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公开(公告)号：US20200183003A1
公开(公告)日：2020-06-11
申请号：US16672843
申请日：2019-11-04
发明人： Hoon Lee , Ji Eun Won , Dong Gu Lee , Sang Bok Won , Min Kyun Yoo , Jae Pil Hwang , Hyung Sun Jang , Uk Il Yang , Hyok Jin Chong , Kyoung Jun Lee , Woo Young Lee , Seul Ki Han , Bo Young Yun , Su Min Jo , Seung Joon Lee , Byung Gi Hong , Soo Bin Jeon , Min Ho Park , Gi Hyun Seo , Kyu Ho Park , Jun Kwon Jee
摘要： An apparatus and method for identifying a short cut-in vehicle, and a vehicle using the same are disclosed. The apparatus includes a signal conversion unit configured to receive and signal-process a plurality of sensing signals, a computation unit configured to compute state information of a surrounding vehicle detected from the signal-processed signal, a sensor fusion track output unit configured to output a sensor fusion track based on the computed state information of the surrounding vehicle, an occupancy distance map (ODM) output unit configured to output ODM information including a grid map corresponding to a vehicle detection region and an ODM object including a plurality of detection points based on the computed state information of the surrounding vehicle, and a cut-in vehicle identification unit configured to identify a cut-in vehicle based on the output sensor fusion track and ODM information.
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公开(公告)号：US11287525B2
公开(公告)日：2022-03-29
申请号：US16672843
申请日：2019-11-04
发明人： Hoon Lee , Ji Eun Won , Dong Gu Lee , Sang Bok Won , Min Kyun Yoo , Jae Pil Hwang , Hyung Sun Jang , Uk Il Yang , Hyok Jin Chong , Kyoung Jun Lee , Woo Young Lee , Seul Ki Han , Bo Young Yun , Su Min Jo , Seung Joon Lee , Byung Gi Hong , Soo Bin Jeon , Min Ho Park , Gi Hyun Seo , Kyu Ho Park , Jun Kwon Jee
IPC分类号： G01S13/931 , B60W30/09 , G01S7/41
摘要： An apparatus and method for identifying a short cut-in vehicle, and a vehicle using the same are disclosed. The apparatus includes a signal conversion unit configured to receive and signal-process a plurality of sensing signals, a computation unit configured to compute state information of a surrounding vehicle detected from the signal-processed signal, a sensor fusion track output unit configured to output a sensor fusion track based on the computed state information of the surrounding vehicle, an occupancy distance map (ODM) output unit configured to output ODM information including a grid map corresponding to a vehicle detection region and an ODM object including a plurality of detection points based on the computed state information of the surrounding vehicle, and a cut-in vehicle identification unit configured to identify a cut-in vehicle based on the output sensor fusion track and ODM information.
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3.发明授权公开(公告)号：US10818184B2
公开(公告)日：2020-10-27
申请号：US16215113
申请日：2018-12-10
申请人： HYUNDAI MOTOR COMPANY , KIA MOTORS CORPORATION , AJOU UNIVERSITY INDUSTRY-ACADEMIC COOPERATION FOUNDATION
发明人： Seul Ki Han , Su Min Jo , Hoon Lee , Sang Won Lee , Sung Woo Lee , Jong Gwan Lee , Bong Sob Song
IPC分类号： G08G1/16 , G06N20/00 , G01S13/931 , G01S13/93
摘要： A close cut-in vehicle identification apparatus includes an information generator configured to generate sensor fusion information, estimated vehicle state information, and risk determination information based on surrounding vehicle information upon receiving the surrounding vehicle information, a feature combination generator configured to extract a plurality of features based on the sensor fusion information, the estimated vehicle state information, and the risk determination information and to combine the extracted features to generate a plurality of feature combinations, a classification learner configured to classify and learn the plurality of feature combinations depending on a weight factor, and a vehicle intention determination device configured to determine intention of a surrounding vehicle based on a classification learning result value to select an optimum feature combination corresponding to identification of the close cut-in vehicle and configured to determine a situation of the close cut-in vehicle based on the selected optimum feature combination.
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4.发明授权公开(公告)号：US11440541B2
公开(公告)日：2022-09-13
申请号：US16206336
申请日：2018-11-30
申请人： HYUNDAI MOTOR COMPANY , KIA Motors Corporation , AJOU UNIVERSITY INDUSTRY-ACADEMIC COOPERATION FOUNDATION
发明人： Seul Ki Han , Su Min Jo , Hoon Lee , Sang Won Lee , Sung Woo Lee , Jong Gwan Lee , Bong Sob Song
IPC分类号： B60W30/095 , B60W30/18 , G08G1/16
摘要： An apparatus for predicting a concurrent lane change of multiple vehicles to prevent or minimize collision, and a vehicle using the same. The apparatus includes a subject vehicle state estimator for estimating a state of a subject vehicle based on subject vehicle information and surrounding lane state information, a surrounding vehicle state estimator for estimating a state of a surrounding vehicle based on the subject vehicle state information and surrounding vehicle information, a lane state estimator for estimating a state of a surrounding lane based on the estimated subject vehicle state information and surrounding lane information, and a lane change predictor for predicting concurrent lane change of the subject vehicle and the surrounding vehicle based on the estimated subject vehicle state information, the estimated surrounding vehicle state information and the estimated surrounding lane state information.
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公开(公告)号：US11307292B2
公开(公告)日：2022-04-19
申请号：US16584508
申请日：2019-09-26
发明人： Su Min Jo , Ji Eun Won , Sang Bok Won , Min Kyun Yoo , Jae Pil Hwang , Woo Young Lee , Uk Il Yang , Hoon Lee , Seul Ki Han , Bo Young Yun , Hyok Jin Chong , Hyung Sun Jang
IPC分类号： G01S7/40 , G01S13/931
摘要： Disclosed are an occupancy distance map (ODM) information reliability determination system and method and a vehicle using the same. The system includes a signal conversion unit configured to receive a plurality of sensing signals and to perform signal processing, a calculation unit configured to calculate state information of a nearby vehicle detected from processed signals, a sensor fusion track output unit configured to output sensor fusion track information based on the calculated state information of the nearby vehicle, an ODM output unit configured to output ODM information based on the calculated state information of the nearby vehicle, an ODM fusion unit configured to generate sensor fusion ODM information by performing sensor fusion with respect to the ODM information, and an ODM information reliability determination unit configured to determine reliability of the sensor fusion ODM information by confirming association between the sensor fusion track information and the sensor fusion ODM information.
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公开(公告)号：US20230090259A1
公开(公告)日：2023-03-23
申请号：US17897764
申请日：2022-08-29
发明人： Bo Young Yun , Su Min Jo , Nam Hyung Lee
IPC分类号： B60W30/095 , B60W50/00
摘要： A sensor information fusion method of an embodiment includes selecting target tracks having distances from a reference track within a predetermined distance from among tracks obtained by a plurality of sensors, and selecting a target fusion track to be fused with the reference track on the basis of sums of first calculation values calculated according to distances between the selected target tracks and the reference track and second calculation values calculated according to overlapping areas of the target tracks and the reference track.
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公开(公告)号：US20220332327A1
公开(公告)日：2022-10-20
申请号：US17686972
申请日：2022-03-04
发明人： Woo Young Lee , Su Min Jo , Su Min Kim
IPC分类号： B60W40/105 , G06K9/62
摘要： An embodiment sensor information fusion method includes estimating, by a host vehicle, reliability of shared sensor fusion information received from a neighboring vehicle, the shared sensor fusion information being generated by the neighboring vehicle, and generating, based on the estimated reliability, fusion track information of an object located near the host vehicle or the neighboring vehicle using host vehicle sensor fusion information generated by the host vehicle and the shared sensor fusion information.
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公开(公告)号：US20240202930A1
公开(公告)日：2024-06-20
申请号：US18502312
申请日：2023-11-06
发明人： Hyung Jin Cha , Su Min Jo
IPC分类号： G06T7/13 , G01S17/89 , G01S17/931 , G06T7/521
CPC分类号： G06T7/13 , G01S17/89 , G01S17/931 , G06T7/521 , G06T2207/10028 , G06T2207/20221 , G06T2207/30261
摘要： A vehicle according to an embodiment includes: a sensor including one or more sensors configured to obtain information about a target object present around the vehicle; and a sensor information fusion device including a processor configured to control to generate or maintain a sensor fusion track using the information about the target object provided by the sensing device, wherein the processor is configured to control to determine a length of the sensor fusion track using a partial LiDAR (PL) track in which only a portion of the target object is detected in a boundary area of the sensors and estimate an edge point in a shape reconstructed based on the determined length of the sensor fusion track.
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