Patent ID: 9650072
Date: 2017-05-16
CPC Classifications: B60R,B62D,G06K

Claim:
1. A method for controlling a steering wheel, comprising: detecting, from a first image composed from images input from a plurality of cameras equipped in a vehicle, a parking line and at least two intersecting points intersecting the parking line; detecting, based on the first image and a second image obtained after the first image, a rotating amount of the vehicle and a moving amount of the vehicle; compensating, based on the detected rotating amount and the detected moving amount, for a rotating angle error of the vehicle and a moving error of the vehicle, wherein the rotating angle error and the moving error are due to information obtained from at least one of an odometer or a wheel sensor; constructing an obstacle map by reflecting the compensated rotating angle error and the compensated moving error; and controlling the steering wheel based on the constructed obstacle map, wherein, in the detecting of the rotating amount and the moving amount, the parking line from the first image and a parking line from the second image are detected and a rotating amount of the vehicle is detected from an angle difference between the parking line from the first image and the parking line from the second image.