US 12,330,662 B2
Apparatus and method for controlling vehicle
Yang Shin Kim, Incheon (KR); and Dong Hoon Kang, 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 Aug. 2, 2022, as Appl. No. 17/879,282.
Claims priority of application No. 10-2021-0178970 (KR), filed on Dec. 14, 2021.
Prior Publication US 2023/0182750 A1, Jun. 15, 2023
Int. Cl. G06K 9/00 (2022.01); B60W 40/12 (2012.01); G06T 7/60 (2017.01); G06T 7/73 (2017.01); H04N 23/90 (2023.01)
CPC B60W 40/12 (2013.01) [G06T 7/60 (2013.01); G06T 7/73 (2017.01); H04N 23/90 (2023.01); B60W 2420/403 (2013.01); B60W 2530/205 (2020.02); G06T 2207/30252 (2013.01)] 20 Claims
OG exemplary drawing
 
1. A vehicle control apparatus comprising:
a camera configured to obtain a surrounding image of a vehicle; and
a controller configured to estimate a position of a first corner point and a position of a second corner point of a trailer connected to the vehicle based on the surrounding image, to estimate a position of a third corner point of the trailer using a position of the camera, the position of the first corner point, and the position of the second corner point, and to estimate a length of the trailer based on the position of the first corner point and the position of the third corner point,
wherein the first corner point includes a front left end portion of the trailer and the second corner point includes a front right end portion of the trailer, and
wherein the controller estimates the first corner point and the second corner point using vectors connecting each of the first and second corner points and the camera.