US 12,134,433 B2
Vehicle and control method thereof
You Chei Sung, Seongnam-si (KR); Sangpil Kim, Gwangmyeong-si (KR); Kiseok Seong, Cheonan-si (KR); Young Deok Won, Yongin-si (KR); and Jeongkyu Kim, Incheon (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 Jul. 5, 2022, as Appl. No. 17/857,463.
Claims priority of application No. 10-2021-0089208 (KR), filed on Jul. 7, 2021.
Prior Publication US 2023/0011158 A1, Jan. 12, 2023
Int. Cl. B62D 6/04 (2006.01); B62D 15/02 (2006.01); G06V 20/56 (2022.01); G06V 20/58 (2022.01)
CPC B62D 6/04 (2013.01) [B62D 15/025 (2013.01); G06V 20/58 (2022.01); G06V 20/588 (2022.01); B60Y 2400/304 (2013.01)] 20 Claims
OG exemplary drawing
 
11. A control method of a vehicle, the control method comprising:
obtaining image data by a camera installed in the vehicle to have a front view or a rear view of the vehicle;
determining that a road has an inclination in a transverse direction based on the image data; and
controlling a steering device to compensate for the inclination of the road in the transverse direction;
wherein determining that the road has the inclination in the transverse direction comprises:
when a distance between the vehicle and an object is farther than a reference distance, identifying the object having a size larger than or equal to a predetermined size based on the image data; and
determining the road has the inclination in the transverse direction based on the object.