Disclosed is a fail-safe method of an autonomous driving system. The method includes a step of performing a fail-safe diagnosis for a single sensor by using a first distribution including estimated location measurement results obtained by projecting location measurement results of a past time point input from the single sensor and a location measurement result at a current time point currently input from the single sensor; and performing a fail-safe diagnosis of complex sensors including the single sensor by analyzing a second distribution including estimated location measurement results obtained by projecting location measurement results measured most recently with respect to the current time from the complex sensors to a current time point when it is determined that the fail-safe diagnosis of the single sensor is successful or can be safe-processed. According to the present invention, the performance and reliability of the autonomous driving system can be improved by providing an autonomous driving system having a fail-safe diagnosis function for estimating location measurement information to secure the reliability of the location measurement information.
자율 주행 시스템의 페일-세이프 방법이 개시된다. 이 방법은, 단일 센서로부터 입력되는 과거시점의 측위 결과들을 현재 시점에 투영한 추정 측위 결과들과 상기 단일 센서로부터 현재 입력되는 현재 시점의 측위 결과로 이루어진 제1 분포도를 이용하여 상기 단일 센서에 대한 페일-세이프(fail-safe) 진단을 수행하는 단계; 및 상기 단일 센서에 대한 페일-세이프 진단을 성공 또는 세이프(safe) 처리가 가능한 경우로 판단한 경우, 상기 단일 센서를 포함하는 복합 센서들 각각으로부터 현재를 기준으로 가장 최근에 측정한 측위 결과들을 현재 시점에 투영한 추정 측위 결과들로 이루어진 제2 분포도를 분석하여, 상기 복합 센서들에 대한 페일-세이프 진단을 수행하는 단계를 포함한다.
- AUTONOMOUS DRIVING SYSTEM FAIL-SAFE UTILITY AND METHOD THEREOF
페일-세이프 기능을 갖는 자율 주행 시스템 및 이의 방법
2018-05-25
Patent
Electronic Resource
Korean
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 |
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