The present invention relates to a driver assistance device and a method for recognizing a guardrail thereof which extracts one or more objects through aggregating point data measured by a lidar sensor; selects one or more objects among extracted objects through the aggregation of the point data as a candidate group of a guardrail; separates point data of the selected object as the candidate group of the guardrail in layers; filters the point data of the candidate group of the guardrail separated in layers; performs a curve fitting using the filtered point data separated in layers; and thereby recognizing a guardrail based on a result of the curve fitting.

    본 발명은 운전자 보조장치 및 그의 가드레일 인식 방법에 관한 것으로, 라이다 센서를 통해 측정한 포인트 데이터의 군집화를 통해 하나 이상의 객체를 추출하고, 상기 포인트 데이터의 군집화를 통해 추출된 객체 중 어느 하나 이상의 객체를 가드레일 후보군으로 선정하며, 상기 가드레일 후보군으로 선정된 객체의 포인트 데이터를 레이어별로 분리하고, 상기 가드레일 후보군의 분리된 레이어별 포인트 데이터를 필터링하며, 상기 필터링된 레이어별 포인트 데이터를 이용하여 커브 피팅을 수행하고, 상기 커브 피팅 결과에 근거하여 가드레일을 인식한다.


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    Title :

    DRIVER ASSISTANCE APPARATUS AND METHOD FOR RECOGNITING A GUARD RAIL THEREOF


    Additional title:

    운전자 보조장치 및 그의 가드레일 인식 방법


    Contributors:

    Publication date :

    2016-09-07


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    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 / G01S RADIO DIRECTION-FINDING , Funkpeilung



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