본 발명의 관성측정장치(Inertial Measurement Unit)가 내장되어 있고, 라이다(LiDAR, Light Detection And Ranging) 센서가 후방에 장착된 차량의 자세 추정 방법에서, 상기 라이다 센서를 이용하여 거리를 측정한 측정점 데이터를 획득하는 단계, 상기 측정점 데이터를 2차원 직교 좌표 상에 투영하여 도로선을 찾는 단계, 상기 도로선으로부터 차량의 자세 변화량(α', β')을 계산하는 단계 및 상기 자세 변화량(α', β')을 상기 관성측정장치의 측정치와 융합하여 차량의 자세(α, β)를 계산하는 단계를 포함한다. 본 발명에 의하면, 고가의 관성측정장치 또는 GPS 장비를 추가하지 않고, 기존의 차량에 기 부착되어 있는 라이다 센서를 이용하여, 차량의 자세를 빠르게 추정할 수 있는 효과가 있다.

    The present invention provides a method for estimating the attitude of a vehicle having a built-in inertial measurement unit and having a light detection and ranging (LiDAR) sensor mounted in the rear thereof, the method comprising the steps of: acquiring measurement point data corresponding to a distance measured using the LiDAR sensor; finding a road line by projecting the measurement point data on two-dimensional rectangular coordinates; calculating an attitude variation (α', β') of the vehicle from the road line; and calculating the attitude (α, β) of the vehicle by combining the attitude variation (α', β') with a measurement value measured by the inertial measurement unit. Using a LiDAR sensor which is conventionally mounted to a vehicle, the present invention can quickly estimate the attitude of a vehicle without adding any expensive inertial measurement unit or GPS device.


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    Title :

    Method for vehicle pose estimation using LiDAR


    Additional title:

    라이다 센서를 이용한 차량의 자세 추정 방법


    Publication date :

    2018-12-19


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    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 / G01S RADIO DIRECTION-FINDING , Funkpeilung



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