Provided is a method for filtering a traveling path to enable stable tracking of a generated path for various purposes, such as recognizing lanes, maintaining or changing lanes, or avoiding obstacles in the vicinity of the road. A traveling path filtering system according to an embodiment of the present invention comprises: a position recognition unit for recognizing the position of a vehicle; a lane recognition unit for recognizing lanes on the road; and a path generation unit for generating, on the basis of the position recognition result and the lane recognition result, a path along which the vehicle is to travel, and performing path noise filtering on the generated path. Therefore, a lane recognition-based path generation method and a map-based path generation method according to a traveling environment undergo complementary filtering so that path noise (error) is cancel, and thus a traveling path can be stabilized.

    L'invention concerne un procédé destiné à filtrer un trajet de déplacement pour permettre un suivi stable d'un trajet généré à des fins diverses, telles que des voies de reconnaissance, des voies de maintien ou de changement, ou l'évitement d'obstacles au voisinage de la route. Un système de filtrage de trajet de déplacement selon un mode de réalisation de la présente invention comprend : une unité de reconnaissance de position destinée à reconnaître la position d'un véhicule ; une unité de reconnaissance de voie destinée à reconnaître des voies sur la route ; et une unité de génération de trajet destinée à générer, sur la base du résultat de reconnaissance de position et du résultat de reconnaissance de voie, un trajet le long duquel le véhicule doit circuler, et à réaliser un filtrage de bruit de trajet sur le trajet généré. Par conséquent, un procédé de génération de trajet reposant sur une reconnaissance de voie et un procédé de génération de trajet reposant sur une carte selon un environnement de déplacement subissent un filtrage complémentaire de sorte que le bruit de trajet (erreur) est supprimé, et un trajet de déplacement peut ainsi être stabilisé.

    차선을 인식하여 차선을 유지 또는 변경하거나 도로 주변에 장애물을 회피하는 등 다양한 목적으로 생성된 경로를 안정적으로 추종할 수 있도록 주행 경로를 필터링 하는 방법이 제공된다. 본 발명의 실시예에 따른 주행 경로 필터링 시스템은, 차량의 위치를 인식하는 위치 인식부; 도로의 차선을 인식하는 차선 인식부; 및 위치의 인식 결과 및 차선의 인식 결과를 기반으로 차량이 주행할 경로를 생성하되, 생성된 경로를 대상으로 경로 잡음 필터링을 수행하는 경로 생성부;를 포함한다. 이에 의해, 주행 환경에 따라 차선 인식 기반의 경로 생성 방법과 지도 기반의 경로 생성 방법을 상호 보완적으로 필터링하여 경로 잡음(오차)를 제거함으로써, 주행 경로를 안정화 시킬 수 있다.


    Access

    Download


    Export, share and cite



    Title :

    DISTRIBUTED-KALMAN-FILTER-BASED TRAVELING PATH FILTERING METHOD FOR PATH TRACKING STABILIZATION OF AUTONOMOUS VEHICLE


    Additional title:

    PROCÉDÉ DE FILTRAGE DE TRAJET DE DÉPLACEMENT REPOSANT SUR UN FILTRE DE KALMAN RÉPARTI POUR LA STABILISATION DE SUIVI DE TRAJET D'UN VÉHICULE AUTONOME
    자율주행 차량의 경로 추종 안정화를 위한 분산 칼만필터 기반 주행 경로 필터링 방법


    Contributors:

    Publication date :

    2022-06-02


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    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 / G01C Messen von Entfernungen, Höhen, Neigungen oder Richtungen , MEASURING DISTANCES, LEVELS OR BEARINGS / G06K Erkennen von Daten , RECOGNITION OF DATA



    METHOD FOR FILTERING THE DRIVING ROUTE BASED ON DISTRIBUTED KALMAN FILTER FOR STABILIZATION OF ROUTE TRACKING OF AUTONOMOUS VEHICLES

    SHIM YOUNG BO / MIN KYOUNG WON / SON HAENG SEON et al. | European Patent Office | 2023

    Free access

    Method for filtering the driving route based on Distributed Kalman filter for stabilization of route tracking of autonomous vehicles

    SHIM YOUNG BO / MIN KYOUNG WON / SON HAENG SEON et al. | European Patent Office | 2021

    Free access

    Method for filtering the driving route based on distributed Kalman filter for stabilization of route tracking of autonomous vehicles

    SHIM YOUNG BO / MIN KYOUNG WON / SON HAENG SEON et al. | European Patent Office | 2024

    Free access

    TRAVELING PATH INSPECTION VEHICLE, TRAVELING PATH INSPECTION METHOD, AND TRAVELING PATH INSPECTION SYSTEM

    MIYAKE TOMOFUMI / SEGAWA KOZO / NABEYOSHI HIROSHI et al. | European Patent Office | 2019

    Free access

    APPARATUS AND METHOD FOR GENERATING TRAVELING PATH OF AUTONOMOUS VEHICLE

    LEE DONG HWI / CHU KEON YUP / KIM HOI WON et al. | European Patent Office | 2017

    Free access