An object detecting method of a vehicle lidar system according to the embodiment includes the steps of: setting a grid according to a lane width centered on the own lane in a grid map generated based on freespace point data and object information, and calculating a road boundary candidate based on the occupancy rate of an object for each lane calculated based on the object information and the distribution of the freespace point information; and outputting road boundary information by correcting the calculated road boundary candidate based on information on the road boundary candidate determined at a previous time. Therefore, it is possible to accurately detect the boundary of the road on which a user are driving.

    실시 예에 의한 차량용 라이다 시스템의 객체 검출 방법은, 프리스페이스(Freespace) 포인트 데이터와 객체 정보에 기초하여 생성된 그리드 맵에 자차로를 중심으로 차로 폭에 따른 그리드를 설정하고, 상기 객체 정보에 기초하여 산출되는 차로 별 객체의 점유율과 상기 프리스페이스 포인트 정보의 분포에 기초하여 도로 경계 후보를 산출하는 단계; 및 산출된 도로 경계 후보를 이전 시점에 결정된 도로 경계 후보의 정보에 기초하여 보정하여 도로 경계 정보를 출력하는 단계;를 포함한다.


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    Title :

    VEHICLE LIDAR SYSTEM AND OBJECT DETECTING METHOD THEREOF


    Additional title:

    차량용 라이다 시스템 및 그 객체 검출 방법


    Contributors:
    RA JU HYEOK (author) / KIM HYUN JU (author)

    Publication date :

    2023-06-16


    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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