40/02 (2013.01); B60W 50/14 (2013.01); G01S 7/4802 (2013.01); G01S 17/931 (2020.01); B60W 2050/143 (2013.01); B60W 2420/408 (2024.01); B60W 2554/80 (2020.02)] 20 Claims
OG exemplary drawing
 
1. A vehicle comprising:
a lidar installed on the vehicle to secure an external field of view of the vehicle, the lidar configured to obtain lidar data for detecting an object in the external field of view; and
a controller including at least one processor configured to process the lidar data and configured to perform an avoidance control or a warning control based on processed results,
wherein the controller is further configured to:
generate a plurality of virtual lines in a moving direction of the vehicle within an entire width of the vehicle,
obtain a plurality of contour points of the object by processing the lidar data, and
determine a collision risk for the avoidance control or the warning control based on a number of crossing points between the plurality of virtual lines and the plurality of contour points.