公开(公告)号：US20160103208A1

公开(公告)日：2016-04-14

申请号：US14576265

申请日：2014-12-19

Applicant: Hyundai Motor Company

Inventor： Myung Seon Heo ,  Byung Yong You ,  Young Chul Oh

IPC: G01S7/48 ,  G01S17/93 ,  G01S17/08

CPC classification number: G01S7/4808 ,  G01S17/89 ,  G01S17/936

Abstract: A system and method for filtering LiDAR data is provided. The system includes a LiDAR data collector that is configured to collect the LiDAR data from a LiDAR and store the LiDAR data in a matrix structure. A noise point determiner is configured to determine whether a first filtering condition for determining whether a point within a predetermined reference distance in the LiDAR data is present, a second filtering condition for determining whether a present point adjacent to a left and right by a reference of a reference point in the matrix structure is a first reference value or less, and a third filtering condition for determining whether a present point adjacent to a top and bottom by the reference of the reference point is a second reference value or less are satisfied.

Abstract translation: 提供了一种过滤LiDAR数据的系统和方法。 该系统包括一个LiDAR数据采集器，用于从LiDAR收集LiDAR数据，并将LiDAR数据存储在矩阵结构中。 噪声点确定器被配置为确定用于确定在LiDAR数据中的预定参考距离内的点是否存在的第一滤波条件，用于确定与左侧和右侧相邻的当前点是否为参考的第二滤波条件 矩阵结构中的参考点是第一参考值或更小，并且满足用于通过参考点的参考来确定与顶部和底部相邻的当前点是否是第二参考值的第三滤波条件。

公开(公告)号：US20160061612A1

公开(公告)日：2016-03-03

申请号：US14555757

申请日：2014-11-28

Applicant: Hyundai Motor Company

Inventor： Byung Yong You ,  Myung Seon Heo ,  Young Chul Oh

IPC: G01C21/26 ,  G01S19/13

CPC classification number: G01C21/26 ,  G01C21/28 ,  G01S19/13 ,  G01S19/14

Abstract: An apparatus and a method are provided for recognizing driving environment for an autonomous vehicle. The apparatus includes a controller configured to receive navigation information from a satellite navigation receiver. The controller is further configured to receive map data from a map storage and image data from an image sensor regarding captured images from around a vehicle and distance information from a distance sensor regarding sensed objects positioned around the vehicle. The controller is also configured to determine a fusion method for information measured by the image sensor and the distance sensor based on a receiving state of the satellite navigation receiver and precision of the map data to recognize the driving environment.

Abstract translation: 提供一种用于识别自主车辆的驾驶环境的装置和方法。 该装置包括配置成从卫星导航接收机接收导航信息的控制器。 控制器还被配置为从地图存储器接收地图数据，并且从图像传感器接收关于来自车辆周围的捕获图像的图像数据以及距距离传感器关于位于车辆周围的感测物体的距离信息。 控制器还被配置为基于卫星导航接收机的接收状态和地图数据的精度来确定由图像传感器和距离传感器测量的信息的融合方法，以识别驾驶环境。

公开(公告)号：US20160018527A1

公开(公告)日：2016-01-21

申请号：US14553808

申请日：2014-11-25

Applicant: Hyundai Motor Company

Inventor： Young Chul Oh ,  Myung Seon Heo ,  Byung Yong You

IPC: G01S19/13

CPC classification number: G01S19/13 ,  G01S19/05 ,  G01S19/07 ,  G01S19/28 ,  G01S19/45

Abstract: A vehicle positioning apparatus and method are provided that are capable of more accurately measuring the position of a traveling vehicle without interoperating with a DGPS. The method includes calculating a position of the traveling vehicle based on coordinates of the respective GPS satellites shared by a surrounding vehicle and the traveling vehicle. In addition, a positon coordinate is calculated of the surrounding vehicle measured by the reference of the traveling vehicle.

Abstract translation: 提供一种车辆定位装置和方法，其能够更准确地测量行驶车辆的位置而不与DGPS相互操作。 该方法包括基于由周围车辆和行驶车共享的各GPS卫星的坐标来计算行驶车辆的位置。 另外，通过行驶车辆的基准来计算周边车辆的位置坐标。

公开(公告)号：US20150158489A1

公开(公告)日：2015-06-11

申请号：US14304588

申请日：2014-06-13

Applicant: Hyundai Motor Company

Inventor： Young Chul OH ,  Myung Seon Heo ,  Kyung Ho Yoo

IPC: B60W30/09 ,  B60W40/04 ,  G01S17/93 ,  B60W30/14 ,  B62D6/00

CPC classification number: B60W30/09 ,  B60W30/143 ,  B60W40/04 ,  B60W2050/143 ,  B60W2550/30 ,  G01S17/89 ,  G01S17/936 ,  G06K9/00805 ,  G06K9/2036 ,  G06K9/6218

Abstract: A vehicle for supporting an object processing includes a lidar sensor configured to collect multi-layer data corresponding to sensor information for a lateral surface for each vertical interval. A controller is configured to classify objects by clustering each layer for the multi-layer data, extract contours and shapes of the objects, and then control a convergence of the objects based on a calculated value of a Mahalanobis distance between the clustered objects, and a method for an object processing.

Abstract translation: 用于支撑物体处理的车辆包括：激光雷达传感器，被配置为收集对应于每个垂直间隔的横向表面的传感器信息的多层数据。 控制器被配置为通过对多层数据的每个层进行聚类来分类对象，提取对象的轮廓和形状，然后基于聚集对象之间的马哈拉诺比斯距离的计算值来控制对象的收敛，并且 方法进行对象处理。

公开(公告)号：US20150103331A1

公开(公告)日：2015-04-16

申请号：US14136377

申请日：2013-12-20

Applicant: Hyundai Motor Company

Inventor： Young Chul Oh ,  Myung Seon Heo ,  Kyung Ho Yoo

IPC: G01S7/497 ,  G01S17/93

CPC classification number: G01S17/936 ,  G01S7/4802 ,  G01S7/4972

Abstract: An apparatus for compensating for a beam angle of a multi-layer LiDAR includes: a beam angle calculation unit configured to calculate a distance d calculated by using ground data detected by a ground data detection unit and a beam angle of the multi-layer LiDAR by using a mounting height of the multi-layer LiDAR stored in a storage unit. When the beam angle calculated by a beam angle calculation unit is in a threshold range, a beam angle selection unit selects the calculated beam angle as the beam angle, when a beam angle compensation unit compensates for the initial beam angle by using the beam angle selected by the beam angle selection unit

Abstract translation: 用于补偿多层LiDAR的束角的装置包括：射束角计算单元，被配置为计算通过使用由地面数据检测单元检测的地面数据和多层LiDAR的射束角度来计算的距离d 使用存储在存储单元中的多层LiDAR的安装高度。 当由光束角计算单元计算的光束角度在阈值范围内时，光束角度选择单元选择计算出的光束角度作为光束角度，当光束角度补偿单元通过使用所选择的光束角度来补偿初始光束角度时 由光束角选择单元