The present invention relates to an omni-directional sensor fusion device, which can increase the reliability on a boundary region of an omni-directional sensor fusion, a sensor fusion method thereof and a vehicle including the same. The omni-directional sensor fusion device of the present invention comprises: a sensor track processing unit for receiving a plurality of pieces of sensor recognition information to generate a sensor track; a sensor track relevance determining unit for determining the relevance between a sensor fusion track at a previous time point and the sensor track at a current time point when the generated sensor track is positioned at an overlapping point of sensor sensing regions, and changing sensor track information in accordance with the determined relevance to output the sensor fusion track; a sensor fusion track tracking unit for tracking the output sensor fusion track; and a sensor fusion track managing unit for managing the tracked sensor fusion track.
전방위 센서퓨전의 경계 영역에 대한 신뢰도를 높일 수 있는 전방위 센서퓨전 장치 및 그의 센서퓨전 방법과 그를 포함하는 차량에 관한 것으로, 다수의 센서 인식 정보를 수신하여 센서 트랙을 생성하는 센서 트랙 처리부와, 생성된 센서 트랙이 센서 감지영역들의 중첩지점에 위치하면 이전 시점의 센서퓨전 트랙과 현재 시점의 센서 트랙간의 연관성을 판단하고 판단된 연관성에 따라 센서 트랙 정보를 변경하여 센서퓨전 트랙을 출력하는 센서 트랙 연관성 판단부와, 출력된 센서퓨전 트랙을 추적하는 센서퓨전 트랙 추적부와, 추적한 센서퓨전 트랙을 관리하는 센서퓨전 트랙 관리부를 포함할 수 있다.
APPARATUS AND METHOD FOR PERFORMING OMNIDIRECTIONAL SENSOR-FUSION AND VEHICLE INCLUDING THE SAME
전방위 센서퓨전 장치 및 그의 센서퓨전 방법과 그를 포함하는 차량
2020-06-12
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 / B60R Fahrzeuge, Fahrzeugausstattung oder Fahrzeugteile, soweit nicht anderweitig vorgesehen , VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR / G01S RADIO DIRECTION-FINDING , Funkpeilung / H04N PICTORIAL COMMUNICATION, e.g. TELEVISION , Bildübertragung, z.B. Fernsehen |
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