Patent ID: 11970184
Assignee: HANWHA AEROSPACE CO., LTD.
Field: Measurement (Instruments)
Classification: CPC B  G | IPC B  G

Claim 9:
10. A driving controlling method for controlling the driving of a driving apparatus, the driving controlling method comprising:
detecting surroundings of a body of the driving apparatus; and
controlling the driving of the body based on a result of the detecting the surroundings of the body,
wherein the detecting the surroundings of the body is performed by a light detection and ranging (LIDAR) device and a camera, and
wherein the controlling the driving of the body further comprises detecting a ramp and a flat ground that are present on a driving path of the body based on an image obtained by the camera, and determining the detected ramp or the detected flat ground from a detection result from the LIDAR device as a non-obstacle that prevents an emergency stop of the driving apparatus,
wherein the controlling the driving of the body further comprises detecting the ramp and the flat ground that are present on the driving path based on a moving direction of a feature pattern included in the image obtained by the camera in an image area,
wherein the feature pattern includes at least one of a horizon, a vanishing point, and a lower boundary line, and
wherein the controlling the driving of the body further comprises, based on the feature pattern not being recognized from the image area, applying a first weight to the detection result from the LIDAR device and a second weight to a detection result from the camera, and detecting the ramp and the flat ground that are present on the driving path based on the first weight-applied detection result from the LIDAR device and the second weight-applied detection result from the camera.