Provided are a method, a device, and a computer program for providing a driving guide by using vehicle position information and signal light information. A method for providing a driving guide by using vehicle position information and signal light information according to various embodiments of the present invention is a method performed by a computing device. The method may comprise the steps of: collecting image data obtained by photographing a space where a vehicle is currently driving; determining a current driving lane of the vehicle by using the image data and vehicle position information; and providing a driving guide for the vehicle by using the current driving lane of the vehicle.

The method for generating a road edge line includes: acquiring a road image; recognizing lane line information from the road image; recognizing key point information related to the road edge from the road image; and generating the road edge line according to the lane line information and the key point information.

An object of the present invention is to provide an object sensing device that classifies an observation point group output by a LiDAR into a real image and a mirror image when a road surface around an own vehicle is wet, and can use the mirror image for detecting the real image. An object sensing device that detects an object around a vehicle based on a point cloud data of an observation point observed by a LiDAR mounted on the vehicle includes: a road surface shape estimation unit that estimates a shape of a road surface; a road surface condition estimation unit that estimates a dry/wet situation of the road surface; and an observation point determination unit that determines a low observation point observed at a position lower than the estimated road surface by a predetermined amount or more when the road surface is estimated to be in a wet situation. The object is detected by using point cloud data of the observation points other than the low observation point and point cloud data of an inverted observation point obtained by inverting the low observation point with reference to a height of the road surface.

An apparatus and method for controlling driving of a vehicle are provided and the apparatus includes a lamp that projects a lamp light onto one of a left floor surface or a right floor surface of the vehicle, a camera that obtains an image of an area onto which the lamp light is projected, and a controller that determines whether to output a warning based on the image of the area onto which the lamp light is projected when the lamp light is projected onto a boundary stone located around at least one of the left floor surface or the right floor surface of the vehicle.

A method and device for controlling brake system based on preceding vehicle recognition are disclosed. The device comprising: a data collecting unit configured to collect front data and rear data of a preceding vehicle, a driving trajectory extracting unit configured to extract a driving trajectory of a lane in which the vehicle is traveling, a preceding vehicle analysis unit configured to determine driving information of the preceding vehicle, a preceding vehicle determining unit configured to determine intervention of the preceding vehicle or deviation of the preceding vehicle with respect to the driving trajectory, and a control unit configured to control the brake system.

Vanishing point extraction includes obtaining a straight line including a vanishing point of a first image; obtaining a plurality of sample points in the first image based on processing the first image according to an object included in the first image and the straight line including the vanishing point of a first image, such that the plurality of sample points are determined as pixels in the first image having coordinates that overlap with coordinates of pixels of both the straight line and the object included in the first image; obtaining at least one matching point, in a second image, that corresponds to at least one sample point of the plurality of sample points in the first image the second image generated subsequently to the first image being generated; and obtaining a vanishing point of the second image based on the at least one matching point of the second image.

An apparatus for locating an object of interest using offset. The object may be a mobile platform, or portion of same, associated with a vehicle, or a pavement segment or feature of or on a pavement segment on which the mobile platform is located. The vehicle includes first and second fixed points having a known offset from each other. An image sensor whose field of view includes the second fixed point and a segment of the pavement surface provides image data which is used with the known offset to calculate the precise location of the object of interest.

Systems and methods use cameras to provide autonomous navigation features. In one implementation, a method for navigating a user vehicle may include acquiring, using at least one image capture device, a plurality of images of an area in a vicinity of the user vehicle; determining from the plurality of images a first lane constraint on a first side of the user vehicle and a second lane constraint on a second side of the user vehicle opposite to the first side of the user vehicle; enabling the user vehicle to pass a target vehicle if the target vehicle is determined to be in a lane different from the lane in which the user vehicle is traveling; and causing the user vehicle to abort the pass before completion of the pass, if the target vehicle is determined to be entering the lane in which the user vehicle is traveling.

According to a method for self-localization of a vehicle, a first pose of the vehicle is determined. Environment sensor data are generated by means of an environment sensor device and on the basis of this a landmark is detected in the environment. A position of the landmark is determined and in dependence on this a second pose of the vehicle is determined. A memorized assignment instruction is consulted, matching up the first pose with at last one preferred sensor type or at least one dominant landmark type, and depending on this a first portion of the environment sensor data is selected that was generated by means of a first environment sensor system of the environment sensor device configured according to a first sensor type. For the detecting of the landmark, a first landmark detection algorithm is applied to the first portion of the environment sensor data.

Systems and methods for validating drive pose refinement are provided. In some aspects, a method includes receiving image data that depicts an area of interest, and receiving a plurality of virtual points generated using the image data. The method also includes selecting at least one drive in the area of interest that captures the plurality of virtual points, and generating a refined pose track for each of the at least one drive by applying a drive alignment process to drive data from the at least one drive using the plurality virtual points. The method further includes comparing the refined pose track to a control pose track generated using control repoints, and generating, based on the comparison, a report that validates the refined pose track.