US 12,459,511 B2
Vehicle and method of controlling the same
Untae Kim, Suwon-si (KR); and Deuk Young Jung, Suwon-si (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. 29, 2022, as Appl. No. 18/070,725.
Claims priority of application No. 10-2021-0172197 (KR), filed on Dec. 3, 2021.
Prior Publication US 2023/0174067 A1, Jun. 8, 2023
Int. Cl. B60W 30/165 (2020.01); B60W 60/00 (2020.01); G06T 7/60 (2017.01); G06V 20/58 (2022.01)
CPC B60W 30/165 (2013.01) [B60W 60/0051 (2020.02); G06T 7/60 (2013.01); G06V 20/58 (2022.01); B60W 2420/403 (2013.01); B60W 2520/10 (2013.01); B60W 2530/201 (2020.02); B60W 2552/10 (2020.02); B60W 2554/4042 (2020.02); B60W 2554/4046 (2020.02); B60W 2554/804 (2020.02); G06T 2207/20092 (2013.01); G06T 2207/30241 (2013.01); G06T 2207/30256 (2013.01); G06V 2201/08 (2022.01)] 19 Claims
OG exemplary drawing
 
1. A vehicle, comprising:
a camera installed in the vehicle and configured to have an external field of view of the vehicle and obtain image data; and
a controller including a processor configured to process the image data;
wherein the controller is further configured to:
determine a target vehicle from at least one surrounding vehicle by processing the image data,
determine a first reference point and a second reference point based on the target vehicle, and
control the vehicle to follow the target vehicle between the first reference point and the second reference point in a lane adjacent to a lane on which the target vehicle is traveling.