The present invention relates to a method for synchronizing sensing information in an autonomous driving system, which comprises: a step of using a three-dimensional ultrasonic sensor in the autonomous driving system, and acquiring a first coordinate value of a feature point; a step of acquiring a focal distance of a camera sensor for monitoring an indoor environment of a vehicle; a step of converting the first coordinate value into a second coordinate value based on the focal distance; and a step of acquiring an inner parameter of the camera sensor, and converting the second coordinate value into a third coordinate value based on the inner parameter of the camera sensor. The first coordinate can be placed in a three-dimensional coordinate system, and the second coordinate value and the third coordinate value can be placed in a two-dimensional coordinate system. Through this, the vehicle is able to generate a three-dimensional depth image compatible with an indoor environment monitoring system already installed in the vehicle through the three-dimensional ultrasonic sensor. In accordance with the present invention, one or more of the autonomous driving vehicle, user terminal, and server can be connected to an artificial intelligence module, unmanned aerial vehicle (UAV) robot, augmented reality (AR) device, virtual reality (VR) device, device connected to the 5G service, or the like. The present invention aims to provide a method for synchronizing sensing information in an autonomous driving system, which is able to synchronize sensing information generated by sensors which have different sensing cycles.

    본 명세서는 자율주행시스템에서 3D 초음파 센서를 이용하여 특징점의 제1 좌표값을 획득하는 단계; 차량의 실내환경을 모니터링하기 위한 카메라 센서의 초점거리를 획득하는 단계; 상기 초점거리에 근거하여, 상기 제1 좌표값을 제2 좌표값으로 변환하는 단계; 및 상기 카메라 센서의 내부 파라미터를 획득하고, 상기 카메라 센서의 내부 파라미터에 근거하여, 상기 제2 좌표값을 제3 좌표값으로 변환하는 단계; 를 포함하며, 상기 제1 좌표값은 3차원 좌표계에 위치하고, 상기 제2 좌표값 및 상기 제3 좌표값은 2차원 좌표계에 위치할 수 있다. 이를 통해, 차량은 3D 초음파 센서를 통해, 차량에 기설치된 실내환경 모니터링 시스템에 호환되는 3D Depth 이미지를 생성할 수 있다. 본 명세서의 자율 주행 차량, 사용자 단말기 및 서버 중 하나 이상이 인공지능(Artificial Intelligence) 모듈, 드론 (Unmmanned Aerial Vehicle, UAV) 로봇, 증강 현실 (Augmented Reality, AR) 장치, 가상 현실(Virtual reality, VR) 장치, 5G 서비스와 관련된 장치 등과 연계될 수 있다.


    Zugriff

    Download


    Exportieren, teilen und zitieren



    Titel :

    METHODS OF SYNCHRONIZING SENSING INFORMATION IN AUTONOMOUS DRIVING SYSTEM


    Weitere Titelangaben:

    자율주행시스템에서 센싱정보 동기화 방법


    Beteiligte:
    KIBONG SONG (Autor:in)

    Erscheinungsdatum :

    2021-05-10


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Koreanisch


    Klassifikation :

    IPC:    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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR



    Synchronizing sensors of autonomous driving vehicles

    WANG SHUAI / ZHANG MANJIANG / SHEN YAOMING et al. | Europäisches Patentamt | 2023

    Freier Zugriff

    SYNCHRONIZING SENSORS OF AUTONOMOUS DRIVING VEHICLES

    WANG SHUAI / ZHANG MANJIANG / SHEN YAOMING et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    METHODS AND APPARATUSES FOR SYNCHRONIZING SENSOR FOR AUTONOMOUS DRIVING SENSOR FUSION

    HWANG SUNG HO / GWAK GI SUNG / LIM JUN YOUNG et al. | Europäisches Patentamt | 2021

    Freier Zugriff

    Synchronizing sensing systems

    ZHANG LINJUN | Europäisches Patentamt | 2022

    Freier Zugriff

    SYNCHRONIZING SENSING SYSTEMS

    ZHANG LINJUN | Europäisches Patentamt | 2020

    Freier Zugriff