Patent 9910157 was granted and assigned to Hyundai Motor Company on March, 2018 by the United States Patent and Trademark Office.
A vehicle that detects a lane using measurement data of a lidar sensor and a lane detection method are provided. The vehicle includes a distance sensor and a processor that is configured to determine data that indicates a road lane among data obtained by the distance sensor. Additionally, the processor accumulates the determined lane data using vehicle speed information and determines the road lane using the accumulated lane data.