ODM information reliability determination system and method and vehicle using the same

Patent metadata

Field	Value
Publication number	US-11307292-B2
Application number	US-201916584508-A
Country	US
Kind code	B2
Filing date	Sep 26, 2019
Priority date	Dec 12, 2018
Publication date	Apr 19, 2022
Grant date	Apr 19, 2022

Abstract

Disclosed are an occupancy distance map (ODM) information reliability determination system and method and a vehicle using the same. The system includes a signal conversion unit configured to receive a plurality of sensing signals and to perform signal processing, a calculation unit configured to calculate state information of a nearby vehicle detected from processed signals, a sensor fusion track output unit configured to output sensor fusion track information based on the calculated state information of the nearby vehicle, an ODM output unit configured to output ODM information based on the calculated state information of the nearby vehicle, an ODM fusion unit configured to generate sensor fusion ODM information by performing sensor fusion with respect to the ODM information, and an ODM information reliability determination unit configured to determine reliability of the sensor fusion ODM information by confirming association between the sensor fusion track information and the sensor fusion ODM information.

First claim

The invention claimed is:

1. An occupancy distance map (ODM) information reliability determination system comprising:
a signal conversion unit configured to receive a plurality of sensing signals and to perform signal processing;
a calculation unit configured to calculate state information of a nearby vehicle detected from processed signals;
a sensor fusion track output unit configured to output sensor fusion track information based on the calculated state information of the nearby vehicle;
an ODM output unit configured to output ODM information based on the calculated state information of the nearby vehicle;
an ODM fusion unit configured to generate sensor fusion ODM information by performing sensor fusion with respect to the ODM information; and
an ODM information reliability determination unit configured to determine reliability of the sensor fusion ODM information by confirming association between the sensor fusion track information and the sensor fusion ODM information;
wherein when confirming the association between the sensor fusion track information and the sensor fusion ODM information, the ODM information reliability determination unit generates association information by confirming the association between the sensor fusion track information and the sensor fusion ODM information.

2. The ODM information reliability determination system according to claim 1 , wherein the signal conversion unit receives the plurality of sensing signals from forward radar and lateral radar of a host vehicle.

3. The ODM information reliability determination system according to claim 1 , wherein, when calculating the detected state information of the nearby vehicle, the calculation unit calculates detected distance information, speed information and angle information of the nearby vehicle.

4. The ODM information reliability determination system according to claim 1 , wherein, when outputting the ODM information, the ODM output unit outputs a grid map, in which a forward-longitudinal direction region and a lateral direction region are divided into six regions, a longitudinal position, a lateral position, a longitudinal speed, a flag indicating presence, and probability information at a predetermined speed or less of a host vehicle.

5. The ODM information reliability determination system according to claim 1 , wherein, when outputting the ODM information, the ODM output unit generates a plurality of detection points based on effective detection information received from forward radar and lateral radar of a host vehicle, and generates at least one ODM object by clustering a group of detection points, which is determined to be an object or a vehicle, among the plurality of detection points located within a grid map.

6. The ODM information reliability determination system according to claim 1 , wherein, when generating the sensor fusion ODM information, the ODM fusion unit generates the sensor fusion ODM information in consideration of accuracy of a sensor in each sensing region of the sensor.

7. The ODM information reliability determination system according to claim 6 , wherein the ODM fusion unit:
outputs ODM information of left radar as sensor fusion ODM information within a sensing region of the sensor, the sensing region ranging from −0.8 m to 10 m from a host vehicle in a longitudinal direction thereof and ranging from −2.2 m to −0.5 m from the host vehicle in a lateral direction thereof;
outputs ODM information of forward radar as sensor fusion ODM information within a sensing region of the sensor, the sensing region ranging from −0.8 m to 10 m from the host vehicle in the longitudinal direction thereof and ranging from −0.5 m to 0.5 m from the host vehicle in the lateral direction thereof;
outputs ODM information of right radar as sensor fusion ODM information within a sensing region of the sensor, the sensing region ranging from −0.8 m to 10 m from the host vehicle in the longitudinal direction thereof and ranging from 0.5 m to 2.2 m from the host vehicle in the lateral direction thereof; and
outputs ODM information of the forward radar as sensor fusion ODM information within a sensing region of the sensor, the sensing region ranging from 10 m to 20 m from the host vehicle in the longitudinal direction thereof and ranging from −2.2 m to 2.2 m from the host vehicle in the lateral direction thereof.

8. The ODM information reliability determination system according to claim 1 , wherein the association information is generated as a 6-bit signal, the 6-bit signal comprising right radar track information, left radar track information, forward radar track information, right radar ODM information, left radar ODM information, and forward radar ODM information.

9. An ODM information reliability determination method comprising:
receiving a plurality of sensing signals;
processing the received sensing signals;
calculating state information of a nearby vehicle detected from processed signals;
outputting sensor track information and ODM information based on the calculated state information of the nearby vehicle;
generating sensor fusion ODM information by performing sensor fusion with respect to the ODM information; and
determining reliability of the sensor fusion ODM information by confirming association between the sensor fusion track information and the sensor fusion ODM information;
wherein the determining reliability of the sensor fusion ODM information comprises generating association information by confirming the association between the sensor fusion track information and the sensor fusion ODM information.

10. The ODM information reliability determination method according to claim 9 , wherein the receiving the plurality of sensing signals comprises receiving the sensing signals from forward radar and lateral radar of a host vehicle.

11. The ODM information reliability determination method according to claim 9 , wherein the calculating the detected state information of the nearby vehicle comprises calculating detected distance information, speed information and angle information of the nearby vehicle.

12. The ODM information reliability determination method according to claim 9 , wherein the outputting the ODM information comprises outputting a grid map, in which a forward-longitudinal direction region and a lateral direction region are divided into six regions, a longitudinal position, a lateral position, a longitudinal speed, a flag indicating presence, and probability information at a predetermined speed or less of a host vehicle.

13. The ODM information reliability determination method according to claim 9 , wherein the outputting the ODM information comprises generating a plurality of detection points based on effective detection information received from forward radar and lateral radar of a host vehicle and generating at least one ODM object by clustering a group of detection points, which is determined to be an object or a vehicle, among the plurality of detection points located within a grid map.

14. The ODM information reliability determination method according to claim 9 , wherein the generating the sensor fusion ODM information comprises generating the sensor fusion ODM information in consideration of accuracy of a sensor in each sensing region of the sensor.

15. The ODM information reliability determination method according to claim 14 , wherein the generating the sensor fusion ODM information comprises:
outputting ODM information of left radar as sensor fusion ODM information within a sensing region of the sensor, the sensing region ranging from −0.8 m to 10 m from a host vehicle in a longitudinal direction ther

Assignees

• Hyundai Motor Co Ltd
• Kia Motors Corp

Inventors

• Jo Su Min
• Won Ji Eun
• Won Sang Bok
• Yoo Min Kyun
• Hwang Jae Pil
• Lee Woo Young
• Yang Uk Il
• Lee Hoon
• Han Seul Ki
• Yun Bo Young
• Chong Hyok Jin
• Jang Hyung Sun

Classifications

• B60W40/105

  Speed · CPC title

• G01S7/40 Primary

  Means for monitoring or calibrating · CPC title

• G01S13/931 Primary

  of land vehicles · CPC title

• G01S13/89

  for mapping or imaging · CPC title

• G01S2013/93271

  in the front of the vehicles · CPC title