Provided is a method for filtering a driving route to stably track a route generated for various purposes, such as maintenance or change of a lane or avoidance of an obstacle around a road by recognizing the lane. In accordance with an embodiment of the present invention, a system for filtering a driving route comprises: a location recognition unit for recognizing the location of a vehicle; a lane recognition unit for recognizing a lane of a road; and a route generating unit for generating a route where the vehicle drives, on the basis of a location recognition result and a lane recognition result, and performing route noise filtering on the generated route. Accordingly, a driving route can be stabilized by removing route noise (error) by complementarily filtering a lane recognition-based route generating method and a map-based route generating method in accordance with the driving environment.

    차선을 인식하여 차선을 유지 또는 변경하거나 도로 주변에 장애물을 회피하는 등 다양한 목적으로 생성된 경로를 안정적으로 추종할 수 있도록 주행 경로를 필터링 하는 방법이 제공된다. 본 발명의 실시예에 따른 주행 경로 필터링 시스템은, 차량의 위치를 인식하는 위치 인식부; 도로의 차선을 인식하는 차선 인식부; 및 위치의 인식 결과 및 차선의 인식 결과를 기반으로 차량이 주행할 경로를 생성하되, 생성된 경로를 대상으로 경로 잡음 필터링을 수행하는 경로 생성부;를 포함한다. 이에 의해, 주행 환경에 따라 차선 인식 기반의 경로 생성 방법과 지도 기반의 경로 생성 방법을 상호 보완적으로 필터링하여 경로 잡음(오차)를 제거함으로써, 주행 경로를 안정화 시킬 수 있다.


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    Titel :

    Method for filtering the driving route based on Distributed Kalman filter for stabilization of route tracking of autonomous vehicles


    Weitere Titelangaben:

    자율주행 차량의 경로 추종 안정화를 위한 분산 칼만필터 기반 주행 경로 필터링 방법


    Beteiligte:
    SHIM YOUNG BO (Autor:in) / MIN KYOUNG WON (Autor:in) / SON HAENG SEON (Autor:in) / LEE SEON YOUNG (Autor:in) / KIM YUN JEONG (Autor:in)

    Erscheinungsdatum :

    18.08.2021


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06K Erkennen von Daten , RECOGNITION OF DATA / G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL



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