Apparatus for controlling vehicle and method thereof

Abstract

The invention relates to a vehicle control apparatus and a method thereof. A vehicle control apparatus having a sensor and a processor may generate a first virtual frame based on sensor data and a first point representing an external vehicle and a highlighted object, and create a second virtual frame from a second point excluding an object portion. The validity of the second virtual frame is determined using criteria including position, angle, and distance relative to the first virtual frame. If valid, the second virtual frame is mapped onto the external vehicle, and a signal indicative of this mapping is generated.

Description

[0001] CROSS-REFERENCE TO RELATED APPLICATIONS

[0002] This application claims the benefit of priority from Korean Patent Application No. 10-2023-0141456 filed in the Korean Intellectual Property Office on October 20, 2023, the entire contents of which are incorporated herein by reference. Technical Field

[0003] The present invention relates to an apparatus for controlling a vehicle and a method thereof, and more particularly, to a technology for recognizing an external vehicle using a sensor such as a light detection and ranging (LiDAR) sensor. Background Art

[0004] In order to assist vehicle driving, various studies are being conducted to recognize external objects using various sensors.

[0005] In particular, LiDAR can be used to identify external objects when the vehicle is traveling in a driver assistance device activated mode or in an autonomous driving mode.

[0006] If LiDAR is used to identify an external vehicle, a virtual frame including the external vehicle and the external vehicle rearview mirror may be generated, and the heading of the virtual frame may be identified using the virtual frame including the rearview mirror. If the heading of the virtual frame is identified using the virtual frame including the rearview mirror, the heading of the virtual frame may be erroneously identified due to the rearview mirror and thus identified as a cut-in of the external vehicle mapping the virtual frame.

[0007] If the external vehicle recognized as mapping the virtual frame merges, the vehicle's driving route may be changed, or the vehicle's speed may be reduced. In order to correct an error in a vehicle control system including a vehicle control device, the vehicle's driving route may be changed, or the vehicle's speed may be reduced. Summary of the invention

[0008] The present invention provides a device including a sensor and a processor, wherein the processor is configured to generate a first virtual frame based on sensing information obtained by the sensor and a plurality of first points, wherein the plurality of first points correspond to an external vehicle and an object protruding from the external vehicle; generate a second virtual frame based on a plurality of second points, wherein the plurality of second points are obtained by excluding parts corresponding to the objects from the plurality of first points; determine the validity of the second virtual frame based on at least one of the following: a position of the second virtual frame, an angle between a first heading of the first virtual frame and a second heading of the second virtual frame, the second heading, and a distance between the first virtual frame and the second virtual frame; map the second virtual frame onto the external vehicle based on the second virtual frame being valid; and generate a signal indicating that the second virtual frame is mapped onto the external vehicle.

[0009] In the apparatus of an embodiment, the processor is configured to map the first virtual frame onto the external vehicle based on the second virtual frame being invalid.

[0010] In the device of an embodiment, the processor is configured to determine that the second virtual frame is valid based on detecting the second virtual frame in front of a vehicle including the device.

[0011] In the device of the embodiment, the processor is configured to determine a first heading of a first virtual frame and a second heading of a second virtual frame on a plane formed by a first axis and a second axis, wherein the first axis is parallel to a driving direction of an external vehicle and perpendicular to the second axis; determine a first angle between the first heading and the second heading; determine a second angle between a straight line parallel to the first axis and the second heading; and determine that the second virtual frame is valid based on the first angle and the second angle being less than or equal to a reference angle.

[0012] In the device of the embodiment, the processor is configured to determine a first line segment corresponding to the back side of the external vehicle in the first virtual frame; determine a second line segment corresponding to the back side of the external vehicle in the second virtual frame; determine a first distance between a first end of the first line segment and a second end of the second line segment corresponding to the first end; determine a second distance between a third end of the first line segment and a fourth end of the second line segment corresponding to the third end; and determine that the second virtual frame is valid based on at least one of the first distance and the second distance being less than or equal to a reference distance.

[0013] In the device of the embodiment, the processor is configured to generate a first virtual frame using multiple first points detected within a first reference height from the ground; and generate a second virtual frame using multiple second points detected within a second reference height from the ground that is less than the first reference height, and wherein the second reference height is set to be less than the placement height of the object.

[0014] In the device of the embodiment, the processor is configured to determine a second virtual frame in front of the vehicle on a plane formed by a first axis and a second axis perpendicular to the first axis; determine a first vertex of the first virtual frame and a second vertex located in a diagonal direction of the first vertex; determine a lateral center point of the first virtual frame on the plane based on a coordinate value of the first vertex in the direction of the second axis and a coordinate value of the second vertex in the direction of the second axis; and determine that the second virtual frame is valid based on the absolute value of the lateral center point being greater than or equal to a reference value.

[0015] In the device of the embodiment, the processor is configured to store in the memory: first information for assigning a first identifier indicating that the first virtual frame includes the object, and second information for assigning a second identifier indicating that the second virtual frame does not include the object.

[0016] In the device of an embodiment, the processor is configured to determine the type of the external vehicle using the first information stored in the memory based on mapping the second virtual frame onto the external vehicle.

[0017] In the device of the embodiment, the processor is configured to determine a first line segment and a second line segment on a plane formed by a first axis and a second axis, wherein the first axis is parallel to a driving direction of an external vehicle and perpendicular to the second axis; determine a first coordinate corresponding to the first end, a second coordinate corresponding to the second end, a third coordinate corresponding to the third end, and a fourth coordinate corresponding to the fourth end; determine a first distance based on the first coordinate and the second coordinate; and determine a second distance based on the third coordinate and the fourth coordinate.

[0018] According to the present invention, a method executed by a processor includes the following steps: generating a first virtual frame based on sensing information obtained by a sensor and a plurality of first points, wherein the plurality of first points correspond to an external vehicle and an object protruding from the external vehicle; generating a second virtual frame based on a plurality of second points, wherein the plurality of second points are obtained by excluding portions corresponding to the objects from the plurality of first points; determining the validity of the second virtual frame based on at least one of: a position of the second virtual frame, an angle between a first heading of the first virtual frame and a second heading of the second virtual frame, the second heading, and a distance between the first virtual frame and the second virtual frame; mapping the second virtual frame onto the external vehicle based on the validity of the second virtual frame; and generating a signal indicating that the second virtual frame is mapped onto the external vehicle.

[0019] The method may further include mapping the first virtual frame onto the external vehicle based on the second virtual frame being invalid.

[0020] The method may further include determining that the second virtual frame is valid based on detecting the second virtual frame in front of the vehicle including the processor.

[0021] The method may also include: determining a first heading of the first virtual frame and a second heading of the second virtual frame on a plane formed by a first axis and a second axis, wherein the first axis is parallel to a driving direction of the external vehicle and perpendicular to the second axis; determining a first angle between the first heading and the second heading; determining a second angle between a straight line parallel to the first axis and the second heading; and determining that the second virtual frame is valid based on the first angle and the second angle being less than or equal to a reference angle.

[0022] The method may also include: determining a first line segment corresponding to the back side of an external vehicle in the first virtual frame; determining a second line segment corresponding to the back side of an external vehicle in the second virtual frame; determining a first distance between a first end of the first line segment and a second end of the second line segment corresponding to the first end; determining a second distance between a third end of the first line segment and a fourth end of the second line segment corresponding to the third end; and determining that the second virtual frame is valid based on at least one of the first distance and the second distance being less than or equal to a reference distance.

[0023] The method may also include: generating a first virtual frame using multiple first points detected within a first reference height from the ground; and generating a second virtual frame using multiple second points detected within a second reference height from the ground that is less than the first reference height, and wherein the second reference height is set to be less than the placement height of the object.

[0024] The method may also include: determining a second virtual frame in front of the vehicle on a plane formed by a first axis and a second axis perpendicular to the first axis; determining a first vertex of the first virtual frame and a second vertex located in a diagonal direction of the first vertex; determining a lateral center point of the first virtual frame on the plane based on a coordinate value of the first vertex in the direction of the second axis and a coordinate value of the second vertex in the direction of the second axis; and determining that the second virtual frame is valid based on an absolute value of the lateral center point being greater than or equal to a reference value.

[0025] The method may further include storing in the memory: first information for assigning a first identifier indicating that the first virtual frame includes the object, and second information for assigning a second identifier indicating that the second virtual frame does not include the object.

[0026] The method may further include determining a type of the external vehicle using first information stored in a memory based on mapping the second virtual frame onto the external vehicle.

[0027] The method may also include: determining a first line segment and a second line segment on a plane formed by a first axis and a second axis, wherein the first axis is parallel to a driving direction of an external vehicle and perpendicular to the second axis; determining a first coordinate corresponding to the first end, a second coordinate corresponding to the second end, a third coordinate corresponding to the third end, and a fourth coordinate corresponding to the fourth end; determining a first distance based on the first coordinate and the second coordinate; and determining a second distance based on the third coordinate and the fourth coordinate. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The above and other objects, features and advantages of the present invention will become more apparent through the following detailed description in conjunction with the accompanying drawings:

[0029] Figure 1 An example of a block diagram showing a vehicle control device according to an embodiment of the present invention;

[0030] Figure 2 An example of generating a first virtual frame including an external vehicle and a rearview mirror of the external vehicle and a second virtual frame excluding a portion corresponding to the rearview mirror according to an embodiment of the present invention is shown;

[0031] Figure 3 An example of generating a virtual frame using a plurality of points identified within a reference height from the ground according to an embodiment of the present invention is shown;

[0032] Figure 4 An example of determining validity of a second virtual frame excluding a portion corresponding to a rearview mirror according to an embodiment of the present invention is shown;

[0033] Figure 5 shows an example of information stored in a memory according to an embodiment of the present invention;

[0034] Figure 6 shows an example in which the vehicle control apparatus according to the embodiment of the present invention outputs a result of excluding a virtual frame corresponding to a portion of a rearview mirror;

[0035] Figure 7 An example of a flowchart showing a vehicle control method according to another embodiment of the present invention; and

[0036] Figure 8 An example of a computing system including a vehicle control device according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0037] Hereinafter, some examples of the present invention will be described in detail with reference to the accompanying drawings. When adding reference numerals to the components of each figure, it should be noted that the same components have the same reference numerals even if they are indicated in another figure. In addition, when describing the embodiments of the present invention, if detailed descriptions associated with well-known functions or configurations may unnecessarily obscure the subject matter of the present invention, these detailed descriptions will be omitted.

[0038] When describing the elements of the embodiments of the present invention, the terms such as first, second, A, B, (a), (b) may be used herein. These terms are only used to distinguish one element from another element, but do not limit the corresponding elements, regardless of the nature, order or priority of the corresponding elements. In addition, unless otherwise defined, all terms including technical and scientific terms used herein should be interpreted as the conventions of the field to which the present invention belongs. It should be understood that the terms used herein should be interpreted as having a meaning consistent with their meanings in the context of the present invention and the related art, and unless clearly defined herein, should not be interpreted in an ideal or overly formal sense.

[0039] In the following, reference will be made to Figures 1 to 8 Various embodiments of the present invention are described in detail.

[0040] Figure 1 An example of a block diagram of a vehicle control apparatus according to an embodiment of the present invention is shown.

[0041] refer to Figure 1 , the vehicle control device 100 according to an embodiment of the present invention may be implemented inside or outside the vehicle, and some of the components included in the vehicle control device 100 may be implemented inside or outside the vehicle. In this case, the vehicle control device 100 may be integrated with an internal control unit of the vehicle, and may be implemented using a separate device to be connected to the control unit of the vehicle through a separate connection device. For example, the vehicle control device 100 may also include Figure 1 Components not shown.

[0042] refer to Figure 1 According to an embodiment, the vehicle control device 100 may include a processor 110 and a LiDAR 120. According to an embodiment, the vehicle control device 100 may further include a memory 130. The processor 110, the LiDAR 120, or the memory 130 may be electrically and / or operably coupled to each other through electronic components including a communication bus.

[0043] Hereinafter, a plurality of hardware being operably coupled may include that a direct or indirect connection between the plurality of hardware is established by wire or wirelessly so that a first piece of hardware among the plurality of hardware controls a second piece of hardware.

[0044] Although various blocks are shown, embodiments are not limited thereto. Figure 1 A portion of the plurality of hardware in the vehicle control device 100 may be included in a single integrated circuit including a system on a chip (SoC). The type and / or number of hardware included in the vehicle control device 100 is not limited to Figure 1 For example, the vehicle control device 100 may only include Figure 1 A portion of the multiple hardware shown in FIG.

[0045] The vehicle control device 100 according to the embodiment may include hardware for processing data based on one or more instructions. For example, the hardware for processing data may include a processor 110 .

[0046] For example, the hardware for processing data may include an arithmetic and logic unit (ALU), a floating point processing unit (FPU), a field programmable gate array (FPGA), a central processing unit (CPU), and / or an application processor (AP). The processor 110 may have a single-core processor structure, or may have a multi-core processor structure including dual-core, quad-core, hexa-core, or octa-core.

[0047] The vehicle control apparatus 100 according to an embodiment may include the LiDAR 120. For example, the LiDAR 120 may obtain a data set for identifying objects around the vehicle control apparatus 100. For example, the LiDAR 120 may identify or detect at least one of the position of the surrounding object, the moving direction of the surrounding object, the speed of the surrounding object, or any combination thereof based on a pulse laser signal emitted from the LiDAR 120 and reflected back by the surrounding object.

[0048] The vehicle control apparatus 100 according to the embodiment may further include a memory 130. For example, the memory 130 included in the vehicle control apparatus 100 according to the embodiment may include a hardware component for storing data and / or instructions to be input and / or output to the processor 110 of the vehicle control apparatus 100.

[0049] For example, the memory 130 may include a volatile memory including a random access memory (RAM), or a nonvolatile memory including a read only memory (ROM).

[0050] For example, the volatile memory may include at least one of a dynamic RAM (DRAM), a static RAM (SRAM), a cache RAM, a pseudo-static RAM (PSRAM), or any combination thereof. For example, the non-volatile memory may include at least one of a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), a flash memory, a hard disk, an optical disk, a solid-state drive (SSD), or an embedded multimedia card (eMMC), or any combination thereof.

[0051] The processor 110 of the vehicle control device 100 according to the embodiment may identify or detect an external vehicle through the LiDAR 120. The processor 110 may identify a plurality of first points including the external vehicle and objects associated with the external vehicle (e.g., rearview mirrors, trailer hooks, hitches, antennas, spoilers, grilles, or any structures extending or protruding from the vehicle) through the LiDAR 120. The processor 110 may generate a first virtual frame based on the plurality of first points including the external vehicle and the rearview mirror of the external vehicle.

[0052] For example, the processor 110 may be configured to determine the position of the vehicle based on a first axis (e.g., a longitudinal axis of a vehicle including the processor 110, e.g., Figure 4 and Figure 6 ), a second axis (e.g., a lateral or transverse axis of a vehicle including processor 110, e.g., Figure 4 and Figure 6 ) and a third axis (e.g., a vertical axis of a vehicle including processor 110, e.g., Figure 3The processor 110 may generate a first virtual frame using the plurality of first points identified within the first reference height from the ground based on the third axis among the first axis, the second axis, and the third axis.

[0053] For example, the first axis may include an x-axis. For example, the second axis may include a y-axis. For example, the third axis may include a z-axis. Hereinafter, the first axis may refer to an x-axis; the second axis may refer to a y-axis; and the third axis may refer to a z-axis, but the embodiment is not limited thereto.

[0054] In an embodiment, the processor 110 may identify or determine a plurality of second points obtained by excluding a portion corresponding to an external vehicle rearview mirror from the plurality of first points. The processor 110 may generate a second virtual frame based on the plurality of second points obtained by excluding a portion corresponding to an external vehicle rearview mirror from the plurality of first points.

[0055] For example, the processor 110 may identify or determine a plurality of second points obtained by excluding a portion corresponding to an external vehicle rearview mirror within a second reference height less than the first reference height from the ground based on a third axis among the first axis, the second axis, and the third axis. The processor 110 may generate a second virtual frame using a plurality of second points identified within a second reference height less than the first reference height from the ground based on a third axis among the first axis, the second axis, and the third axis.

[0056] In an embodiment, the processor 110 may determine the validity of the second virtual frame based on obtaining the first virtual frame and the second virtual frame. For example, the processor 110 may identify or determine the position of the second virtual frame. The processor 110 may identify or determine the angle between the first heading of the first virtual frame and the second heading of the second virtual frame. The processor 110 may identify or determine the second heading of the second virtual frame. The processor 110 may identify the distance between the first virtual frame and the second virtual frame.

[0057] In an embodiment, the processor 110 may determine the validity of the second virtual frame based on at least one of: the position of the second virtual frame, the angle between the first heading of the first virtual frame and the second heading of the second virtual frame, the second heading, the distance between the first virtual frame and the second virtual frame, or any combination thereof.

[0058] In an embodiment, the processor 110 may map the second virtual frame onto the external vehicle based on the second virtual frame being determined to be valid. For example, the processor 110 may express the external vehicle using the second virtual frame in the virtual space based on the second virtual frame being determined to be valid.

[0059] In an embodiment, the processor 110 may map the first virtual frame onto the external vehicle based on the second virtual frame being invalid. For example, the processor 110 may express the external vehicle using the first virtual frame in the virtual space based on the second virtual frame being determined to be invalid.

[0060] In an embodiment, the processor 110 may identify the type of the external vehicle using the first information corresponding to the first virtual frame. Because if the type of the external vehicle is identified using a plurality of second points included in the second virtual frame, feature points may be lost, the processor 110 may identify the type of the external vehicle using at least one of the first information corresponding to the first virtual frame, a plurality of first points, or any combination thereof.

[0061] Hereinafter, an embodiment of determining the validity of the second virtual frame will be described.

[0062] In an embodiment, the processor 110 may determine that the second virtual frame is valid based on recognizing the second virtual frame in front of the vehicle including the vehicle control apparatus 100 .

[0063] In an embodiment, the processor 110 may determine that the second virtual frame is invalid based on recognizing the second virtual frame in the same lane as the vehicle including the vehicle control apparatus 100 .

[0064] In an embodiment, the processor 110 may identify a first vertex of the first virtual frame. The processor 110 may identify a second vertex located in a diagonal direction of the first vertex of the first virtual frame.

[0065] In an embodiment, the processor 110 may identify the coordinate value of the first vertex in the y-axis direction. For example, the processor 110 may identify the y-coordinate of the first vertex. The processor 110 may identify the coordinate value of the second vertex in the y-axis direction. For example, the processor 110 may identify the y-coordinate of the second vertex. The processor 110 may identify the horizontal center point of the first virtual frame on the plane formed by the first axis and the second axis of the first axis, the second axis, and the third axis based on the y-coordinate of the first vertex and the y-coordinate of the second vertex. The processor 110 may identify the absolute value of the horizontal center point.

[0066] In an embodiment, the processor 110 may determine that the second virtual frame is valid based on the absolute value of the horizontal center point being greater than or equal to a reference value.

[0067] In an embodiment, the processor 110 may identify a first heading of the first virtual frame on the plane based on the first axis and the second axis among the first axis, the second axis, and the third axis. The processor 110 may identify a second heading of the second virtual frame on the plane based on the first axis, the second axis, and the third axis.

[0068] The processor 110 may identify a first angle between the first heading and the second heading. The processor 110 may identify a second angle between a straight line parallel to the first axis and the second heading.

[0069] In an embodiment, the processor 110 may determine that the second virtual frame is valid based on the first angle and the second angle being less than or equal to a reference angle (eg, approximately 10°).

[0070] In an embodiment, the processor 110 may determine that the second virtual frame is invalid based on whether the first angle or the second angle exceeds a reference angle.

[0071] In an embodiment, the processor 110 may identify a first line segment corresponding to the back side of the external vehicle in the first virtual frame. The processor 110 may identify a second line segment corresponding to the back side of the external vehicle in the second virtual frame.

[0072] Processor 110 may identify a first distance between a first end of the first line segment and a second end of the second line segment corresponding to the first end. Processor 110 may identify a second distance between a third end of the first line segment and a fourth end of the second line segment corresponding to the third end.

[0073] For example, the first end and the third end may include both ends of the first line segment.For example, the second end and the fourth end may include both ends of the second line segment.

[0074] In an embodiment, the processor 110 may determine that the second virtual frame is valid based on at least one of the first distance or the second distance or any combination thereof being less than or equal to a reference distance (eg, approximately 0.2 m).

[0075] In an embodiment, the processor 110 may determine that the second virtual frame is invalid based on the first distance and the second distance exceeding the reference distance.

[0076] In an embodiment, the processor 110 may obtain first information for assigning a first identifier indicating that the first virtual frame includes an external vehicle rearview mirror. The processor 110 may obtain second information for assigning a second identifier indicating that the second virtual frame does not include an external vehicle rearview mirror.

[0077] For example, the processor 110 may store first information and second information in the memory 130, the first information being used to assign a first identifier indicating that the first virtual frame includes an external vehicle rearview mirror, and the second information being used to assign a second identifier indicating that the external vehicle rearview mirror is excluded from the second virtual frame (the second virtual frame does not include an external vehicle rearview mirror).

[0078] For example, the processor 110 may identify the type of the external vehicle based on mapping the second virtual frame onto the external vehicle using the first information stored in the memory 130. For example, the type of the external vehicle may include at least one of a passenger car, a special vehicle, a sports utility vehicle (SUV), or any combination thereof.

[0079] For example, the processor 110 may identify the type of the external vehicle using the first information stored in the memory 130 based on mapping the first virtual frame onto the external vehicle.

[0080] Since the feature point in the second information to which the second identifier is assigned is lost, the processor 110 may identify the type of the external vehicle using the first information to which the first identifier is assigned.

[0081] In an embodiment, the processor 110 may identify a virtual frame (e.g., at least one of the first virtual frame or the second virtual frame or any combination thereof) on a plane formed by the first axis and the second axis among the first axis, the second axis, and the third axis. The processor 110 may identify coordinates corresponding to vertices included in each virtual frame on the plane formed by the first axis and the second axis.

[0082] In an embodiment, the processor 110 may identify coordinates of both ends of a line segment corresponding to the back surface of the external vehicle on a plane formed by the first axis and the second axis.

[0083] For example, the processor 110 may identify a first line segment in the first virtual frame corresponding to the back of the external vehicle. The processor 110 may identify a second end of the second line segment corresponding to the first end of the first line segment. The processor 110 may identify a third end of the first line segment. The processor 110 may identify a fourth end of the second line segment corresponding to the third end of the first line segment.

[0084] For example, the processor 110 may identify a first coordinate corresponding to a first end. The processor 110 may identify a second coordinate corresponding to a second end. The processor 110 may identify a third coordinate corresponding to a third end. The processor 110 may identify a fourth coordinate corresponding to a fourth end.

[0085] The processor 110 may identify the distance between the coordinates based on obtaining at least one of the first coordinate, the second coordinate, the third coordinate, the fourth coordinate, or any combination thereof. For example, the processor 110 may identify the first distance between the first end of the first line segment and the second end of the second line segment corresponding to the first end based on the first coordinate and the second coordinate. For example, the processor 110 may identify the second distance between the third end of the first line segment and the fourth end of the second line segment corresponding to the third end based on the third coordinate and the fourth coordinate.

[0086] The processor 110 may determine the validity of the second virtual frame based on at least one of the first distance, the second distance, or any combination thereof. The processor 110 may determine that the second virtual frame is valid based on at least one of the first distance, the second distance, or any combination thereof being less than or equal to the reference distance. The processor 110 may map the second virtual frame onto the external vehicle based on the second virtual frame being valid.

[0087] The processor 110 may determine that the second virtual frame is invalid based on the first distance and the second distance exceeding the reference distance. In an embodiment, the processor 110 may map the first virtual frame onto the external vehicle based on the second virtual frame being invalid.

[0088] As described above, if the second virtual frame is valid, the processor 110 of the vehicle control device 100 according to the embodiment can accurately identify the heading of the external vehicle by mapping the second virtual frame onto the external vehicle. Even if the second virtual frame is mapped onto the external vehicle, the processor 110 of the vehicle control device 100 can identify the type of the external vehicle using the first information corresponding to the first virtual frame, thereby accurately identifying the type of the external vehicle.

[0089] Figure 2 An example of generating a first virtual frame including an external vehicle and a rearview mirror of the external vehicle and a second virtual frame excluding a portion corresponding to the rearview mirror according to an embodiment of the present invention is shown.

[0090] Figure 2 The operation can be performed by Figure 1 The vehicle control device 100 is used to perform. For example, Figure 2 The operations can be included in Figure 1 It is executed by the processor 110 in the vehicle control device 100.

[0091] refer to Figure 2 According to an embodiment, the processor of the vehicle control device may obtain a plurality of points based on light reflected from an external object by LiDAR, and may generate a virtual frame corresponding to the external object based on the plurality of points.

[0092] In an embodiment, the processor may generate the first virtual frame 210 based on a plurality of first points including the external vehicle and objects extending or protruding from the external vehicle (e.g., rearview mirrors, trailer hooks, hitches, antennas, spoilers, grilles, etc.). For example, the processor may generate the first virtual frame 210 based on a plurality of first points identified within a first reference height from the ground.

[0093] In an embodiment, the processor may generate the second virtual frame 220 based on a plurality of second points obtained by excluding a portion corresponding to a rearview mirror from a plurality of first points. For example, the processor may identify a plurality of second points within a second reference height less than the first reference height from the ground. For example, the second reference height may be set to be less than the placement height of the rearview mirror of the external vehicle. For example, the second reference height may be set differently according to the type of the recognized external vehicle.

[0094] In an embodiment, the processor may generate the first virtual frame 210 on a first plane formed by the first axis and the second axis among the first axis, the second axis, and the third axis. For example, the processor may generate the first virtual frame 210 on the first plane using a plurality of first points identified on a second plane formed by the first axis and the third axis among the first axis, the second axis, and the third axis (e.g., the x-axis, the y-axis, the z-axis of a Cartesian coordinate system in a three-dimensional space).

[0095] In an embodiment, the processor may generate the second virtual frame 220 on a first plane formed by the first axis and the second axis among the first axis, the second axis, and the third axis. For example, the processor may generate the second virtual frame 220 on the first plane using a plurality of second points identified within a second reference height on the second plane formed by the first axis and the third axis among the first axis, the second axis, and the third axis.

[0096] In an embodiment, the processor may assign a first identifier to the first virtual frame 210. For example, the processor may assign the first identifier indicating that the first virtual frame 210 includes an external vehicle rearview mirror.

[0097] In an embodiment, the processor may assign a second identifier to the second virtual frame 220. For example, the processor may assign a second identifier to the second virtual frame 220 indicating that the external vehicle rearview mirror is excluded.

[0098] In an embodiment, the processor may store first information in the memory for assigning a first identifier to the first virtual frame 210. The processor may store second information in the memory for assigning a second identifier to the second virtual frame 220.

[0099] The processor may determine the validity of the second virtual frame. The processor may map the second virtual frame to the external vehicle based on the second virtual frame being determined to be valid. The processor may identify the location of the first information in the memory using the second information based on mapping the second virtual frame to the external vehicle. The processor may map the second virtual frame to the external vehicle and may identify the type of the external vehicle based on the first information stored in the memory.

[0100] Hereinafter, an example of generating a virtual frame using a plurality of points recognized on a first plane formed by a first axis and a third axis will be described.

[0101] Figure 3 An example of generating a virtual frame by using a plurality of points recognized within a reference height from the ground according to an embodiment of the present invention is shown.

[0102] Figure 3 The operation can be performed by Figure 1 The vehicle control device 100 is used to perform. For example, Figure 3 The operations can be included in Figure 1 It is executed by the processor 110 in the vehicle control device 100.

[0103] refer to Figure 3 According to an embodiment, the processor of the vehicle control device may obtain a plurality of points through a sensor (eg, LiDAR) based on receiving light reflected from an external vehicle. The processor may generate a virtual frame indicating the external vehicle using the plurality of points.

[0104] refer to Figure 3 In the first example 301 in FIG. 1 , the processor of the vehicle control device according to the embodiment may identify a plurality of first points 311 on a first plane formed by a first axis and a third axis (e.g., an x-axis, a y-axis, and a z-axis of a Cartesian coordinate system in a three-dimensional space). For example, the processor may identify a plurality of first points 311 within a first reference height 313 from the ground on the first plane.

[0105] For example, the plurality of first points 311 may include points corresponding to an external vehicle and a rearview mirror of the external vehicle.

[0106] The processor may project the plurality of first points 311 on the first plane onto a second plane formed by the first axis and the second axis among the first axis, the second axis, and the third axis. The processor may generate a first virtual frame using the plurality of first points 311 identified on the second plane based on the projection on the second plane.

[0107] The processor may identify a plurality of first points 311 within a first reference height 313 from the ground based on a third axis among the first axis, the second axis, and the third axis. The processor may generate a first virtual frame using the plurality of first points 311 identified within the first reference height 313.

[0108] refer to Figure 3 In the second example 303 in FIG. 1 , the processor of the vehicle control device according to the embodiment may identify a plurality of second points 321 on a first plane formed by the first axis and the third axis among the first axis, the second axis, and the third axis. For example, the processor may identify a plurality of second points 321 within a second reference height 323 on the first plane that is less than the first reference height 313 from the ground. For example, the second reference height 323 may be set to a height of about 0.7-0.9 m from the ground, for example.

[0109] For example, the plurality of second points 321 may include points excluding a portion corresponding to an external vehicle rearview mirror.

[0110] The processor may project the plurality of second points 321 on the first plane onto a second plane formed by the first axis and the second axis among the first axis, the second axis, and the third axis. The processor may generate a second virtual frame using the plurality of second points 321 identified on the second plane based on the projection on the second plane.

[0111] The processor may generate a second virtual frame based on the third axis using a plurality of second points 321 identified within a second reference height 323 less than the first reference height 313 from the ground.

[0112] The processor may determine the validity of the second virtual frame based on the generated first virtual frame and the second virtual frame. The processor may map one of the second virtual frame or the first virtual frame to the external vehicle based on whether the second virtual frame is valid.

[0113] Hereinafter, an example of determining the validity of the second virtual frame will be described.

[0114] Figure 4 An example of determining effectiveness of a second virtual frame excluding a portion corresponding to an object (eg, a rearview mirror) protruding from a vehicle according to an embodiment of the present invention is shown.

[0115] Figure 4 The operation can be performed by Figure 1 The vehicle control device 100 is used to perform. For example, Figure 4 The operations can be included in Figure 1 It is executed by the processor 110 in the vehicle control device 100.

[0116] refer to Figure 4 , the processor of the vehicle control device according to the embodiment may generate (or obtain) a first virtual frame 411 and a second virtual frame 431. For example, the first virtual frame 411 may be referred to as a "mother frame" for generating the second virtual frame 431. For example, the second virtual frame 431 may be referred to as a "child frame".

[0117] In an embodiment, the processor may determine the validity of the second virtual frame 431 based on at least one of the position of the second virtual frame 431, the angle between the first heading 413 of the first virtual frame 411 and the second heading 433 of the second virtual frame 431, the second heading 433, the distance between the first virtual frame 411 and the second virtual frame 431, or any combination thereof.

[0118] The first example 401 may include an example of a first virtual frame 411. The second example 403 may include an example of a second virtual frame 431. Hereinafter, a description of the first virtual frame 411 is described with reference to the first example 401. The second virtual frame 431 is described with reference to the second example 403.

[0119] In an embodiment, the processor may identify the position of the second virtual frame 431. The processor may determine whether the second virtual frame 431 is located in front of the lane in which the vehicle is traveling. If the second virtual frame 431 is identified as being in front of the lane in which the vehicle is traveling, the processor may identify that the second virtual frame 431 is invalid. The processor may map the first virtual frame 411 onto an external vehicle based on identifying that the second virtual frame 431 is invalid.

[0120] In an embodiment, the processor may identify a transverse center point 415 of the first virtual frame 411. For example, the transverse center point 415 may be obtained based on Equation 1 below.

[0121] [Equation 1]

[0122]

[0123] For example, in Equation 1, Y 中心 A lateral center point 415 may be included. For example, PB_P1 y The y coordinate of the first vertex 421 among the vertices (eg, the first vertex 421, the second vertex 423, the third vertex 425, and the fourth vertex 427) of the first virtual frame 411 may be included. y The y coordinate of the third vertex 425 among the vertices 421 , 423 , 425 , and 427 of the first virtual frame 411 may be included.

[0124] The processor may obtain the lateral center point 415 based on the y coordinate of the first vertex 421 and the y coordinate of the third vertex 425 .

[0125] The processor may identify the absolute value of the lateral center point 415. The processor may determine whether the absolute value of the lateral center point 415 exceeds a reference value (eg, approximately 0.5-1.5 m).

[0126] For example, the processor may determine that the second virtual frame 431 is invalid based on the absolute value of the lateral center point 415 being identified as being less than or equal to the reference value. The processor may map the first virtual frame 411 onto the external vehicle based on the second virtual frame 431 being invalid.

[0127] The processor may identify at least one of an angle between first heading 413 of first virtual frame 411 and second heading 433 of second virtual frame 431 , second heading 433 , or any combination thereof based on an absolute value of lateral center point 415 exceeding a reference value.

[0128] For example, the processor may identify an angle between a first heading 413 of the first virtual frame 411 and a second heading 433 of the second virtual frame 431 using Equation 2 below.

[0129] [Equation 2]

[0130] Diff heading = |θ PB航向 -θ CB航向 |

[0131] In Equation 2, the Diff heading may include an angle between the first heading 413 of the first virtual frame 411 and the second heading 433 of the second virtual frame 431. In Equation 2, θ PB航向 The first heading 413 of the first virtual frame 411 may be included. For example, θ PB航向 May include an angle between a line parallel to the first axis and the first heading 413. θ CB航向 The second heading 433 of the second virtual frame 431 may be included. For example, θ CB航向 The angle between a line parallel to the first axis and the second heading 433 may be included.

[0132] In an embodiment, the processor may determine that the second virtual frame 431 is invalid based on at least one of the angle between the first heading 413 of the first virtual frame 411 and the second heading 433 of the second virtual frame 431, the second heading 433, or any combination thereof exceeding a reference angle (e.g., about 10°). The processor may map the first virtual frame 411 to an external vehicle based on the invalidity of the second virtual frame 431.

[0133] In an embodiment, the processor may identify the distance between the first virtual frame 411 and the second virtual frame 431 based on the angle between the first heading 413 of the first virtual frame 411 and the second heading 433 of the second virtual frame 431 and the second heading 433 being less than or equal to the reference angle.

[0134] For example, the processor may identify a distance between the first virtual frame 411 and the second virtual frame 431 based on vertices included in the first virtual frame 411 and vertices included in the second virtual frame 431 .

[0135] For example, the processor may identify a distance between the first virtual frame 411 and the second virtual frame 431 based on a first line segment of the first virtual frame 411 corresponding to the back of the external vehicle and a second line segment of the second virtual frame 431 corresponding to the back of the external vehicle.

[0136] For example, the processor may identify the distance between the first virtual frame 411 and the second virtual frame 431 using at least one of Equation 3, Equation 4, or any combination thereof.

[0137] For example, the processor may identify the distance between the first virtual frame 411 and the second virtual frame 431 based on vertices 421, 423, 425 and 427 included in the first virtual frame 411 and vertices (e.g., fifth vertex 441, sixth vertex 443, seventh vertex 445 and eighth vertex 447) included in the second virtual frame 431.

[0138] [Equation 3]

[0139]

[0140] [Equation 4]

[0141]

[0142] In Equation 3, Diff_P1 may include a distance between the first vertex 421 and the fifth vertex 441. PB_P1 x The x-coordinate of the first vertex 421 may be included. CB_P1 x The x-coordinate of the fifth vertex 441 may be included. PB_P1 y The y coordinate of the first vertex 421 may be included. CB_P1 y The y coordinate of the fifth vertex 441 may be included.

[0143] The processor may identify a distance between the first vertex 421 and the fifth vertex 441 based on the coordinates of the first vertex 421 and the coordinates of the fifth vertex 441 .

[0144] In Equation 4, Diff_P4 may include a distance between the fourth vertex 427 and the eighth vertex 447. x The x-coordinate of the fourth vertex 427 may be included. CB_P4 x The x-coordinate of the eighth vertex 447 may be included. PB_P4 y The y coordinate of the fourth vertex 427 may be included. CB_P4 y The y-coordinate of the eighth vertex 447 may be included.

[0145] The processor may identify a distance between the fourth vertex 427 and the eighth vertex 447 based on the coordinates of the fourth vertex 427 and the coordinates of the eighth vertex 447 .

[0146] In an embodiment, the processor may determine that the second virtual frame 431 is invalid based on that the first distance between the first vertex 421 and the fifth vertex 441 and the second distance between the fourth vertex 427 and the eighth vertex 447 exceed a reference distance (e.g., about 0.1-0.3 m). The processor may map the first virtual frame 411 onto an external vehicle based on determining that the second virtual frame 431 is invalid.

[0147] In an embodiment, the processor may determine that the second virtual frame 431 is valid based on that the first distance between the first vertex 421 and the fifth vertex 441 and the second distance between the fourth vertex 427 and the eighth vertex 447 are less than or equal to a reference distance (e.g., about 0.1-0.3 m). The processor may map the second virtual frame 431 to the external vehicle based on that the second virtual frame 431 is valid.

[0148] Figure 5 An example of information stored in a memory according to an embodiment of the present invention is shown.

[0149] Figure 5 The operation can be performed by Figure 1 The vehicle control device 100 is used to perform. For example, Figure 5 The operations can be included in Figure 1 It is executed by the processor 110 in the vehicle control device 100.

[0150] refer to Figure 5 , the processor of the vehicle control apparatus according to the embodiment may store at least one of first information corresponding to the first virtual frame, second information corresponding to the second virtual frame, or any combination thereof in the memory.

[0151] Figure 5 The first example 501 in may include an example of second information 511 stored in a first area of ​​a memory. Figure 5 The second example 503 in may include examples of the first information 515 and the second information 513 stored in the second area of ​​the memory.

[0152] Referring to the first example 501 , in an embodiment, the processor may store second information 511 corresponding to the second virtual frame in a first area of ​​the memory.

[0153] The processor may assign a second identifier different from the first identifier to the second information 511, and may store the result of the assignment in the memory. For example, the second identifier may include an identifier indicating that the rearview mirror is excluded.

[0154] For example, the first identifier may include an identifier indicating that a rearview mirror is included.

[0155] Referring to the second example 503 , in an embodiment, the processor may transfer the second information 513 from the first area of ​​the memory to the second area of ​​the memory. The processor may store the first information 515 related to the second information 513 .

[0156] In an embodiment, the processor may obtain the index of the first virtual frame based on the second information 513. For example, the index of the first virtual frame may be referred to as a “parent index”.

[0157] In an embodiment, the processor may search the memory for the first information 515 including the external vehicle and the external vehicle rearview mirror. For example, the processor may search for the first information 515 related to the second information 513 based on the second information 513.

[0158] In an embodiment, the processor may store the first information 515 in the memory based on the searched first information 515 related to the second information 513. For example, the processor may generate an array in the memory, and may store the first information 515 in the generated array.

[0159] In an embodiment, the processor may store the second information 513 in the track channel, and may search for the first information 515 related to the second information 513 stored in the track channel. The processor may identify the type of the external vehicle using the first information 515 thus searched.

[0160] For example, upon recognizing that the second virtual frame is valid, the processor may map the second virtual frame onto the external vehicle and may recognize the type of the external vehicle. The processor may recognize the type of the external vehicle using the first information 515 corresponding to the first virtual frame.

[0161] When the processor uses the second information to identify the type of the external vehicle, the feature point may be lost in the second information, so the processor may use the first information to identify the type of the external vehicle.

[0162] Figure 6 An example is shown in which the vehicle control apparatus according to the embodiment of the present invention outputs a result of excluding a virtual frame corresponding to a portion of a rearview mirror.

[0163] Figure 6 The operation can be performed by Figure 1 The vehicle control device 100 is used to perform. For example, Figure 6 The operations can be included in Figure 1 It is executed by the processor 110 in the vehicle control device 100.

[0164] Figure 6 The first example 601 in includes an example to which the present technology is not applied. Figure 6 The second example 603 in may include an example of applying the present technology.

[0165] Referring to the first example 601, the processor may generate a virtual frame 610 using a plurality of points including an object (e.g., a rearview mirror) extending from an external vehicle. For example, the processor may generate a virtual frame 610 using a plurality of points including an external vehicle and an external vehicle rearview mirror in front of the vehicle 600.

[0166] When the virtual frame 610 is generated using a plurality of points including an external vehicle and an external vehicle rearview mirror, the processor may erroneously identify the heading of the virtual frame 610 .

[0167] If the heading of the virtual frame 610 is erroneously recognized, the processor may recognize that the external vehicle corresponding to the virtual frame 610 is merging into the lane in which the vehicle 600 is traveling.

[0168] The processor may reduce the speed of the vehicle 600 or change the driving route of the vehicle 600 by recognizing that the external vehicle corresponding to the virtual frame 610 is merging into the lane in which the vehicle 600 is traveling. Reducing the speed of the vehicle 600 or changing the driving route of the vehicle 600 by recognizing that the external vehicle corresponding to the virtual frame 610 is merging into the lane in which the vehicle 600 is traveling may not provide the user with the service expected by the user. Therefore, it is necessary to accurately recognize the heading of the external vehicle.

[0169] The second example 603 may include an example of identifying the virtual frame 620 using a plurality of points obtained by excluding a portion corresponding to a rearview mirror.

[0170] The processor can accurately identify the heading of the virtual frame 620 by mapping the virtual frame 620 obtained by excluding the rearview mirror onto the external vehicle. The processor can accurately identify the heading of the virtual frame 620, whereby the vehicle control system including the vehicle control device can stably operate the vehicle 600.

[0171] In the following, reference will be made to Figure 7 A vehicle control method according to another embodiment of the present invention is described in detail. Figure 7 An example of a flowchart of a vehicle control method according to another embodiment of the present invention is shown.

[0172] In the following, it is assumed Figure 1 The vehicle control device 100 executes Figure 7 Additionally or alternatively, Figure 7 In the description, it can be understood that the operations described as being performed by the device are controlled by the processor 110 of the vehicle control device 100.

[0173] Figure 7 At least one of the operations may be Figure 1 The vehicle control device 100 is used to execute. Figure 7 The operations in the embodiment can be performed sequentially, but not necessarily sequentially. For example, the order of the operations can be changed, and at least two operations can be performed in parallel.

[0174] refer to Figure 7In operation S701, the vehicle control method according to the embodiment may include an operation of generating a first virtual frame based on a plurality of first points including an external vehicle and a rearview mirror of the external vehicle through LiDAR.

[0175] In operation S703 , the vehicle control method according to the embodiment may include an operation of generating a second virtual frame based on a plurality of second points obtained by excluding a portion corresponding to the rearview mirror from the plurality of first points.

[0176] In operation S705, the vehicle control method according to an embodiment may include an operation of determining the validity of the second virtual frame based on at least one of the position of the second virtual frame, the angle between the first heading of the first virtual frame and the second heading of the second virtual frame, the second heading, the distance between the first virtual frame and the second virtual frame, or any combination thereof.

[0177] In operation S707 , the vehicle control method according to the embodiment may include an operation of mapping the second virtual frame onto the external vehicle based on that the second virtual frame is valid.

[0178] Figure 8 An example of a computing system including a vehicle control device according to an embodiment of the present invention is shown.

[0179] refer to Figure 8 , the computing system 1000 may include at least one processor 1100 , a memory 1300 , a user interface input device 1400 , a user interface output device 1500 , a storage device 1600 , and a network interface 1700 , which are connected to each other via a bus 1200 .

[0180] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and / or the storage device 1600. The memory 1300 and the storage device 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a ROM (Read Only Memory) 1310 and a RAM (Random Access Memory) 1320.

[0181] The present invention aims to solve the above-mentioned problems in the prior art while maintaining the advantages achieved by the prior art.

[0182] An embodiment of the present invention provides a vehicle control apparatus and method thereof, which generates a virtual frame excluding a portion corresponding to a rearview mirror of an external vehicle and maps the generated virtual frame onto the external vehicle.

[0183] An embodiment of the present invention provides a vehicle control apparatus and method thereof, which accurately recognizes a heading of a virtual frame by mapping the virtual frame excluding a portion corresponding to a rearview mirror of an external vehicle onto an external vehicle.

[0184] An embodiment of the present invention provides a vehicle control device and method thereof, which can accurately identify the type of the external vehicle by utilizing information including the rearview mirror even if a virtual frame corresponding to a portion of an external vehicle's rearview mirror is excluded from being mapped onto the external vehicle.

[0185] The technical problems to be solved by the present invention are not limited to the above-mentioned problems, and any other technical problems not mentioned herein will be clearly understood by those skilled in the art to which the present invention belongs from the following description.

[0186] According to an embodiment of the present invention, a vehicle control device may include a light detection and ranging (LiDAR) and a processor. The processor may generate a first virtual frame through the LiDAR based on a plurality of first points including an external vehicle and a rearview mirror of the external vehicle, may generate a second virtual frame based on a plurality of second points obtained by excluding a portion corresponding to the rearview mirror from the plurality of first points, may determine the validity of the second virtual frame based on at least one of the position of the second virtual frame, the angle between the first heading of the first virtual frame and the second heading of the second virtual frame, the second heading, the distance between the first virtual frame and the second virtual frame, or any combination thereof, and may map the second virtual frame onto the external vehicle based on the second virtual frame being valid.

[0187] In an embodiment, the processor may map the first virtual frame onto the external vehicle based on the second virtual frame being invalid.

[0188] In an embodiment, the processor may determine that the second virtual frame is valid based on recognizing the second virtual frame in front of the vehicle including the vehicle control device.

[0189] In an embodiment, the processor may identify a first heading of the first virtual frame and a second heading of the second virtual frame on a plane based on the first axis and the second axis among the first axis, the second axis, and the third axis, may identify a first angle between the first heading and the second heading, may identify a second angle between a straight line parallel to the first axis and the second heading, and may determine that the second virtual frame is valid based on the first angle and the second angle being less than or equal to a reference angle.

[0190] In an embodiment, the processor may identify a first line segment in the first virtual frame corresponding to the back of an external vehicle, may identify a second line segment in the second virtual frame corresponding to the back of an external vehicle, may identify a first distance between a first end of the first line segment and a second end of the second line segment corresponding to the first end, may identify a second distance between a third end of the first line segment and a fourth end of the second line segment corresponding to the third end, and may determine that the second virtual frame is valid based on at least one of the first distance, the second distance, or any combination thereof being less than or equal to a reference distance.

[0191] In an embodiment, the processor may generate a first virtual frame using a plurality of first points identified within a first reference height from the ground relative to a third axis among the first axis, the second axis, and the third axis through LiDAR, and may generate a second virtual frame using a plurality of second points identified within a second reference height from the ground less than the first reference height relative to the third axis. The second reference height may be set to be less than the placement height of the external vehicle rearview mirror.

[0192] In an embodiment, the processor can identify a second virtual frame in front of the vehicle on a plane formed by the first axis and the second axis among the first axis, the second axis, and the third axis, can identify a first vertex of the first virtual frame and a second vertex located in a diagonal direction of the first vertex, can identify a lateral center point of the first virtual frame on the plane formed by the first axis and the second axis based on a coordinate value of the first vertex in the direction of the second axis and a coordinate value of the second vertex in the direction of the second axis, and can determine that the second virtual frame is valid based on the absolute value of the lateral center point being greater than or equal to a reference value.

[0193] According to an embodiment, the vehicle control device may further include a memory. The processor may store first information for assigning a first identifier indicating that the first virtual frame includes an external vehicle rearview mirror and second information for assigning a second identifier indicating that the second virtual frame does not include an external vehicle rearview mirror in the memory.

[0194] In an embodiment, the processor may identify the type of the external vehicle using the first information stored in the memory based on mapping the second virtual frame onto the external vehicle.

[0195] In an embodiment, the processor may identify a first line segment and a second line segment on a plane formed by the first axis and the second axis among the first axis, the second axis, and the third axis, may identify a first coordinate corresponding to the first end, a second coordinate corresponding to the second end, a third coordinate corresponding to the third end, and a fourth coordinate corresponding to the fourth end, may identify a first distance based on the first coordinate and the second coordinate, and may identify a second distance based on the third coordinate and the fourth coordinate.

[0196] According to an embodiment of the present invention, a vehicle control method may include: generating a first virtual frame through LiDAR based on multiple first points including an external vehicle and a rearview mirror of the external vehicle, generating a second virtual frame based on multiple second points obtained by excluding a portion corresponding to the rearview mirror from the multiple first points, determining the validity of the second virtual frame based on at least one of the position of the second virtual frame, the angle between the first heading of the first virtual frame and the second heading of the second virtual frame, the second heading, the distance between the first virtual frame and the second virtual frame, or any combination thereof, and mapping the second virtual frame onto the external vehicle based on the validity of the second virtual frame.

[0197] According to an embodiment, the vehicle control method may include mapping the first virtual frame onto the external vehicle based on the second virtual frame being invalid.

[0198] According to an embodiment, the vehicle control method may include determining that the second virtual frame is valid based on recognizing the second virtual frame in front of a vehicle including the vehicle control apparatus.

[0199] According to an embodiment, a vehicle control method may include identifying a first heading of a first virtual frame and a second heading of a second virtual frame on a plane based on a first axis and a second axis among a first axis, a second axis, and a third axis, identifying a first angle between the first heading and the second heading, identifying a second angle between a straight line parallel to the first axis and the second heading, and determining that the second virtual frame is valid based on the first angle and the second angle being less than or equal to a reference angle.

[0200] According to an embodiment, the vehicle control method may include identifying a first line segment in a first virtual frame corresponding to the back of an external vehicle, identifying a second line segment in a second virtual frame corresponding to the back of an external vehicle, identifying a first distance between a first end of the first line segment and a second end of the second line segment corresponding to the first end, identifying a second distance between a third end of the first line segment and a fourth end of the second line segment corresponding to the third end, and determining that the second virtual frame is valid based on at least one of the first distance, the second distance, or any combination thereof being less than or equal to a reference distance.

[0201] According to an embodiment, the vehicle control method may include generating a first virtual frame using a plurality of first points identified within a first reference height from the ground relative to a third axis among the first axis, the second axis, and the third axis by LiDAR, and generating a second virtual frame using a plurality of second points identified within a second reference height from the ground less than the first reference height relative to the third axis. The second reference height may be set to be less than the placement height of the external vehicle rearview mirror.

[0202] According to an embodiment, a vehicle control method may include identifying a second virtual frame in front of the vehicle on a plane formed by a first axis and a second axis among the first axis, the second axis, and the third axis, identifying a first vertex of the first virtual frame and a second vertex located in a diagonal direction of the first vertex, identifying a lateral center point of the first virtual frame on the plane formed by the first axis and the second axis based on a coordinate value of the first vertex in the direction of the second axis and a coordinate value of the second vertex in the direction of the second axis, and determining that the second virtual frame is valid based on an absolute value of the lateral center point being greater than or equal to a reference value.

[0203] According to an embodiment, a vehicle control method may include storing first information and second information in a memory, the first information being used to assign a first identifier indicating that a first virtual frame includes an external vehicle rearview mirror, and the second information being used to assign a second identifier indicating that a second virtual frame does not include an external vehicle rearview mirror.

[0204] According to an embodiment, the vehicle control method may include identifying a type of the external vehicle using first information stored in a memory based on mapping the second virtual frame onto the external vehicle.

[0205] According to an embodiment, a vehicle control method may include identifying a first line segment and a second line segment on a plane formed by a first axis and a second axis among a first axis, a second axis, and a third axis, identifying a first coordinate corresponding to a first end, a second coordinate corresponding to a second end, a third coordinate corresponding to a third end, and a fourth coordinate corresponding to a fourth end, identifying a first distance based on the first coordinate and the second coordinate, and identifying a second distance based on the third coordinate and the fourth coordinate.

[0206] Therefore, the process of the method or algorithm described in the embodiment of the present invention can be directly implemented by hardware, software modules or a combination thereof executed by the processor 1100. The software module may reside in a storage medium (i.e., memory 1300 and / or storage device 1600) such as RAM, flash memory, ROM, EPROM, EEPROM, register, hard disk, solid state drive (SSD), removable disk or CD-ROM. An exemplary storage medium is connected to the processor 1100, and the processor 1100 can read information from the storage medium and can write information to the storage medium. In another method, the storage medium can be integrated with the processor 1100. The processor 1100 and the storage medium can reside in an application specific integrated circuit (ASIC). The ASIC can reside in a user terminal. In another method, the processor 1100 and the storage medium can reside in a user terminal as separate components.

[0207] Although the present invention has been described above with reference to the embodiments and the accompanying drawings, the present invention is not limited thereto but may be variously modified and altered by those skilled in the art without departing from the spirit and scope of the present invention as claimed in the appended claims.

[0208] Therefore, the embodiments of the present invention are provided to explain the spirit and scope of the present invention, but are not intended to limit it, so the spirit and scope of the present invention are not limited by the embodiments. The scope of the present invention should be interpreted on the basis of the appended claims, and all technical ideas within the scope equivalent to the claims should be included within the scope of the present invention.

[0209] The present technology can generate a virtual frame excluding a portion corresponding to a rearview mirror of an external vehicle and can map the generated virtual frame onto the external vehicle.

[0210] Furthermore, the present technology can accurately recognize the heading of the virtual frame by mapping the virtual frame excluding the portion corresponding to the rearview mirror of the external vehicle onto the external vehicle.

[0211] Furthermore, even if a virtual frame excluding a portion corresponding to a rearview mirror of an external vehicle is mapped onto the external vehicle, the present technology can identify the type of the external vehicle using information including the rearview mirror, thereby accurately identifying the type of the external vehicle.

[0212] Furthermore, various effects directly or indirectly understood through the specification can be provided.

[0213] Although the present invention has been described above with reference to the embodiments and drawings, the present invention is not limited thereto and those skilled in the art may make various modifications and changes to the present invention without departing from the spirit and scope of the present invention as claimed in the appended claims.

Claims

1. A device comprising: sensor; and processor, Wherein, the processor is configured to: generating a first virtual frame based on sensing information obtained by the sensor and a plurality of first points, wherein the plurality of first points correspond to an external vehicle and an object protruding from the external vehicle; generating a second virtual frame based on a plurality of second points, wherein the plurality of second points are obtained by excluding a portion corresponding to the object from the plurality of first points; The validity of the second virtual frame is determined based on at least one of the following: The position of the second virtual frame, An angle between a first heading of the first virtual frame and a second heading of the second virtual frame, the second heading, and a distance between the first virtual frame and the second virtual frame; mapping the second virtual frame onto the external vehicle based on the second virtual frame being valid; and A signal is generated indicating that the second virtual frame is mapped onto the external vehicle.

2. The device according to claim 1, wherein: The processor is configured to: The first virtual frame is mapped onto the external vehicle based on the second virtual frame being invalid.

3. The device according to claim 1, wherein: The processor is configured to: Based on detecting the second virtual frame in front of a vehicle including the device, it is determined that the second virtual frame is valid.

4. The device according to claim 1, wherein: The processor is configured to: determining the first heading of the first virtual frame and the second heading of the second virtual frame on a plane formed by a first axis and a second axis, wherein the first axis is parallel to a driving direction of the external vehicle and perpendicular to the second axis; determining a first angle between the first heading and the second heading; determining a second angle between a line parallel to the first axis and the second heading; and Based on the first angle and the second angle being less than or equal to a reference angle, it is determined that the second virtual frame is valid.

5. The device according to claim 1, wherein: The processor is configured to: determining a first line segment corresponding to the back side of the external vehicle in the first virtual frame; determining a second line segment corresponding to the back side of the external vehicle in the second virtual frame; determining a first distance between a first end of the first line segment and a second end of the second line segment corresponding to the first end; determining a second distance between a third end of the first line segment and a fourth end of the second line segment corresponding to the third end; as well as Based on at least one of the first distance and the second distance being less than or equal to a reference distance, it is determined that the second virtual frame is valid.

6. The device according to claim 1, wherein: The processor is configured to: generating the first virtual frame by using the plurality of first points detected within a first reference height from the ground; as well as generating the second virtual frame by using the plurality of second points detected within a second reference height from the ground that is less than the first reference height, and The second reference height is set to be smaller than the placement height of the object.

7. The device according to claim 3, wherein: The processor is configured to: determining a second virtual frame in front of the vehicle on a plane formed by a first axis and a second axis perpendicular to the first axis; Determine a first vertex of the first virtual frame and a second vertex located in a diagonal direction of the first vertex; determining a lateral center point of the first virtual frame on the plane based on a coordinate value of the first vertex in the direction of the second axis and a coordinate value of the second vertex in the direction of the second axis; as well as Based on the absolute value of the horizontal center point being greater than or equal to a reference value, it is determined that the second virtual frame is valid.

8. The device according to claim 1, in, The processor is configured to store the following information in the memory: first information for assigning a first identifier indicating that the first virtual frame includes the object, and second information for assigning a second identifier, wherein the second identifier indicates that the second virtual frame does not include the object.

9. The device according to claim 8, wherein: The processor is configured to: Based on mapping the second virtual frame onto the external vehicle, the type of the external vehicle is determined using the first information stored in the memory.

10. The device according to claim 5, wherein: The processor is configured to: determining the first line segment and the second line segment on a plane formed by a first axis and a second axis, wherein the first axis is parallel to a travel direction of the external vehicle and perpendicular to the second axis; determining a first coordinate corresponding to the first end, a second coordinate corresponding to the second end, a third coordinate corresponding to the third end, and a fourth coordinate corresponding to the fourth end; determining the first distance based on the first coordinate and the second coordinate; and The second distance is determined based on the third coordinate and the fourth coordinate.

11. A method executed by a processor, the method comprising the steps of: generating a first virtual frame based on sensing information obtained by the sensor and a plurality of first points, wherein the plurality of first points correspond to an external vehicle and an object protruding from the external vehicle; generating a second virtual frame based on a plurality of second points, wherein the plurality of second points are obtained by excluding a portion corresponding to the object from the plurality of first points; The validity of the second virtual frame is determined based on at least one of the following: The position of the second virtual frame, An angle between a first heading of the first virtual frame and a second heading of the second virtual frame, the second heading, and a distance between the first virtual frame and the second virtual frame; mapping the second virtual frame onto the external vehicle based on the second virtual frame being valid; and A signal is generated indicating that the second virtual frame is mapped onto the external vehicle.

12. The method according to claim 11, further comprising: The first virtual frame is mapped onto the external vehicle based on the second virtual frame being invalid.

13. The method according to claim 11, further comprising: The second virtual frame is determined to be valid based on detection of the second virtual frame in front of a vehicle including the processor.

14. The method according to claim 11, further comprising the steps of: determining the first heading of the first virtual frame and the second heading of the second virtual frame on a plane formed by a first axis and a second axis, wherein the first axis is parallel to a driving direction of the external vehicle and perpendicular to the second axis; determining a first angle between the first heading and the second heading; determining a second angle between a line parallel to the first axis and the second heading; and Based on the first angle and the second angle being less than or equal to a reference angle, it is determined that the second virtual frame is valid.

15. The method according to claim 11, further comprising: determining a first line segment corresponding to the back side of the external vehicle in the first virtual frame; determining a second line segment corresponding to the back side of the external vehicle in the second virtual frame; determining a first distance between a first end of the first line segment and a second end of the second line segment corresponding to the first end; determining a second distance between a third end of the first line segment and a fourth end of the second line segment corresponding to the third end; as well as Based on at least one of the first distance and the second distance being less than or equal to a reference distance, it is determined that the second virtual frame is valid.

16. The method according to claim 11, further comprising: Generating the first virtual frame by detecting the plurality of first points within a first reference height from the ground; as well as generating the second virtual frame by using the plurality of second points detected within a second reference height from the ground that is less than the first reference height, and The second reference height is set to be smaller than the placement height of the object.

17. The method according to claim 13, further comprising: determining a second virtual frame in front of the vehicle on a plane formed by a first axis and a second axis perpendicular to the first axis; Determine a first vertex of the first virtual frame and a second vertex located in a diagonal direction of the first vertex; determining a lateral center point of the first virtual frame on the plane based on a coordinate value of the first vertex in the direction of the second axis and a coordinate value of the second vertex in the direction of the second axis; as well as Based on the absolute value of the horizontal center point being greater than or equal to a reference value, it is determined that the second virtual frame is valid.

18. The method according to claim 11, further comprising: The following information is stored in memory: first information for assigning a first identifier indicating that the first virtual frame includes the object, and second information for assigning a second identifier, wherein the second identifier indicates that the second virtual frame does not include the object.

19. The method according to claim 18, further comprising the steps of: Based on mapping the second virtual frame onto the external vehicle, the type of the external vehicle is determined using the first information stored in the memory.

20. The method of claim 15, further comprising: determining the first line segment and the second line segment on a plane formed by a first axis and a second axis, wherein the first axis is parallel to a travel direction of the external vehicle and perpendicular to the second axis; determining a first coordinate corresponding to the first end, a second coordinate corresponding to the second end, a third coordinate corresponding to the third end, and a fourth coordinate corresponding to the fourth end; determining the first distance based on the first coordinate and the second coordinate; and The second distance is determined based on the third coordinate and the fourth coordinate.

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