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1. (WO2018066754) METHOD FOR ESTIMATING ATTITUDE OF VEHICLE BY USING LIDAR SENSOR
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Pub. No.: WO/2018/066754 International Application No.: PCT/KR2016/013670
Publication Date: 12.04.2018 International Filing Date: 25.11.2016
IPC:
G05D 1/02 (2006.01) ,G01S 17/02 (2006.01) ,B60W 30/02 (2006.01) ,B60W 40/06 (2006.01)
Applicants: CHUNGBUK NATIONAL UNIVERSITY INDUSTRY-ACADEMIC COOPERATION FOUNDATION[KR/KR]; 1, Chungdae-ro, Seowon-gu Cheongju-si Chungcheongbuk-do 28644, KR
Inventors: PARK, Tae Hyoung; KR
JO, Jun Hyeong; KR
Agent: KIM, Jeong Hyeon; KR
Priority Data:
10-2016-012886106.10.2016KR
Title (EN) METHOD FOR ESTIMATING ATTITUDE OF VEHICLE BY USING LIDAR SENSOR
(FR) PROCÉDÉ POUR ESTIMER L'ASSIETTE D'UN VÉHICULE À L'AIDE D'UN CAPTEUR LIDAR
(KO) 라이다 센서를 이용한 차량의 자세 추정 방법
Abstract: front page image
(EN) The present invention provides a method for estimating the attitude of a vehicle having a built-in inertial measurement unit and having a light detection and ranging (LiDAR) sensor mounted in the rear thereof, the method comprising the steps of: acquiring measurement point data corresponding to a distance measured using the LiDAR sensor; finding a road line by projecting the measurement point data on two-dimensional rectangular coordinates; calculating an attitude variation (α', β') of the vehicle from the road line; and calculating the attitude (α, β) of the vehicle by combining the attitude variation (α', β') with a measurement value measured by the inertial measurement unit. Using a LiDAR sensor which is conventionally mounted to a vehicle, the present invention can quickly estimate the attitude of a vehicle without adding any expensive inertial measurement unit or GPS device.
(FR) La présente invention concerne un procédé pour estimer l'assiette d'un véhicule équipé d'une unité de mesure inertielle intégrée et d'un capteur de détection et d'estimation de la distance par la lumière (LiDAR) montés à l'arrière dudit véhicule, le procédé comprenant les étapes consistant : à acquérir des données de point de mesure correspondant à une distance mesurée à l'aide du capteur LiDAR ; à trouver un tracé de route par projection des données de point de mesure sur des coordonnées rectangulaires bidimensionnelles ; à calculer une variation d'assiette (α', β') du véhicule à partir du tracé de route ; et à calculer l'assiette (α', β') du véhicule par association de la variation d'assiette (α', β') à une valeur de mesure mesurée par l'unité de mesure inertielle. Grâce à l'utilisation d'un capteur LiDAR monté de manière classique sur un véhicule, la présente invention permet d'estimer rapidement l'assiette d'un véhicule sans aucun ajout d'unité de mesure inertielle coûteuse, ni de dispositif GPS.
(KO) 본 발명의 관성측정장치(Inertial Measurement Unit)가 내장되어 있고, 라이다(LiDAR, Light Detection And Ranging) 센서가 후방에 장착된 차량의 자세 추정 방법에서, 상기 라이다 센서를 이용하여 거리를 측정한 측정점 데이터를 획득하는 단계, 상기 측정점 데이터를 2차원 직교 좌표 상에 투영하여 도로선을 찾는 단계, 상기 도로선으로부터 차량의 자세 변화량(α', β')을 계산하는 단계 및 상기 자세 변화량(α', β')을 상기 관성측정장치의 측정치와 융합하여 차량의 자세(α, β)를 계산하는 단계를 포함한다. 본 발명에 의하면, 고가의 관성측정장치 또는 GPS 장비를 추가하지 않고, 기존의 차량에 기 부착되어 있는 라이다 센서를 이용하여, 차량의 자세를 빠르게 추정할 수 있는 효과가 있다.
Designated States: AE, AG, AL, AM, AO, AT, AU, AZ, BA, BB, BG, BH, BN, BR, BW, BY, BZ, CA, CH, CL, CN, CO, CR, CU, CZ, DE, DJ, DK, DM, DO, DZ, EC, EE, EG, ES, FI, GB, GD, GE, GH, GM, GT, HN, HR, HU, ID, IL, IN, IR, IS, JP, KE, KG, KN, KP, KW, KZ, LA, LC, LK, LR, LS, LU, LY, MA, MD, ME, MG, MK, MN, MW, MX, MY, MZ, NA, NG, NI, NO, NZ, OM, PA, PE, PG, PH, PL, PT, QA, RO, RS, RU, RW, SA, SC, SD, SE, SG, SK, SL, SM, ST, SV, SY, TH, TJ, TM, TN, TR, TT, TZ, UA, UG, US, UZ, VC, VN, ZA, ZM, ZW
African Regional Intellectual Property Organization (ARIPO) (BW, GH, GM, KE, LR, LS, MW, MZ, NA, RW, SD, SL, ST, SZ, TZ, UG, ZM, ZW)
Eurasian Patent Office (AM, AZ, BY, KG, KZ, RU, TJ, TM)
European Patent Office (EPO) (AL, AT, BE, BG, CH, CY, CZ, DE, DK, EE, ES, FI, FR, GB, GR, HR, HU, IE, IS, IT, LT, LU, LV, MC, MK, MT, NL, NO, PL, PT, RO, RS, SE, SI, SK, SM, TR)
African Intellectual Property Organization (BF, BJ, CF, CG, CI, CM, GA, GN, GQ, GW, KM, ML, MR, NE, SN, TD, TG)
Publication Language: Korean (KO)
Filing Language: Korean (KO)