US 12,420,802 B2
Method and system for recognizing road surface
Young Jae Kim, Whasung-Si (KR); In Yong Jung, Whasung-Si (KR); Jong Hoon Choi, Whasung-Si (KR); Byung Joo Kim, Whasung-Si (KR); Hyung Jin Kim, Whasung-Si (KR); So Yeong Kim, Whasung-Si (KR); Ji Eun Cho, Whasung-Si (KR); Jin Su Ha, Whasung-Si (KR); Seong Jun Kim, Whasung-Si (KR); Young Rok Son, Whasung-Si (KR); Ki Chun Jo, Whasung-Si (KR); and Ji Won Seok, Whasung-Si (KR)
Assigned to Hyundai Motor Company, Seoul (KR); Kia Corporation, Seoul (KR); and Konkuk Univ Ind Coop Corp, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); Kia Corporation, Seoul (KR); and Konkuk University Industrial Cooperation Corp, Seoul (KR)
Filed on Jan. 3, 2023, as Appl. No. 18/092,822.
Claims priority of application No. 10-2022-0104875 (KR), filed on Aug. 22, 2022.
Prior Publication US 2024/0059296 A1, Feb. 22, 2024
Int. Cl. B60W 40/06 (2012.01); B60W 40/105 (2012.01); B60W 40/11 (2012.01); B60W 40/114 (2012.01); G01S 17/89 (2020.01); G06F 17/17 (2006.01)
CPC B60W 40/06 (2013.01) [B60W 40/105 (2013.01); B60W 40/11 (2013.01); B60W 40/114 (2013.01); G01S 17/89 (2013.01); G06F 17/17 (2013.01); B60W 2420/408 (2024.01); B60W 2520/14 (2013.01); B60W 2520/16 (2013.01)] 18 Claims
OG exemplary drawing
 
1. A method for controlling driving of a vehicle, the method comprising:
performing, by a processor in the vehicle, time synchronization of point cloud data generated by use of Light Detection and Ranging (LiDAR) of the vehicle and motion-related data of the vehicle based on a time stamp of the point cloud data to obtain time-synchronized motion-related data of the vehicle;
determining, by the processor, an initial location of the vehicle based on the point cloud data and the time-synchronized motion-related data of the vehicle;
extracting, by the processor, first point cloud data from the point cloud data, the first point cloud data corresponding to a predetermined region with respect to the vehicle;
generating, by the processor, a point cloud map by use of a local map and the first point cloud data, the local map including map data on the predetermined region;
determining, by the processor, a predicted driving route of the vehicle based on the motion-related data of the vehicle;
generating, by the processor, a road surface height profile of the predicted driving route based on the point cloud map and the predicted driving route; and
controlling, by a controller in the vehicle, the driving of the vehicle based on road surface height profile.