Mobility device and control method thereof

Patent metadata

Field	Value
Publication number	US-11715233-B2
Application number	US-202117454413-A
Country	US
Kind code	B2
Filing date	Nov 10, 2021
Priority date	Apr 30, 2021
Publication date	Aug 1, 2023
Grant date	Aug 1, 2023

Abstract

An embodiment mobility device includes a position detector configured to detect a first current position of the mobility device, a display configured to display position information of the mobility device, and a controller configured to set the first current position of the mobility device detected by the position detector as first position information, identify an augmented reality (AR) marker in a predetermined range, based on the first position information, determine a second current position of the mobility device based on the identified AR marker, and set the second current position of the mobility device determined based on the identified AR marker as second position information, and determine final position information of the mobility device by applying the second position information to the first position information.

First claim

What is claimed is:

1. A mobility device comprising:
a position detector configured to detect a first current position of the mobility device, the position detector including at least one of a Global Positioning System (GPS), an Inertial Measurement Unit (IMU), or a 6 Degrees Of Freedom (6DoF) sensor;
a speed detector configured to detect a speed of the mobility device;
a display configured to display position information of the mobility device; and
a controller including at least one processor configured to:
in response to the speed of the mobility device detected by the speed detector being less than or equal to a predetermined speed, set first position information based on the first current position of the mobility device detected by the position detector,
identify an augmented reality (AR) marker in a predetermined range, based on the first position information,
set second position information based on a second current position of the identified AR marker, and
correct the first position information by applying the second position information to the first position information when the mobility device is in a stopped state, and determine the corrected first position information as final position information of the mobility device, wherein, in response to the speed of the mobility device being greater than the predetermined speed, the controller is configured to determine the set first position information as the final position information of the mobility device.

2. The mobility device of claim 1 , further comprising a camera, wherein, in response to a presence of the AR marker in an image acquired by the camera, the controller is configured to determine position information corresponding to the AR marker,
wherein, in response to an absence of the AR marker in the image acquired by the camera, the controller is configured to determine the set first position information as the final position information of the mobility device.

3. The mobility device of claim 1 , wherein the controller is configured to periodically determine position information of the AR marker.

4. The mobility device of claim 1 , wherein the controller is configured to:
determine an accuracy of the first position information and the second position information; and
control the display to display position information with a high accuracy based on the accuracy.

5. The mobility device of claim 1 , wherein the controller is configured to control the display to display the first position information or the second position information based on a selection input of a user.

6. A control method of a mobility device, the control method comprising:
identifying a speed of the mobility device detected by a speed detector;
setting, in response to the speed of the mobility device detected by the speed detector being less than or equal to a predetermined speed, a first current position of the mobility device detected by a position detector of the mobility device as first position information, wherein the position detector includes at least one of a Global Positioning System (GPS), an Inertial Measurement Unit (IMU), or a 6 Degrees Of Freedom (6DoF) sensor;
identifying an augmented reality (AR) marker in a predetermined range based on the first position information;
setting second position information of the mobility device based on a second current position of on the identified AR marker;
correcting the first position information by applying the second position information to the first position information when the mobility device is in a stopped state;
determining the corrected first position information as fmal position information of the mobility device; and
determining, in response to the speed of the mobility device being greater than the predetermined speed, the set first position information as the final position information of the mobility device.

7. The control method of claim 6 , further comprising:
determining, in response to a presence of the AR marker in an image acquired by a camera, position information corresponding to the AR marker; and
determining, in response to an absence of the AR marker in the image acquired by the camera, the set first position information as the fmal position information of the mobility device.

8. The control method of claim 6 , further comprising periodically determining position information of the AR marker.

9. The control method of claim 6 , further comprising:
determining an accuracy of the first position information and the second position information; and
displaying position information with a high accuracy based on the accuracy.

10. The control method of claim 6 , further comprising:
receiving a selection input of the first position information or the second position information; and
displaying the first position information or the second position information based on the selection input.

11. A control method of a vehicle, the control method comprising:
detecting a current position of the vehicle using a global positioning system (GPS);
detecting a speed of the vehicle;
identifying whether an augmented reality (AR) marker is present within a predetermined range of the current position and identifying position information of the AR marker when the AR marker is present;
periodically identifying, in response to detected speed of the vehicle being less than or equal to a predetermined speed, position information of additional AR markers;
determining whether to apply the position information of the AR marker or the additional AR markers;
correcting the current position of the vehicle by applying the position information of the AR marker or the additional AR markers to the current position when the vehicle is in a stopped state; and
determining, in response to the speed of the vehicle being greater than the predetermined speed, the current position as final position information of the vehicle.

12. The control method of claim 11 , further comprising, in response to determining the AR marker and the additional AR markers are not present, determining the current position of the vehicle using the GPS as a final position of the vehicle.

13. The control method of claim 11 , further comprising obtaining a surrounding image of the vehicle using a camera.

14. The method of claim 13 , wherein identifying whether the AR marker is present comprises determining whether the AR is present in the surrounding image.

15. The control method of claim 11 , wherein detecting the speed of the vehicle comprises using a speed detector.

16. The control method of claim 11 , further comprising:
determining an accuracy of the current position and the position information of the AR marker or the additional AR markers; and
controlling a display to display position information with a high accuracy based on the determined accuracy.

17. The control method of claim 11 , further comprising controlling a display to display the current position or the position information of the AR marker or the additional AR markers based on a selection input of a user.

Assignees

• Hyundai Motor Co Ltd
• Kia Corp

Inventors

• Woo Jae Yul
• Kim Soobin
• Woo Seunghyun
• An Rowoon

Classifications

• G06T7/73 Primary

  using feature-based methods · CPC title

• G01S19/48

  by combining or switching between position solutions derived from the satellite radio beacon positioning system and position solutions derived from a further system · CPC title

• G06T2207/30204

  Marker · CPC title

• G06T2207/30252

  Vehicle exterior; Vicinity of vehicle · CPC title

• G01S19/47 Primary

  the supplementary measurement being an inertial measurement, e.g. tightly coupled inertial · CPC title