US 9,810,787 B2
Apparatus and method for recognizing obstacle using laser scanner
Minkyun Yoo, Seoul (KR); Hyunju Kim, Gyeonggi-do (KR); Hoon Lee, Gyeonggi-do (KR); Youngwon Kim, Gyeonggi-do (KR); Hyungsun Jang, Gyeonggi-do (KR); Baehoon Choi, Seoul (KR); Beomseong Kim, Seoul (KR); and Euntai Kim, Seoul (KR)
Assigned to Hyundai Motor Company, Seoul (KR); Kia Motors Corporation, Seoul (KR); and Industry-Academic Cooperation Foundation, Yonsei University, Seoul (KR)
Filed by Hyundai Motor Company, Seoul (KR); Kia Motors Corporation, Seoul (KR); and Industry-Academic Cooperation Foundation, Yonsei University, Seoul (KR)
Filed on Dec. 27, 2013, as Appl. No. 14/142,469.
Claims priority of application No. 10-2013-0108446 (KR), filed on Sep. 10, 2013.
Prior Publication US 2015/0070682 A1, Mar. 12, 2015
Int. Cl. G01C 3/08 (2006.01); G01S 17/93 (2006.01); G01S 17/02 (2006.01); G01S 17/42 (2006.01)
CPC G01S 17/936 (2013.01) [G01S 17/023 (2013.01); G01S 17/42 (2013.01)] 12 Claims
OG exemplary drawing
 
1. An apparatus for recognizing an obstacle using a laser scanner, the apparatus comprising:
a laser scanner installed at the front of a traveling vehicle and configured to acquire laser scanner data configured of multiple plane layers in real time;
an imaging device installed at the front of the traveling vehicle and configured to acquire video data; and
a controller configured to:
divide first laser scanner data item and second laser scanner data item acquired by the laser scanner into multiple plane layers to extract measurement data items each existing in the respective plane layers; and
compare the measurement data items in the same plane layer of the multiple plane layers to determine whether there is an obstacle ahead of the traveling vehicle;
combine the laser scanner data with the video data based on whether the obstacle is determined ahead of the traveling vehicle,
wherein the controller is configured to:
compare the measurement data items in the same layer; and
determine no obstacle ahead of the traveling vehicle when the measurement data items meet a predetermined condition,
wherein a plane of the multiple layers are in parallel with a direction of the laser scanner, and
wherein the controller is configured to recognize that the measurement data items are not an obstacle when the measurement data items are consecutively observed in the same plane layer of the first laser scanner data item and the second laser scanner data item and the measurement data items exist within a threshold radius with respect to the traveling vehicle.