Apparatus and method for determining available driving space

• US 9,529,088 B2
• Filed: 01/15/2015
• Issued: 12/27/2016
• Est. Priority Date: 11/07/2014
• Status: Active Grant

• Current Assignee: Hyundai Mobis Co., Ltd., The Industry & Academic Cooperation In Chungnam National University
• Original Assignee: Hyundai Mobis Co., Ltd., Yonsei University Wonju Industry-Academic Cooperation Foundation
• Inventors: Jung, Seul, Ko, Yun Ho, Kim, Jeong Ku
• Primary Examiner(s): Figueroa, Jaime
• Application Number:
  US14/597,879
• Publication Number:
  US 20160131762A1
• Time in Patent Office: 712 Days
• Field of Search: 701/1.23, 701/26, 701/28, 701/41, 701/301, 701/302
• US Class Current: 1/1
• CPC Class Codes: G01S 17/931 of land vehicles
• CPC Class Codes: G05D 1/024 in combination with a laser lasers per se H01S

Abstract

Provided is an apparatus for determining an available driving space, including a laser distance sensor installed in a vehicle and configured to sense a region in front of the vehicle by a predetermined distance to generate distance information, a signal processing unit configured to generate plane distance information by using the distance information generated by the laser distance sensor, a curb searching unit configured to determine correlation and similarity between the generated plane distance information and previous plane distance information to search for a curb, and a determining unit configured to determine whether the region in front of the vehicle by the predetermined distance is an available driving space depending on whether a route of a curb searched by the curb searching unit is included in a driving region.

Claims

1. An apparatus for determining an available driving space, the apparatus comprising:

a laser distance sensor installed in a vehicle and configured to sense a region in front of the vehicle by a predetermined distance to generate distance information;

a signal processing unit configured to generate plane distance information by using the distance information generated by the laser distance sensor;

a curb searching unit configured to determine correlation and similarity between the generated plane distance information and previous plane distance information to search for a curb; and

a determining unit configured to determine whether the region in front of the vehicle by the predetermined distance is an available driving space depending on whether a route of a curb searched by the curb searching unit is included in a driving region.

2. The apparatus of claim 1, wherein when the route of the curb is included in the driving region, the determining unit determines that the region in front of the vehicle by the predetermined distance is an available driving space, and when the route of the curb is not included in the driving region, the determining unit determines that the region in front of the vehicle by the predetermined distance is an unavailable driving space.

3. The apparatus of claim 1, further comprising an obstacle searching unit configured to search for an obstacle by using the plane distance information generated by the signal processing unit.

4. The apparatus of claim 3, wherein the determining unit determines whether the obstacle searched by the obstacle searching unit is included in the driving region, in response to determining that the route of a curb searched by the curb searching unit is included in a driving region, to determine whether the region in front of the vehicle by the predetermined distance is an available driving space.

5. The apparatus of claim 1, wherein the signal processing unit cancels noise included in the distance information and converts the noise-canceled distance information into plane coordinates to generate the plane distance information.

6. The apparatus of claim 5, wherein, after generating the plane distance information, the signal processing unit determines similarity of linear and curved lines with respect to the canceled noise, and when it is determined that the canceled noise is valid distance information according to the determination result, the signal processing unit restores the corresponding canceled noise information to plane distance information.

7. The apparatus of claim 1, wherein the laser distance sensor senses a plurality of points of the ground to generate a plurality of distance information at each sensed point on the ground and senses a plurality of points in a front space to generate a plurality of distance information at each sensed point in the space.

8. The apparatus of claim 7, wherein the signal processing unit generates plane distance information at each sensed point on the ground based on the distance information at each sensed point on the ground, and generates plane distance information at each sensed point in the space based on the distance information at each sensed point in the space.

9. The apparatus of claim 8, wherein the curb searching unit determines correlation between information included in the distance information at each sensed point on the ground provided from the signal processing unit, and determines similarity between the distance information at each sensed point on the ground provided from the signal processing unit and previous distance information at each sensed point on the ground stored in the storage unit.

10. A method for determining an available driving space, the method comprising:

sensing a region in front of a vehicle by a predetermined distance by using a laser distance sensor installed in the vehicle to generate distance information;

generating plane distance information by using the generated distance information;

determining correlation and similarity between the generated plane distance information and previous plane distance information to search for a curb; and

determining whether the region in front of the vehicle by the predetermined distance is an available driving space or an unavailable driving space depending on a searched curb.

11. The method of claim 10, wherein the determining whether the region in front of the vehicle by the predetermined distance is an available driving space or an unavailable driving space comprises:

when a route of the curb is included in the driving region, determining that the region in front of the vehicle by the predetermined distance is an available driving space; and

when the route of the curb is not included in the driving region, determining that the region in front of the vehicle by the predetermined distance is an unavailable driving space.

12. The method of claim 10, wherein the generating of distance information comprises:

generating the distance information at each sensed point on the ground by sensing a plurality of points of the ground; and

generating the distance information at each sensed point in the space by sensing a plurality of points in the front space.

13. The method of claim 12, further comprising:

searching for an obstacle in front of the vehicle by the predetermined distance based on the generated plane distance information.

14. The method of claim 13, further comprising:

finally determining that the corresponding region is an available driving space, in response to determining that the region in front of the vehicle by the predetermined distance is an available driving space according to the curb search result and when the searched obstacle is not positioned in the available driving space.

15. The method of claim 10, wherein the generating of plane distance information comprises:

canceling noise included in the distance information; and

converting the noise-canceled distance information into plane coordinates to generate the plane distance information;

sensing a region in front of a vehicle by a predetermined distance by using a laser distance sensor installed in the vehicle to generate distance information.

16. The method of claim 10, wherein the laser distance sensor comprises a first laser sensor sensing the ground and a second laser sensor sensing the region front of the vehicle.

17. The method of claim 16, wherein the second laser sensor senses by the predetermined distance.

18. The method of claim 16, wherein the search for the curb is based on the current planar distance information for the first laser sensor and a previous planar distance for the first sensor.