Apparatus and method for recognizing driving environment for autonomous vehicle

Patent metadata

Field	Value
Publication number	US-9360328-B2
Application number	US-201414555757-A
Country	US
Kind code	B2
Filing date	Nov 28, 2014
Priority date	Sep 2, 2014
Publication date	Jun 7, 2016
Grant date	Jun 7, 2016

Abstract

An apparatus and a method are provided for recognizing driving environment for an autonomous vehicle. The apparatus includes a controller configured to receive navigation information from a satellite navigation receiver. The controller is further configured to receive map data from a map storage and image data from an image sensor regarding captured images from around a vehicle and distance information from a distance sensor regarding sensed objects positioned around the vehicle. The controller is also configured to determine a fusion method for information measured by the image sensor and the distance sensor based on a receiving state of the satellite navigation receiver and precision of the map data to recognize the driving environment.

First claim

What is claimed is:

1. A system for recognizing a driving environment for an autonomous vehicle, comprising:
a memory configured to store program instructions;
a processor configured to execute the program instructions, the program instructions when executed configured to:
receive navigation information from a satellite navigation receiver configured to receive a satellite signal from a satellite;
receive map data from a map storage configured to store map data;
receive image data from an image sensor configured to capture images around the autonomous vehicle;
receive distance information from a distance sensor configured to sense objects positioned around the autonomous vehicle;
determine a fusion method for information measured by the image sensor and the distance sensor based on a receiving state of the satellite navigation receiver and precision of the map data to recognize the driving environment;
determine a reception strength of the navigation information;
determine a precision level of the map data; and
extract an object from information measured by the image sensor and the distance sensor based on the reception strength of the navigation information and the precision level of the map data,

wherein the extracted object is used to recognize the driving environment.

2. The system according to claim 1 , wherein the program instructions when executed are further configured to:
extract road bounding spheres using the image data from the image sensor and the distance information from the distance sensor; and
derive a minimum bounding sphere of the extracted road bounding spheres, when the satellite signal is not received or the number of satellites whose signals are directly received on a line of sight (LOS) is equal to or less than a reference value.

3. The system according to claim 2 , wherein the program instructions when executed are further configured to:
map the minimum bounding sphere with the map data to generate a possible driving path.

4. The system according to claim 1 , wherein the program instructions when executed are further configured to:
extract road facilities using the image data from the image sensor; and
extract surrounding vehicle information using the distance information from the distance sensor when received information included in the satellite signal is in an error range within several meters.

5. The system according to claim 4 , wherein the program instructions when executed are further configured to:
perform probability based filtering on a comparison result of the road facilities with a landmark within the map data and the surrounding vehicle information to correct longitudinal and latitudinal positions of the vehicle.

6. The system according to claim 1 , wherein the program instructions when executed are further configured to:
extract a substantially long range obstacle using the image data from the image sensor; and
extract a substantially short range obstacle using the distance information from the distance sensor when received information included in the satellite signal is within an error range and the map data is sufficiently precise.

7. The system according to claim 6 , wherein the program instructions when executed are further configured to:
map the substantially long range obstacle and the substantially short range obstacle with the map data to recognize a driving situation and predict a behavior of a surrounding vehicle based on the driving situation.

8. The system according to claim 1 , wherein the program instructions when executed are further configured to:
extract driving lane information using the image data from the image sensor; and
extract surrounding vehicle information using the distance information from the distance sensor when received information included in the satellite signal is within an error range and the precision level of the map data is sufficiently precise.

9. The system according to claim 8 , wherein the program instructions when executed are further configured to:
perform probability based filtering on the driving lane information and the surrounding vehicle information to correct a latitudinal position of the vehicle.

10. A method for recognizing a driving environment for an autonomous vehicle, comprising:
determining, by a controller, a reception strength of a satellite signal received from a satellite;
determining, by the controller, a precision level of map data received from a map storage configured to store map data; and
extracting, by the controller, an object from information measured by an image sensor configured to capture images around the autonomous vehicle and a distance sensor configured to sense objects positioned around the autonomous vehicle based on the reception strength of the satellite signal and the precision level of the map data,
wherein the extracted object is used to recognize the driving environment.

11. The method according to claim 10 , further comprising:
confirming, by the controller, whether the reception strength of the satellite signal is less than a reference value;
extracting, by the controller, a road facility and surrounding vehicle information, respectively, using the image sensor and the distance sensor when the reception strength of the satellite signal is less than the reference value; and
correcting, by the controller, longitudinal and latitudinal positions of the vehicle by performing probability based filtering on the road facility and the surrounding vehicle information.

12. The method according to claim 11 , further comprising:
determining, by the controller, that the map data is sufficiently precise when the reception strength of the satellite signal is equal to or greater than the reference value;
extracting, by the controller, a substantially long range obstacle and a substantially short range obstacle using the image sensor and the distance sensor, respectively, when the map data is sufficiently precise; and
predicting, by the controller, a behavior of the surrounding vehicle by mapping the long range obstacle and the substantially short range obstacle with the map data.

13. The method according to claim 12 , further comprising:
extracting, by the controller, driving lane information and the surrounding vehicle information using the image sensor and the distance sensor, respectively, when the map data is not sufficiently precise; and
performing, by the controller, probability based filtering on the driving lane information and the surrounding vehicle information to correct a latitudinal position of the vehicle.

14. The method according to claim 10 , further comprising:
extracting, by the controller, a road bounding sphere using the image sensor and the distance sensor when reception of the satellite signal is substantially unsatisfactory;
extracting, by the controller, a minimum bounding sphere of the road bounding spheres; and
generating, by the controller, a possible driving path based on the minimum bounding sphere.

15. A non-transitory computer readable medium containing program instructions executed by a processor or controller for recognizing driving environment for an autonomous vehicle, the computer readable medium comprising:
program instructions that determine a reception strength of a satellite signal received from a satellite;
program instructions that determine a precision level of map data received from a map storage configured to store map data; and
program instructions that extract an object from information measured by an image sensor configured to capture images around the autonomous vehicle and a distance sensor configu

Assignees

• Hyundai Motor Co Ltd

Inventors

• You Byung Yong
• Heo Myung Seon
• Oh Young Chul

Classifications

• G01C21/26 Primary

  specially adapted for navigation in a road network · CPC title

• G01S19/13

  Receivers · CPC title

• G01C21/28 Primary

  with correlation of data from several navigational instruments · CPC title

• G01S19/14

  specially adapted for specific applications · CPC title

• B60W2552/50

  Barriers · CPC title