公开(公告)号：US11066070B2

公开(公告)日：2021-07-20

申请号：US15833496

申请日：2017-12-06

Applicant: Hyundai Motor Company ,  Kia Motors Corporation

Inventor： Yoon Soo Kim ,  Myung Seon Heo ,  Dong Gyu Noh ,  Young Chul Oh ,  In Yong Jung ,  Su Lyun Sung ,  Hyoung Geun Kwon ,  Dae Sung Hwang ,  Ki Cheol Shin ,  Jong Rok Park ,  Cho Rong Ryu ,  Jun Sik Hwang ,  Min Byeong Lee ,  Seung Wook Park ,  Hahk Rel Noh ,  Byung Yong You

IPC: G08G1/16 ,  B60W50/14 ,  B60W30/16 ,  B60W30/14 ,  B60W50/00

Abstract: An apparatus and method for controlling a vehicle speed based on information about forward vehicles that travel in the same lane may be acquired using Vehicle to Everything (V2X) communications in a cooperative adaptive cruise control (CACC) system. The CACC system includes a communication unit receiving vehicle information from neighboring vehicles using V2V communications; an information collection unit collecting vehicle information of the neighboring vehicles and the subject vehicle using sensors; and a control unit determining a forward vehicle and a far-forward vehicle using the sensors, selecting first and second target vehicles for being followed by the subject vehicle based on the vehicle information of the forward vehicle and the far-forward vehicle and the vehicle information of the neighboring vehicles, and controlling the driving speed of the subject vehicle based on speed information of the first and second target vehicles.

公开(公告)号：US10279806B2

公开(公告)日：2019-05-07

申请号：US15365122

申请日：2016-11-30

Applicant: HYUNDAI MOTOR COMPANY

Inventor： Young Chul Oh ,  Ki Cheol Shin ,  Byung Yong You ,  Myung Seon Heo

IPC: G05D1/02 ,  G06K9/00 ,  G08G1/16 ,  B60W30/12

Abstract: The present disclosure provides a lane estimating apparatus and method. The apparatus includes: a lane determiner, an obstacle position calculator, a vehicle position corrector, and a lane estimator. The lane determiner compares a first lane detected by a first sensor with a lane on an actual road or a second lane on a local map to determine reliability of the first lane. The obstacle position calculator detects, when the reliability of the detected first lane is less than a preset reference, a first obstacle in the vicinity of a vehicle and a second obstacle on the local map, and calculates a difference between slopes and positions of straight lines extracted from the first obstacle and the second obstacle. The vehicle position corrector corrects a heading direction and a position of the vehicle based on the difference between the slopes and positions of the straight lines. In addition, the lane estimator estimates a driving lane on the local map.

公开(公告)号：US09910136B2

公开(公告)日：2018-03-06

申请号：US14576265

申请日：2014-12-19

Applicant: Hyundai Motor Company

Inventor： Myung Seon Heo ,  Byung Yong You ,  Young Chul Oh

IPC: G01B5/02 ,  G01S7/48 ,  G01S17/93 ,  G01S17/89

CPC classification number: G01S7/4808 ,  G01S17/89 ,  G01S17/936

Abstract: A system and method for filtering LiDAR data is provided. The system includes a LiDAR data collector that is configured to collect the LiDAR data from a LiDAR and store the LiDAR data in a matrix structure. A noise point determiner is configured to determine whether a first filtering condition for determining whether a point within a predetermined reference distance in the LiDAR data is present, a second filtering condition for determining whether a present point adjacent to a left and right by a reference of a reference point in the matrix structure is a first reference value or less, and a third filtering condition for determining whether a present point adjacent to a top and bottom by the reference of the reference point is a second reference value or less are satisfied.

公开(公告)号：US09470788B2

公开(公告)日：2016-10-18

申请号：US13724248

申请日：2012-12-21

Applicant: Hyundai Motor Company

Inventor： Young Chul Oh ,  Byungyong You

IPC: G01S13/86 ,  G01S13/93 ,  G01S13/42 ,  G01S13/52

CPC classification number: G01S13/867 ,  G01S13/42 ,  G01S13/52 ,  G01S13/931 ,  G01S2013/9339 ,  G01S2013/9375

Abstract: Disclosed herein is a method of recognizing the location of a current lane in which a vehicle is traveling, using a radar and an imaging device. The method includes: detecting the locations of the fixed objects using an object detector; capturing a photograph of the road surface ahead using an imaging device; calculating, by a controller, the entire width of a traveling road based on the locations of the fixed objects at the left side and the right side; calculating, by the controller the width of a traveling lane from the photograph of the road surface; and calculating, by the controller, the lane in which the vehicle is traveling based on the calculated width of the traveling lane and the entire width of the traveling road.

Abstract translation: 这里公开了使用雷达和成像装置识别车辆正在行驶的当前车道的位置的方法。 该方法包括：使用对象检测器检测固定对象的位置; 使用成像装置拍摄前方路面的照片; 基于左侧和右侧的固定物体的位置，通过控制器计算行驶道路的整个宽度; 由控制器计算路面照片的行车道宽度; 并且根据计算出的行车道宽度和行驶道路的整体宽度，由控制器计算车辆行驶的车道。

公开(公告)号：US20160297436A1

公开(公告)日：2016-10-13

申请号：US14870043

申请日：2015-09-30

Applicant: Hyundai Motor Company

Inventor： Ki Cheol Shin ,  Myung Seon Heo ,  Young Chul Oh

IPC: B60W30/16 ,  B60W40/04

CPC classification number: B60W30/16 ,  B60W40/04 ,  B60W2550/302 ,  B60W2550/308 ,  B60W2550/408 ,  G08G1/161 ,  G08G1/163

Abstract: An apparatus and method for identifying surrounding vehicles is provided. The apparatus includes a sensor that measures position coordinates of a first surrounding vehicle and a yaw rate and a speed of a subject vehicle and a V2V communication unit that receives a coordinate history and a speed from the plurality of surrounding vehicles. Additionally, a controller generates a traveling trajectory and a speed pattern as first identification information by applying accumulated behaviors of the subject vehicle to the position coordinates of the first surrounding vehicle and calculate each traveling trajectory and speed pattern as n-th identification information based on the coordinate history and the speed received via the V2V communication unit. The controller then compares the first identification information with the n-th identification information to recognize the surrounding vehicle corresponding to identification information most similar to the first identification information as the first surrounding vehicle.

Abstract translation: 提供一种用于识别周围车辆的装置和方法。 该装置包括测量第一周围车辆的位置坐标的传感器以及主车辆的偏航率和速度以及从多个周围车辆接收坐标历史和速度的V2V通信单元。 此外，控制器通过将本车辆的累积行为施加到第一周围车辆的位置坐标来生成行驶轨迹和速度模式作为第一识别信息，并且基于第一识别信息计算每个行驶轨迹和速度模式作为第n个识别信息 坐标历史和通过V2V通信单元接收的速度。 然后，控制器将第一识别信息与第n个识别信息进行比较，以识别与第一识别信息最相似的识别信息的周围车辆作为第一周围车辆。

公开(公告)号：US20150378015A1

公开(公告)日：2015-12-31

申请号：US14525141

申请日：2014-10-27

Applicant: HYUNDAI MOTOR COMPANY

Inventor： Byung Yong YOU ,  Myung Seon Heo ,  Young Chul Oh

IPC: G01S13/06 ,  G01S19/13 ,  G01S13/86

CPC classification number: G01S13/06 ,  G01S13/867 ,  G01S19/48

Abstract: An apparatus for a self localization of a vehicle includes a sensor unit, a landmark detector, a landmark recognizer, and a location estimator. The sensor includes at least two sensors and is configured to measure information on environment around the vehicle using each of the at least two sensors. The landmark detector is configured to detect landmark information based on data measured by each sensor. The landmark recognizer is configured to selectively combine landmark information detected based on data measurement of at least one of the at least two sensors to recognize a landmark and reflect fused landmark information to update a probability distribution. The location estimator is configured to use the probability distribution updated by the landmark recognizer to estimate a self location of the vehicle.

Abstract translation: 用于车辆自定位的装置包括传感器单元，地标检测器，地标识别器和位置估计器。 所述传感器包括至少两个传感器，并且被配置为使用所述至少两个传感器中的每一个来测量关于所述车辆周围的环境的信息。 地标检测器被配置为基于由每个传感器测量的数据来检测地标信息。 地标识别器被配置为选择性地组合基于至少两个传感器中的至少一个传感器的数据测量而检测的地标信息，以识别地标并反映融合的地标信息以更新概率分布。 位置估计器被配置为使用由地标识别器更新的概率分布来估计车辆的自身位置。

公开(公告)号：US09113417B2

公开(公告)日：2015-08-18

申请号：US13692259

申请日：2012-12-03

Applicant: Hyundai Motor Company

Inventor： Chang Jae Lee ,  Myung Seon Heo ,  Young Chul Oh ,  Hyoung Geun Kwon

IPC: H04W4/00 ,  H04W52/04 ,  H04W52/36 ,  H04W52/20 ,  H04W52/28 ,  H04W52/34

CPC classification number: H04W52/04 ,  H04W52/20 ,  H04W52/283 ,  H04W52/343 ,  H04W52/367

Abstract: A technique for controlling power for V2X communication is provided. The apparatus includes a reception message analysis process configured to analyze headers of reception messages received from communication apparatuses of roadside apparatuses and surrounding vehicles located around a vehicle, a message loss checking process configured to check whether or not loss of the reception messages occurs by counting sequential numbers included in the headers of the reception messages, a density analysis process configured to analyze a density for each of communication apparatuses located in a communication radius of preset transmission power from the vehicle when the message loss checking process determines that the loss of the reception messages occurs, and a transmission power determination process configured to determine transmission power for V2X communication by deducting the preset transmission power in units of reference power according to the density when the density around the vehicle exceeds a reference value.

Abstract translation: 提供了一种用于控制V2X通信功率的技术。 该装置包括：接收消息分析处理，被配置为分析从位于车辆周围的路侧设备和周围车辆的通信设备接收的接收消息的头部;消息丢失检查处理，被配置为通过计数顺序来检查接收消息的丢失是否发生 包括在接收消息的头部中的数字，密度分析处理，被配置为当消息丢失检查处理确定接收消息的丢失时，分析来自车辆的位于预设发送功率的通信半径中的每个通信装置的密度 以及发送功率确定处理，被配置为通过当车辆周围的密度超过参考值时根据密度以参考功率为单位来扣除预设发送功率来确定V2X通信的发送功率。

公开(公告)号：US20140188322A1

公开(公告)日：2014-07-03

申请号：US13902024

申请日：2013-05-24

Applicant: Hyundai Motor Company

Inventor： Young Chul Oh ,  Myung Seon Heo ,  Byung Yong You

IPC: G05D1/00

CPC classification number: G05D1/0061 ,  B60W30/00 ,  G05D2201/0213

Abstract: A driving mode changing method and apparatus of an autonomous navigation vehicle that allows a driver to stably operate the autonomous navigation vehicle. The autonomous navigation vehicle may be stably operated by mounting an apparatus (a touch pad, a joystick, or the like) to operate the autonomous navigation vehicle on seats (a passenger seat and a rear seat) other than a driver seat of the autonomous navigation vehicle and providing various information (a near around view, a far around view, a critical level, vehicle information, and the like) to drive the autonomous navigation vehicle.

Abstract translation: 一种允许驾驶员稳定地操作自主导航车辆的自主导航车辆的驾驶模式改变方法和装置。 自主导航车辆可以通过安装设备（触摸板，操纵杆等）来稳定地操作，以将自主导航车辆操作在除了自主导航的驾驶员座椅之外的座椅（乘客座椅和后座椅）上 提供各种信息（近视，远景，关键水平，车辆信息等），以驱动自主导航车辆。

公开(公告)号：US20130329651A1

公开(公告)日：2013-12-12

申请号：US13692259

申请日：2012-12-03

Applicant: HYUNDAI MOTOR COMPANY

Inventor： Chang Jae Lee ,  Myung Seon Heo ,  Young Chul Oh ,  Hyoung Geun Kwon

IPC: H04W52/04

CPC classification number: H04W52/04 ,  H04W52/20 ,  H04W52/283 ,  H04W52/343 ,  H04W52/367

Abstract: A technique for controlling power for V2X communication is provided. The apparatus includes a reception message analysis process configured to analyze headers of reception messages received from communication apparatuses of roadside apparatuses and surrounding vehicles located around a vehicle, a message loss checking process configured to check whether or not loss of the reception messages occurs by counting sequential numbers included in the headers of the reception messages, a density analysis process configured to analyze a density for each of communication apparatuses located in a communication radius of preset transmission power from the vehicle when the message loss checking process determines that the loss of the reception messages occurs, and a transmission power determination process configured to determine transmission power for V2X communication by deducting the preset transmission power in units of reference power according to the density when the density around the vehicle exceeds a reference value.

Abstract translation: 提供了一种用于控制V2X通信功率的技术。 该装置包括：接收消息分析处理，被配置为分析从位于车辆周围的路侧设备和周围车辆的通信设备接收的接收消息的头部;消息丢失检查处理，被配置为通过计数顺序来检查接收消息的丢失是否发生 包括在接收消息的头部中的数字，密度分析处理，被配置为当消息丢失检查处理确定接收消息的丢失时，分析来自车辆的位于预设发送功率的通信半径中的每个通信装置的密度 以及发送功率确定处理，被配置为通过当车辆周围的密度超过参考值时根据密度以参考功率为单位来扣除预设发送功率来确定V2X通信的发送功率。

公开(公告)号：US11623644B2

公开(公告)日：2023-04-11

申请号：US16512694

申请日：2019-07-16

Applicant: HYUNDAI MOTOR COMPANY ,  KIA MOTORS CORPORATION

Inventor： Young Chul Oh ,  Dong Hoon Kang ,  Hoon Kyung Cho ,  Seok Youl Yang ,  Jae Hwan Jang

IPC: B60W30/18 ,  B60W30/095 ,  G08G1/16 ,  G08G1/01 ,  G05D1/02

Abstract: A vehicle running control method includes: when a junction section lane is present adjacent to a traveling lane of a host vehicle, collecting, by a processor, vehicle information of at least one vehicle traveling in the junction section lane; determining, by the processor, the possibility of cut-in of junction section lane vehicles based on the collected vehicle information and whether the traveling lane is congested; and controlling, by the processor, at least one of the traveling path or the traveling velocity of the host vehicle based on the result of determination in order to display an intention to yield.