Patent Publication Number: US-2022234608-A1

Title: Driving apparatus and driving controlling method

Description:
CROSS-REFERENCE TO THE RELATED APPLICATION 
     This application claims priority to Korean Patent Application No. 10-2021-0012213, filed on Jan. 28, 2021, the entirety of which is incorporated herein by reference. 
     BACKGROUND 
     Field 
     Example embodiments of the present disclosure relate to a driving apparatus and a driving controlling method, and more particularly, to a driving apparatus and a driving controlling method, which are capable of enabling driving without recognizing flat ground viewed from a ramp or a ramp viewed from flat ground as an obstacle. 
     2. Description of Related Art 
     An unmanned autonomous vehicle can perform operations while moving around in various areas. For autonomous driving, the unmanned autonomous vehicle may be provided with sensing devices for sensing its surroundings and may move along a driving path that can avoid any obstacle based on the results of the sensing performed by the sensing devices. 
     Light detection and ranging (LIDAR) device may be used to detect the surroundings of the unmanned autonomous vehicle, and anti-shake technology may be used to improve the detection quality of LIDAR device. 
     SUMMARY 
     One or more example embodiments of the present disclosure provide a driving apparatus and a driving controlling method, which are capable of enabling driving without recognizing flat ground viewed from a ramp or a ramp viewed from flat ground as an obstacle. 
     However, embodiments of the present disclosure are not restricted to those set forth herein. The above and other embodiments of the present disclosure will become more apparent to one of ordinary skill in the art to which the present disclosure pertains by referencing the detailed description of the present disclosure given below. 
     According to an aspect of an example embodiment, there is provided a driving apparatus including a body, a surroundings detection unit detecting surroundings of the body, the surrounding detection unit including a light detection and ranging (LIDAR) device and a camera, and at least one processor configured to control the driving of the body based on a detection result from the surroundings detection unit, wherein the at least one processor is further configured to detect a ramp and flat ground that are present on a driving path based on an image obtained by the camera, and determine the detected ramp or the detected flat ground from a detection result from the LIDAR device as a non-obstacle. 
     The LIDAR device may be configured to generate a three-dimensional (3D) map of the surroundings of the body based on emitting light to the surroundings of the body and receiving reflected light from an object. 
     The at least one processor may be further configured to detect 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. 
     Based on the feature pattern ascending in the image area when the body is moving on flat ground, the at least one processor may be configured to determine that the body is approaching an ascending ramp. 
     Based on the feature pattern descending in the image area when the body is moving on flat ground, the at least one processor may be further configured to determined that the body is entering an ascending ramp. 
     Based on the feature pattern ascending in the image area when the body is moving along an ascending ramp, the at least one processor may be further configured to determine that the body is entering flat ground connected to an upper part of the ascending ramp. 
     Based on the feature pattern descending in the image area when the body is moving on flat ground, the at least one processor may be further configured to determine that the body is approaching a descending ramp. 
     Based on the feature pattern ascending in the image area when the body is moving on flat ground, the at least one processor may be further configured to determine that the body is entering a descending ramp. 
     Based on the feature pattern descending in the image area when the body is moving along a descending ramp, the at least one processor may be further configured to determine that the body is approaching flat ground connected to a lower part of the descending ramp. 
     Based on the feature pattern not being recognized from the image area, the at least one processor may be further configured to apply a first weight to the detection result from the LIDAR device and a second weight a detection result from the camera, and detect 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. 
     Based on the body is moving along a ramp, the at least one processor may be further configured to lower the first weight applied to the detection result from the LIDAR device and raise the second weight applied to the detection result from the camera, compared to when the body is entering the ramp. 
     The feature pattern may include at least one of a horizon, a vanishing point, and a lower boundary line, and the lower boundary line may include a boundary between a lower part of a descending ramp and flat ground. 
     According to another aspect of an example embodiment, there is provided a driving controlling method for controlling the driving of a driving apparatus, the driving controlling method including 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 includes detecting a ramp and 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. 
     The detecting the surroundings of the body may include generating, by the LIDAR device, a three-dimensional (3D) map of the surroundings of the body by emitting light to the surroundings of the body and receiving reflected light from an object. 
     The controlling the driving of the body may further include 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. 
     The controlling the driving of the body may further include determining that the body is approaching an ascending ramp based on the feature pattern ascending in the image area when the body is moving on flat ground, determining that the body is entering an ascending ramp based on the feature pattern descending in the image area when the body is moving on flat ground, and determining that the body is entering flat ground connected to an upper part of an ascending ramp based on the feature pattern ascending in the image area when the body is moving along an ascending ramp. 
     The controlling the driving of the body may further include determining that the body is approaching a descending ramp based on the feature pattern descending in the image area when the body is moving on flat ground, determining that the body is entering a descending ramp based on the feature pattern ascending in the image area when the body is moving on flat ground, and determining that the body is approaching flat ground connected to a lower part of a descending ramp based on the feature pattern descending in the image area when the body is moving along a descending ramp. 
     The controlling the driving of the body may further include, 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. 
     The controlling the driving of the body may further include, based on the body is moving along a ramp, lowering the first weight applied to the detection result from the LIDAR device and raising the second weight applied to the detection result from the camera, compared to when the body is entering the ramp. 
     The feature pattern may include at least one of a horizon, a vanishing point, and a lower boundary line, and the lower boundary line may include a boundary between a lower part of a descending ramp and flat ground. 
    
    
     
       BRIEF DESCRIPTION OF THE DRAWINGS 
       The above and/or other embodiments and features of the present disclosure will become more apparent by describing in detail example embodiments thereof with reference to the attached drawings, in which: 
         FIG. 1  illustrates a driving apparatus according to an example embodiment; 
         FIG. 2  is a block diagram of a surroundings detection unit  200  of  FIG. 1  according to an example embodiment; 
         FIG. 3  illustrates the sensing direction of the surroundings detection unit  200  in  FIG. 1  according to an example embodiment; 
         FIGS. 4 and 5  illustrate images generated by the camera  220  in  FIG. 1  according to an example embodiment, and  FIG. 6  illustrates a lower boundary line according to an example embodiment; 
         FIGS. 7 and 8  illustrate a method to exclude a ramp as a non-obstacle according to an example embodiment; 
         FIGS. 9, 10, 11, and 12  illustrate how the driving apparatus  10  in  FIG. 1  moves along a driving path including an ascending ramp according to an example embodiment; 
         FIGS. 13, 14, 15, and 16  illustrate images captured by the camera  220  in  FIG. 1  when the driving apparatus  10  moves along a driving path including an ascending ramp according to an example embodiment; 
         FIGS. 17, 18, 19, and 20  illustrate how the driving apparatus  10  in  FIG. 1  moves along a driving path including a descending ramp according to an example embodiment; 
         FIGS. 21, 22, 23, and 24  illustrate images captured by the camera  220  in  FIG. 1  while the driving apparatus  10  is moving along a driving path including a descending ramp according to an example embodiment; 
         FIG. 25  is a flowchart illustrating the operation of the control unit  300  in  FIG. 1  according to an example embodiment; and 
         FIG. 26  illustrates changes in weights applied to detection results of the LiDAR unit  210  and the camera  220  according to an example embodiment. 
     
    
    
     DETAILED DESCRIPTION 
     Hereinafter, example embodiments will be described in detail with reference to the accompanying drawings. Advantages and features of the example embodiments, and a method of achieving them will be apparent with reference to the example embodiments described below in detail together with the accompanying drawings. However, embodiments are not limited to the example embodiments described below, but may be implemented in various different forms, and these example embodiments are only provided to inform the scope of the present disclosure to those of ordinary skill in the technical field. The present disclosure is only defined by the scope of the claims. The same reference numerals refer to the same components throughout the specification. 
     Unless otherwise defined, all terms (including technical and scientific terms) used in the present disclosure may be used as meanings that can be commonly understood by those of ordinary skill in the art. In addition, terms defined in a commonly used dictionary are not interpreted ideally or excessively unless explicitly defined specifically. 
       FIG. 1  illustrates a driving apparatus according to an example embodiment, and  FIG. 2  is a block diagram of a surroundings detection unit  200  of  FIG. 1 . 
     Referring to  FIG. 1 , a driving apparatus  10  includes a body  100 , a surroundings detection unit  200 , a control unit  300 , an operating unit  400 , and a driving unit  500 . 
     The body  100  may form the exterior of the driving apparatus  10 . The surroundings detection unit  200 , the control unit  300 , the operating unit  400 , and the driving unit  500  may be provided inside or outside the body  100 . 
     The surroundings detection unit  200  may detect the surroundings of the body  100 . The surroundings detection unit  200  may detect the driving direction of the driving apparatus  10 . 
     Referring to  FIG. 2 , the surroundings detection unit  200  may include a light detection and ranging (LIDAR) unit  210 , a camera  220 , a posture detection unit  230 , and a location detection unit  240 . 
     The LIDAR unit  210  may be a LIDAR device configured to create a three-dimensional (3D) map of the surroundings of the body  100  by emitting light to the surroundings of the body  100  and receiving reflected light from objects in the surroundings of the body  100 . The objects in the surroundings of the body  100  can be detected based on the 3D map created by the LIDAR unit  210 . 
     The camera  220  may capture and generate an image of the surroundings of the body  100 . The image generated by the camera  220  may be a still image or a moving image. The posture detection unit  230  may detect the posture of the body  100 . For example, the posture detection unit  230  may detect the posture of the body  100  with respect to the surface of the sea. The posture detection unit  230  may include at least one of a gravity sensor, an acceleration sensor, and a gyro sensor. The location detection unit  240  may determine the location of the body  100 . For example, the location detection unit  240  may include a global positioning system (GPS) receiver. In this example, the location detection unit  240  may determine the absolute coordinates of the body  100  on the ground based on received satellite signals. 
     Referring again to  FIG. 1 , the control unit  300  may control the driving of the body  100  based on the detection result from the surroundings detection unit  200 . For example, the control unit  300  may control the body  100 , based on the detection result from the surroundings detection unit  200 , to continue or stop traveling to avoid any obstacle. 
     Specifically, the control unit  300  may detect a ramp and flat ground that are present on a driving path based on the image generated by the camera  220  and may exclude a detected ramp and detected flat ground as non-obstacles. When the driving apparatus  10  approaches a ramp while being driven on flat ground or approaches flat ground while driving on a ramp, the ramp or the flat ground may be recognized as an obstacle by the LIDAR unit  210 . As a result, the driving apparatus  10  may stop traveling. 
     To prevent this type of malfunction, the control unit  300  may recognize a ramp and flat ground by analyzing the image generated by the camera  220 . Then, if the driving apparatus  10  approaches a ramp while being driven on flat ground or approaches flat ground while driving on a ramp, the control unit  300  may determine the ramp or the flat ground detected by the LIDAR unit  210  as a non-obstacle and exclude the ramp or the flat ground detected from being determined as an obstacle. As the ramp or the flat ground detected by the LIDAR unit  210  is excluded, the driving apparatus  10  may continue to travel even upon encountering and approaching the ramp or the flat ground. 
     The operating unit  400  may generate a driving force for driving the body  100 . The driving force from the operating unit  400  may be transmitted to the driving unit  500 , and the body  100  may be driven in accordance with the operation of the driving unit  500 . For example, the operating unit  400  may include a motor, and the driving unit  500  may be provided in the form of wheels, tracks, legs, or propellers. For example, the driving apparatus  10  may be provided in the form of a vehicle or a robot. 
       FIG. 3  illustrates the sensing direction of the surroundings detection unit  200  in  FIG. 1  according to an example embodiment,  FIGS. 4 and 5  illustrate images generated by the camera  220  in  FIG. 1  according to example embodiments, and  FIG. 6  illustrates a lower boundary line. 
     Referring to  FIG. 3 , the surroundings detection unit  200  may detect the driving direction of the body  100 . For example, the LIDAR unit  210  and the camera  220  of the surroundings detection unit  200  may detect the driving direction of the body  100 . 
     The detection result from the LIDAR unit  210  and the detection result from the camera  220  may be transmitted to the control unit  300 , and the control unit  300  may control the driving of the body  100  based on the detection result from the LIDAR unit  210  and the detection result from the camera  220 . 
     The control unit  300  may detect a ramp and flat ground that are present on the driving path with reference to the moving direction of a feature pattern in an image area generated by the camera  220 . The feature pattern may include at least one of a horizon, a vanishing point, and a lower boundary line. 
     Referring to  FIG. 4 , a horizon  630  or a lower boundary line  640  may be a line that horizontally divides an image area  600  of an image generated by the camera  220 . 
     For example, when the image area  600  is divided into upper and lower areas  610  and  620 , the control unit  300  may determine the boundary between the upper and lower areas  610  and  620  as the horizon  630  or the lower boundary line  640  by analyzing the image generated by the camera  220 . 
     In addition, for example, the control unit  300  may analyze the upper and lower areas  610  and  620  of the image area  600  and may determine what the upper and lower areas  610  and  620  are. For example, when the upper and lower areas  610  and  620  of the image area  600  are determined as being the sky and the ground, respectively, the control unit  300  may determine the boundary between the upper and lower areas  610  and  620  as the horizon  630 . For example, when the upper and lower areas  610  and  620  of the image area  600  are determined as both being the ground, the control unit  300  may determine the boundary between the upper and lower areas  610  and  620  as the lower boundary line  640 . 
     The lower boundary line  640  may be the boundary between a descending ramp and flat ground. Referring to  FIG. 6 , a ramp  20  may be connected to flat grounds  30  and  40 . For example, upper and lower parts of the ramp  20  may be connected to the flat grounds  30  and  40 , respectively. The flat grounds  30  and  40 , to which the upper and lower parts of the ramp  20  are respectively connected, will hereinafter be referred to as upper flat ground  30  and lower flat ground  40 . 
     The driving apparatus  10  may move along the ramp  20 . The altitude of the driving apparatus  20  may increase or decrease in accordance with the inclination direction of the ramp  20 . The ramp  20  will hereinafter be referred to as an ascending ramp  20  if the altitude of the driving apparatus  10  increases while the driving apparatus  10  is being driven on the ramp  20  or as a descending ramp  20  if the altitude of the driving apparatus  10  decreases while the driving apparatus  10  is being driven on the ramp  20 . 
     The lower boundary line  640  may include a boundary line representing the boundary between the lower part of the ramp  20  and the lower flat ground  40 . The image generated by the camera  220  may include the descending ramp  20  and the lower flat ground  40  when the driving apparatus  10  is being driven on the descending ramp  20 . Referring to  FIGS. 4 and 6 , in a case where both the upper and lower areas  610  and  620  of the image area  600  are determined as both being the ground and being separated from each other, the control unit  300  may determine that the boundary between the upper and lower areas  610  and  620  as the lower boundary line  640 . 
     Referring to  FIG. 5 , the vanishing point  650  refers to a point where extensions of boundary lines  660  from different patterns included in the image area  600  meet. 
     The image area  600  may include a plurality of boundary lines  660 , which are arranged at an inclination with respect to each other. The boundary lines  660  may be lines that separate both boundaries of the driving path from other areas. 
     Referring again to  FIG. 3 , the control unit  300  may detect the ramp  20  and the flat grounds  30  and  40  that are present on the driving path with reference to the moving direction of the feature pattern included in the image generated by the camera  220 , in the image area  600 . For example, the control unit  300  may detect the ramp  20  and the flat grounds  30  and  40  based on whether the feature pattern is ascending or descending in the image area  600 . The detection of the ramp  20  and the flat grounds  30  and  40  based on the moving direction of the feature pattern will be described later with reference to  FIGS. 9 through 24 . 
       FIGS. 7 and 8  illustrate a method to exclude a ramp as a non-obstacle according to an example embodiment. 
     Referring to  FIG. 7 , the driving apparatus  10  may approach a ramp  20  while being driven. 
     As the driving apparatus  10  approaches the ramp  20 , the ramp  20  may be recognized by the LIDAR unit  210 . In addition, an object present on the driving path of the driving apparatus  10  may be recognized by the LIDAR unit  210 . 
     Referring to  FIG. 8 , a horizon  630  and the object  50  may be included in an image generated by the camera  220 . 
     The control unit  300  may determine that a lower area  620  of an image area  600  below the horizon  630  is the ramp  20 , based on the moving direction of the horizon  630 . Also, the control unit  300  may determine that the object  50  is a separate entity from the ramp  20  by analyzing the image generated by the camera  220 . Accordingly, the control unit  300  may exclude the ramp  20 , detected by the LIDAR unit  210 , as a non-obstacle and may determine the object  50  as an obstacle. For example, in a case where there exists the ramp  20  on the driving path of the driving apparatus  10 , the control unit  20  may determine whether the ramp  20  is an obstacle by referencing both the detection result from the camera  220  and the detection result from the LIDAR unit  210 . Therefore, any emergency stop of the driving apparatus  10  that may be caused due to misrecognition of the ramp  20  as an obstacle may be prevented. 
       FIGS. 9 through 12  illustrate how the driving apparatus  10  moves along a driving path including an ascending ramp according to an example embodiment, and  FIGS. 13 through 16  illustrate images captured by the camera  220  when the driving apparatus  10  moves along a driving path including an ascending ramp according to an example embodiment. 
     Referring to  FIGS. 9 through 12 , the driving apparatus  10  may encounter an ascending ramp  20  while being driven on the lower flat ground  40 , may enter the ascending ramp  20 , and may enter the upper flat ground  30 , to which the ascending ramp  20  is connected. 
     Referring to  FIGS. 9 and 13 , the control unit  300  may determine the body  100  is approaching the ascending ramp  20  if a feature pattern, for example, a horizon  630 , ascends when the body  100  is moving on the lower flat ground  40 . 
     As upper and lower areas  610  and  620  of an image area  600  of an image captured by the camera  220  may be the sky and the ground, respectively, at a distance from the ascending ramp  20 , the horizon  630  may be recognized. As the body  100  approaches the ascending ramp  20 , the horizon  630  may ascend in the image area  600 . The control unit  300  may determine that the body  100  is approaching the ascending ramp  20  if the ascending speed (per unit hour) of the horizon  630  is faster than a predefined level. 
     Referring to  FIGS. 10 and 14 , the control unit  300  may determine that the body  100  is entering the ascending ramp  20  if the horizon  630  descends in the image area  600  when the body  100  is moving on the lower flat ground  40 . 
     If the body  100  enters the ascending ramp  20 , the posture of the body  100  is changed so that the sensing direction of the surroundings detection unit  200  faces the upper side of the ascending ramp  20 . In this case, the horizon  630  may descend in the image area  600 , and the control unit  300  may determine that the body  100  is entering the ascending ramp  20  if the descending speed (per unit hour) of the horizon  630  is faster than a predefined level. 
     Referring to  FIGS. 11 and 15 , the control unit  300  may determine that the body  100  is being driven on the ascending ramp  20  based on the descending speed of the horizon  630  in the image area  600  when the body  100  is moving along the ascending ramp  20 . 
     When the body  100  is moving along the ascending ramp  20 , the horizon  630  may descend in the image area  600 . The distance by which the horizon  630  descends per unit hour may be relatively small when the body  100  is moving along the ascending ramp  20 . For example, the descending speed of the horizon  630  may be faster when the body  100  is entering the ascending ramp  20  than when the body  100  is moving along the ascending ramp  20 . 
     As the body  100  moves along the ascending ramp  20 , the horizon  630  may continue to descend in the image area  600 . 
     Referring to  FIGS. 12 and 16 , if the horizon  630  ascends in the image area  600  when the body  100  is moving along the ascending ramp  20 , the control unit  300  may determine that the body  100  is entering the upper flat ground  30 , which is connected to the upper part of the ascending ramp  20 . 
     As the body  100  enters the upper flat ground  30 , which is connected to the upper part of the ascending ramp  20 , the posture of the body  100  is changed so that the sensing direction of the surroundings detection unit  200  faces forward of the upper flat ground  30 . In this case, the horizon  630  may ascend in the image area  600 , and the control unit  300  may determine that the body  100  is entering the upper flat ground  30  if the ascending speed (per unit area) of the horizon  630  is faster than a predefined level. 
     In this manner, the control unit  300  may determine whether the body  100  is approaching, or is moving along, the ascending ramp  20 , and/or is entering the upper flat ground  30 , and may exclude the ascending ramp  20 , which is detected by the LIDAR unit  210 , as a non-obstacle. 
       FIGS. 17 through 20  illustrate how the driving apparatus  10  moves along a driving path including a descending ramp according to an example embodiment, and  FIGS. 21 through 24  illustrate images captured by the camera  220  while the driving apparatus  10  is moving along a driving path including a descending ramp according to an example embodiment. 
     Referring to  FIGS. 17 through 20 , the driving apparatus  10  may encounter a descending ramp  20  while being driven on the upper flat ground  30 , may enter the descending ramp  20 , may move along the descending ramp  20 , and may enter the lower flat ground  40 , to which the descending ramp  20  is connected. 
     Referring to  FIGS. 17 and 21 , the control unit  300  may determine that the body  100  is approaching the descending ramp  20  if a feature pattern in an image area  600 , for example, a horizon  630 , descends when the body  100  is moving on the upper flat ground  30 . 
     As upper and lower areas  610  and  620  of the image area  600  are the sky and the ground, respectively, at a distance from the descending ramp  20 , the horizon  630  can be recognized. As the body  100  approaches the descending ramp  20 , the horizon  630  may descend in the image area  600 . The control unit  300  may determine that the body  100  is approaching the descending ramp  20  if the descending speed (per unit hour) of the horizon  630  is faster than a predefined level. 
     Referring to  FIGS. 18 and 22 , if another feature pattern in the image area  600 , for example, a lower boundary line  640 , ascends when the body  100  is moving along the descending ramp  20 , the control unit  300  may determine that the body  100  is entering the descending ramp  20 . 
     As the body  100  enters the descending ramp  20 , the posture of the body  100  is changed so that the sensing direction of the surroundings detection unit  200  faces downward of the descending ramp  20 . In this case, the lower boundary line  640  may be recognized by the camera  220 , and the lower boundary line  640  may ascend in the image area  600 . The control unit  300  may determine that the body  100  is entering the descending ramp  20  if the ascending speed (per unit area) of the lower boundary line  640  is faster than a predefined level. 
     Referring to  FIGS. 19 and 23 , the control unit  300  may determine that the body  100  is being driven on the descending ramp  20  based on the descending speed of the lower boundary line  640  in the image area  600  when the body  100  is moving along the descending ramp  20 . 
     When the body  100  is moving along the descending ramp  20 , the lower boundary line  640  may descend in the image area  600 . The distance by which the lower boundary line  640  descends per unit hour may be relatively small when the body  100  is moving along the descending ramp  20 . For example, the descending speed of the horizon  630  may be faster when the body  100  is entering the descending ramp  20  than when the body  100  is moving along the descending ramp  20 . 
     As the body  100  moves along the descending ramp  20 , the lower boundary line  640  may continue to descend in the image area  600 . 
     Referring to  FIGS. 20 and 24 , the control unit  300  may determine that the body  100  is approaching a lower flat ground  40 , to which the lower part of the descending ramp  20  is connected, if the lower boundary line  640  descends in the image area  600  when the body  100  is moving along the descending ramp  20 . 
     When the body  100  approaches the lower flat ground  40 , which is connected to the lower part of the descending ramp  20 , the lower boundary line  640  may descend in the image area  600 . The control unit  300  may determine that the body  100  is approaching the lower flat ground  40  if the descending speed (per unit area) of the lower boundary line  640  is faster than a predefined level. 
     In this manner, the control unit  300  may determine whether the body  100  approaches, or is moving along, the descending ramp  20  and/or approaches the lower flat ground  40 , and may exclude the descending ramp  20 , which is detected by the LIDAR unit  210 , as a non-obstacle. 
     An example where the lower boundary line  640  is recognized from an image captured by the camera  220  has been described above, but the lower boundary line  640  may not be able to be recognized depending on the environment in which the camera  220  captures an image and the states of the descending ramp  20  and the lower flat ground  40  in the image captured by the camera  220 . The control unit  300  may control the driving of the body  100  in different manners depending on whether the lower boundary line  640  is properly recognized. 
       FIG. 25  is a flowchart illustrating the operation of the control unit  300  according to an example embodiment.  FIG. 26  illustrates changes in weights applied to detection results of the LIDAR unit  210  and the camera  220  according to an example embodiment. 
     Referring to  FIG. 25 , the control unit  300  may analyze an image received from the camera  220  (S 710 ) to control the driving of the body  100 . 
     The control unit  300  may determine whether any feature pattern is recognizable from the received image (S 720 ) based on the result of the analysis performed in S 710 . If there exists a feature pattern recognizable from the received image, the control unit  300  may control the driving of the body  100  based on the feature pattern (S 730 ) according to example embodiments described above. 
     On the contrary, if no feature pattern is recognizable from the received image, the control unit  300  may control the driving of the body  100  based on weights (S 740 ). Specifically, the control unit  300  may apply weights to the detection result from the LIDAR unit  210  and the detection result from the camera  220 , and may detect a ramp and flat ground that are present on the driving path of the body  100 . For example, a ramp  20  and upper and lower flat grounds  30  and  40  may be detected, based on the weight-applied detection results from the LIDAR unit  210  and the camera  220 . For example, when a lower boundary line  640  is not recognizable when the body  100  is being driven on a descending ramp  20 , the control unit  300  may control the driving of the body  100  using weights. 
     Referring to  FIG. 26 , as the body  100  is moving along the ramp  20 , the control unit  300  may lower a first weight W 1  applied to the detection result from the LIDAR unit  210  and raise a second weight W 2  applied to the detection result from the camera  220 , as compared to when the body  100  is entering the ramp  20 . 
     When the body  100  is being driven on the descending ramp  20 , the lower boundary line  640  may not be recognized. In this case, as the body  100  moves along the descending ramp  20 , the control unit  300  may lower the first weight W 1  and raise the second weight W 2 . For example, the control unit  300  may set the first and second weights W 1  and W 2  to be the same when the body  100  is entering the descending ramp  20  and may then lower the first weight W 1  and raise the second weight W 2  as the body  100  is moving along the descending ramp  20 . The control unit  300  may lower the first weight W 1  and raise the second weight W 2  based on the distance or the amount of time travelled by the body  100 . For example, as the distance or the amount of time travelled by the body  100  increases, the first weight W 1  may be reduced, and the second weight W 2  may be raised. Alternatively, the control unit  300  may reduce the first weight W 1  and raise the second weight W 2  based on at least one of the detection result from the posture detection unit  230  and the detection result from the posture detection unit  240 . For example, the control unit  300  may estimate the distance to the lower flat ground  40  based on at least one of the detection result from the posture detection unit  230  and the detection result from the location detection unit  240  and may reduce the first weight W 1  and raise the second weight W 2  based on the result of the estimation. 
     At an initial stage of the driving of the body  100  along the descending ramp  20 , a determination may be made as to whether an object ahead of the body  100  is an obstacle by applying similar weights to the detection result from the LIDAR unit  210  and the detection result from the camera  220 . At a later stage of the driving of the body  100  along the descending ramp  20 , a determination may be made as to whether an object ahead of the body  100  is an obstacle by applying a greater weight to the detection result from the camera  220  than to the detection result from the LIDAR unit  210 . 
     At an initial stage of the driving of the body  100  along the descending ramp  20 , it may be less likely that the LIDAR unit  210  will perceive the lower flat ground  40  as an obstacle because the lower flat ground  40  is relatively distant from the body  100 . Thus, the control unit  300  may set the reliability of the detection result from the LIDAR unit  210  high at an initial stage of the driving of the body  100  along the descending ramp  20 . At a later stage of the driving of the body  100  along the descending ramp  20 , it may be more likely that the LIDAR unit  210  will perceive the lower flat ground  40  as an obstacle because the lower flat ground  40  is relatively close to the body  100 . Thus, the control unit  300  may set the reliability of the detection result from the LIDAR unit  210  low at a later stage of the driving of the body  100  along the descending ramp  20  compared to an initial stage. In this manner, even when a feature pattern is not recognizable, any emergency stop of the driving apparatus  10  that may be caused due to misrecognition of the ramp  20  or the upper or lower flat ground  30  or  40  as an obstacle may be prevented by controlling the body  100  using weights. 
     At least one of the components, elements, modules or units (collectively “components” in this paragraph) represented by a block in the drawings, such as the surrounding detection unit  200 , control unit  300 , and operating unit  400  in  FIG. 1 , and LiDAR unit  210 , posture detection unit  230 , and location detection unit  240  in  FIG. 2  may be embodied as various numbers of hardware, software and/or firmware structures that execute respective functions described above, according to an example embodiment. For example, at least one of these components may use a direct circuit structure, such as a memory, a processor, a logic circuit, a look-up table, etc. that may execute the respective functions through controls of one or more microprocessors or other control apparatuses. Also, at least one of these components may be specifically embodied by a module, a program, or a part of code, which contains one or more executable instructions for performing specified logic functions, and executed by one or more microprocessors or other control apparatuses. Further, at least one of these components may include or may be implemented by a processor such as a central processing unit (CPU) that performs the respective functions, a microprocessor, or the like. Two or more of these components may be combined into one single component which performs all operations or functions of the combined two or more components. Also, at least part of functions of at least one of these components may be performed by another of these components. Further, although a bus is not illustrated in the above block diagrams, communication between the components may be performed through the bus. Functional aspects of the above exemplary embodiments may be implemented in algorithms that execute on one or more processors. Furthermore, the components represented by a block or processing steps may employ any number of related art techniques for electronics configuration, signal processing and/or control, data processing and the like. 
     Although the example embodiments have been described with reference to the above and the accompanying drawings, those of ordinary skill in the art will understand that the present disclosure may be implemented in other specific forms without changing the technical spirit or essential features. Therefore, it should be understood that the example embodiments described above are illustrative and non-limiting in all respects.