Vehicle and method of controlling the same

Patent metadata

Field	Value
Publication number	US-12345540-B2
Application number	US-202217807301-A
Country	US
Kind code	B2
Filing date	Jun 16, 2022
Priority date	Nov 19, 2021
Publication date	Jul 1, 2025
Grant date	Jul 1, 2025

Abstract

In an embodiment a vehicle includes a communication module, a display module, an image sensor configured to acquire a front image of the vehicle and a controller configured to determine that the vehicle enters a predetermined range of a destination based on a global positioning system (GPS) signal received through the communication module, compare a feature point of the front image of the vehicle with point cloud map information to determine a first predicted position of the vehicle, based on a difference between the first predicted position and a second predicted position of the vehicle indicated by the GPS signal, determine one of the first predicted position and the second predicted position as a position of the vehicle and control the display module to display an augmented reality (AR) image for performing a route guidance to the destination based on the determined position of the vehicle.

First claim

What is claimed is:

1. A vehicle comprising:
a communication module;
a display module;
an image sensor; and
a controller configured to:
acquire, through the image sensor, a front image of the vehicle;
determine that the vehicle enters a predetermined range of a destination based on a global positioning system (GPS) signal received through the communication module;
compare a feature point of the front image of the vehicle with point cloud map information to determine a first predicted position of the vehicle;
based on a difference between the first predicted position and a second predicted position of the vehicle, determine one of the first predicted position or the second predicted position as a position of the vehicle, wherein the second predicted position is indicated by the GPS signal;
determine the second predicted position as the position of the vehicle when a distance between the first predicted position and the second predicted position is less than a predetermined error distance;
control the display module to display an augmented reality (AR) image for performing a route guidance to the destination based on the determined position of the vehicle, wherein the AR image includes the front image of the vehicle; and
control the display module to display a turn by turn (TBT) preview image to be overlaid on the front image.

2. The vehicle of claim 1 , wherein the controller is configured to:
compare a speed of the vehicle with a predetermined speed in response to determining that the vehicle enters the predetermined range of the destination; and
determine the first predicted position as the position of the vehicle when the speed of the vehicle is less than or equal to the predetermined speed.

3. The vehicle of claim 1 , wherein the controller is configured to:
control the communication module to transmit the front image of the vehicle to an external server in response to determining that the vehicle enters the predetermined range of the destination; and
determine a position indicated by position information received from the external server through the communication module as the first predicted position.

4. The vehicle of claim 1 , wherein the controller is configured to determine the first predicted position as the position of the vehicle when a distance between the first predicted position and the second predicted position is greater than or equal to the predetermined error distance.

5. The vehicle of claim 4 , wherein the controller is configured to determine the first predicted position as the position of the vehicle for a predetermined interval of time in real time.

6. The vehicle of claim 1 , wherein the controller is configured to control the display module to display the turn by turn (TBT) preview image to be overlaid on the front image, the TBT preview image providing a direction of a movement on at least one junction adjacent to the determined position of the vehicle among a plurality of junctions located between the determined position of the vehicle and the destination.

7. The vehicle of claim 1 , wherein the controller is configured to control the display module to display a first AR image in a shape of an arrow pointing to a direction of movement at a junction when it is determined that, based on the determined position of the vehicle, the vehicle has entered a predetermined range of the junction located on a route to the destination, the first AR image to be overlaid on the front image of the vehicle.

8. The vehicle of claim 1 , wherein the controller is configured to:
control the display module to display a second AR image in a shape of a carpet covering a ground surface of a travel lane at the determined position of the vehicle, the second AR image to be overlaid on the front image of the vehicle; and
adjust at least one of a color or a transparency of the second AR image based on a speed of the vehicle.

9. The vehicle of claim 8 , wherein the controller is configured to determine the second AR image in a shape that connects the ground surface of the travel lane before a lane change and the ground surface of the travel lane after the lane change.

10. A method for controlling a vehicle including a communication module, a display module, and an image sensor for acquiring a front image of the vehicle, the method comprising:
acquiring, through the image sensor, a front image of the vehicle;
determining that the vehicle enters a predetermined range of a destination based on a global positioning system (GPS) signal received through the communication module;
comparing a feature point of the front image of the vehicle with point cloud map information to determine a first predicted position of the vehicle;
based on a difference between the first predicted position and a second predicted position of the vehicle, determining one of the first predicted position or the second predicted position as a position of the vehicle, wherein the second predicted position is indicated by the GPS signal and wherein determining the one of the first predicted position or the second predicted position as the position of the vehicle comprises determining the second predicted position as the position of the vehicle when a distance between the first predicted position and the second predicted position is less than a predetermined error distance;
controlling the display module to display an augmented reality (AR) image for performing a route guidance to the destination based on the determined position of the vehicle, wherein the AR image includes the front image of the vehicle; and
controlling the display module to display a turn by turn (TBT) preview image to be overlaid on the front image.

11. The method of claim 10 , wherein determining the one of the first predicted position and the second predicted position as the position of the vehicle comprises:
comparing a speed of the vehicle with a predetermined speed in response to determining that the vehicle enters the predetermined range of the destination; and
determining the first predicted position when the speed of the vehicle is less than or equal to the predetermined speed.

12. The method of claim 10 , wherein determining the one of the first predicted position and the second predicted position as the position of the vehicle comprises:
controlling the communication module to transmit the front image of the vehicle to an external server in response to determining that the vehicle enters the predetermined range of the destination; and
determining a position indicated by position information received from the external server through the communication module as the first predicted position.

13. The method of claim 10 , wherein determining the one of the first predicted position and the second predicted position as the position of the vehicle comprises determining the first predicted position as the position of the vehicle when a distance between the first predicted position and the second predicted position is greater than or equal to the predetermined error distance.

14. The method of claim 13 , wherein determining the first predicted position as the position of the vehicle comprises determining the first predicted position for a predetermined interval of time in real time.

15. The method of claim 10 , further comprising controlling the display module to display the turn by turn (TBT) preview image to be overlaid on the front image of the vehicle, the TBT preview image providing a direction of movement on at least one junction adjacent to the determined position of the vehicle among a plurality of junctions located between the determined position o

Assignees

• Hyundai Motor Co Ltd
• Kia Corp

Inventors

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

Classifications

• G01C21/3632

  Guidance using simplified or iconic instructions, e.g. using arrows (G01C21/365 takes precedence) · CPC title

• G01C21/3647

  Guidance involving output of stored or live camera images or video streams · CPC title

• G01C21/3602

  Input other than that of destination using image analysis, e.g. detection of road signs, lanes, buildings, real preceding vehicles using a camera · CPC title

• G01C21/367

  Details, e.g. road map scale, orientation, zooming, illumination, level of detail, scrolling of road map or positioning of current position marker · CPC title

• G01C21/3638

  including 3D objects and buildings (three dimensional [3D] modelling, e.g. data description of 3D objects G06T17/00; geographic models G06T17/05) · CPC title