METHOD FOR DETERMINING A POSITION OF A VEHICLE AND VEHICLE THEREOF
METHOD FOR DETERMINING A POSITION OF A VEHICLE AND VEHICLE THEREOF
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Disclosed is an autonomous driving vehicle according to one embodiment of the present invention. The autonomous driving vehicle for determining a position of a vehicle within a map comprises: a storage unit storing a map including road surface information represented in two dimensions and structure information represented in three dimensions; a camera obtaining a two-dimensional image for road surface around a vehicle; LiDAR obtaining three-dimensional spatial information for structure around the vehicle; and a control unit determining at least one of the camera and LiDAR as a position sensor, determining a position within the map corresponding to a current position of the vehicle using the determined position sensor, and performing autonomous driving based on the determined position within the map based on whether the road surface information or structure information around the vehicle may be obtained.
2 차원으로 표현된 도로면 정보 및 3 차원으로 표현된 구조물 정보를 포함하는 지도를 저장하는 저장부, 차량 주변의 도로면에 대한 2 차원 이미지를 획득하는 카메라, 차량 주변의 구조물에 대한 3 차원 공간 정보를 획득하는 라이다 및 차량 주변의 도로면 또는 구조물에 관한 정보를 획득할 수 있는지 여부에 기초하여, 카메라 및 라이다 중 적어도 하나를 위치 센서로써 결정하고, 결정된 위치 센서를 이용하여 차량의 현재 위치에 대응하는 지도 내의 위치를 결정하고, 결정된 지도 내의 위치에 기초하여 자율 주행을 수행하는 제어부를 포함하는, 일 실시예에 따른 자율 주행 차량이 개시된다.
Document information
METHOD FOR DETERMINING A POSITION OF A VEHICLE AND VEHICLE THEREOF
차량의 위치를 결정하는 방법 및 이를 위한 차량
2019-12-05
Patent
Electronic Resource
Korean
| IPC: | G01S RADIO DIRECTION-FINDING , Funkpeilung / G05D SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES , Systeme zum Steuern oder Regeln nichtelektrischer veränderlicher Größen / 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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