US 12,117,301 B2
Apparatus and method for controlling vehicle
Sung Woo Choi, Seoul (KR); Su Jin Han, Seoul (KR); and Su Young Choi, 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 Nov. 9, 2022, as Appl. No. 17/984,073.
Claims priority of application No. 10-2022-0036899 (KR), filed on Mar. 24, 2022.
Prior Publication US 2023/0304807 A1, Sep. 28, 2023
Int. Cl. G01C 21/00 (2006.01); G01C 21/34 (2006.01)
CPC G01C 21/3461 (2013.01) 20 Claims
OG exemplary drawing
 
1. An apparatus for controlling a vehicle, the apparatus comprising:
a sensor configured to detect a boundary of a road;
storage configured to store a road map; and
a controller configured to:
determine a start point and an end point of a first U-turn path based on a U-turn lane link in the road map;
determine an arc path based on the start point and the end point;
determine, based on the arc path, a second U-turn path centered on a front bumper of the vehicle;
determine an offset based on a center point of the turning path and a center point of the boundary of the road; and
determine a third U-turn path by applying the offset to the second U-turn path.