The present invention relates to an obstacle recognition device, a vehicle system including the same, and a method thereof. According to an embodiment of the present invention, the obstacle recognition device includes: a processor configured to generate an occupancy grid map based on a sensing value of at least one ultrasonic sensor, calculate the risk probability of each cell on the occupancy grid map, and determine a shape and location of an obstacle based on the risk probability of each cell; and a storage storing data and an algorithm for calculating the risk probability. Therefore, the present invention can precisely estimate a shape of the obstacle based on a learning algorithm.

    본 발명은 장애물 인식 장치, 그를 포함하는 차량 시스템 및 그 방법에 관한 것으로, 본 발명의 일 실시 예에 따른 장애물 인식 장치는 적어도 하나 이상의 초음파 센서의 센싱값을 기반으로 점유 격자 지도를 생성하고 상기 점유 격자 지도 상의 각 셀의 위험도 확률을 산출하여 상기 각 셀의 위험도 확률을 기반으로 장애물의 형상 및 위치를 판단하는 프로세서; 및 상기 위험도 확률의 산출을 위한 데이터 및 알고리즘이 저장되는 저장부;를 포함할 수 있다.


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    Title :

    Apparatus for recognizing an obstacle a vehicle system having the same and method thereof


    Additional title:

    장애물 인식 장치, 그를 포함하는 차량 시스템 및 그 방법


    Publication date :

    2021-11-15


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    G01S RADIO DIRECTION-FINDING , Funkpeilung / 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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