US 11,741,725 B2
Apparatus and method for recognizing driving lane based on multiple sensors
Dae-Sung Hwang, Hwaseong-si (KR); Jun-Ho Park, Gwangmyeong-si (KR); Jae-Kyu Suhr, Incheon (KR); Youn-Joo Lee, Chungju-si (KR); and Ho-Gi Jung, Seoul (KR)
Assigned to Hyundai Motor Company, Seoul (KR); Kia Corporation, Seoul (KR); and Korea National University of Transportation Industry-Academic Cooperation Foundation, Chungcheongbuk-do (KR)
Filed by HYUNDAI MOTOR COMPANY, Seoul (KR); KIA Corporation, Seoul (KR); and KOREA NATIONAL UNIVERSITY OF TRANSPORTATION Industry-Academic Cooperation Foundation, Shungju-si (KR)
Filed on Jun. 10, 2021, as Appl. No. 17/344,287.
Claims priority of application No. 10-2020-0150903 (KR), filed on Nov. 12, 2020.
Prior Publication US 2022/0147744 A1, May 12, 2022
Int. Cl. G06V 20/56 (2022.01); G01C 21/00 (2006.01); G01C 21/36 (2006.01); G06V 20/58 (2022.01)
CPC G06V 20/588 (2022.01) [G01C 21/3658 (2013.01); G01C 21/3848 (2020.08); G06V 20/58 (2022.01)] 19 Claims
OG exemplary drawing
 
1. An apparatus for recognizing a driving lane of a vehicle based on multiple sensors that are located on the vehicle, the apparatus comprising:
a first sensor configured to calculate road information, wherein the road information includes at least road boundaries;
a second sensor configured to calculate moving obstacle information;
a third sensor configured to calculate movement information of the vehicle; and
a controller configured to remove the moving obstacle information from the road information to extract only road boundary data, accumulate the road boundary data to calculate pieces of candidate location information on the vehicle on the basis of the movement information, and select one among the pieces of candidate location information as final candidate location information,
wherein the pieces of candidate location information are calculated using driving lane information of the vehicle obtained using a fourth sensor or precision map lane information which is set in advance on the basis of current vehicle location information.