KR20190060336A - System and Method for correcting parameter for determining obstacle - Google Patents

Abstract

According to an embodiment of the present invention, a system for correcting a parameter for determining an obstacle comprises: a vehicle transmitting sensor data, position information of a subject vehicle, and information of a position at which an override occurs to a server, and determining an obstacle using a corrected parameter; and the server the corrected parameter using the sensor data, the position information of the subject vehicle, and the information of the position at which the override occurs, received from the vehicle, and transmitting the corrected parameter to the vehicle.

Description

[0001] The present invention relates to a parameter correction system and method for determining an obstacle,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a parameter correction system and method for obstacle determination, and more particularly to a technique for correcting parameters of position-based data in an autonomous vehicle for obstacle determination.

In recent years, advanced driver assistance system (ADAS) related technology has become a major concern in the automobile market, and the market size is also growing rapidly.

ADAS is a system that implements various safety functions and convenience functions for drivers and pedestrians, and Autonomous Emergency Braking (AEB) system is one of them.

The autonomous emergency braking (AEB) system uses a sensor capable of detecting an object, such as a lidar sensor or a camera sensor, to detect an object such as another vehicle existing within a predetermined distance from the front of the vehicle, And controls the vehicle so that the vehicle can be automatically braked even if the driver does not operate the brake. This Autonomous Emergency Braking (AEB) system is a step forward from the conventional passive approach of simply providing a warning to take action by the driver himself.

On the other hand, the Lada sensor has higher object detection rate and distance accuracy than the camera sensor, but has low reliability for detection. On the other hand, the camera sensor has higher reliability than the Lada sensor, but the accuracy of the distance to the object and the detection rate of the actual object are somewhat lower. Accordingly, when the presence of an object is detected by using the Lada sensor and the camera sensor as complementary, the possibility of malfunction and malfunction of the autonomous emergency braking (AEB) system can be further reduced.

However, in the prior art, only a technique of recognizing a vehicle ahead by simply merging a Lada sensor and a camera sensor is disclosed, and a common sensing area of the Lada sensor and a camera sensor is segmented and data matching the characteristics of each area There is no mention of a technique for increasing the object detection rate through processing and securing the reliability of the object detection result.

[Patent Literature] Korean Patent No. 10-1644370.

SUMMARY OF THE INVENTION An object of the present invention is to provide a method and apparatus for estimating a reliability value and an override occurrence position in an autonomous vehicle using position-based data including positional information of a subject vehicle, sensor data including positional information of an obstacle, And an object of the present invention is to provide a parameter correction system and method for obstacle judgment capable of improving the accuracy of obstacle recognition upon obstacle judgment by updating a correction parameter including a reliability threshold value.

The technical problems of the present invention are not limited to the above-mentioned technical problems, and other technical problems which are not mentioned can be understood by those skilled in the art from the following description.

The parameter correction system for determining an obstacle according to an embodiment of the present invention includes a sensor that transmits sensor data, position information of a child vehicle and position information of an override to a server, And a server for generating the corrected parameter using the sensor data received from the sensor, the position information of the vehicle, and the position information of the override, and transmitting the corrected parameter to the vehicle.

In one embodiment, the vehicle includes a sensor unit for measuring sensor data including positional information of the obstacle, a position information of the sensor data, a position information of the subject vehicle and an override position, and updates the corrected parameter And an obstacle recognition unit for matching the position of the obstacle with the parameter correction unit, analyzing the reliability of the matched position, and determining the obstacle using the corrected parameter.

In one embodiment, the sensor data may include a position, a shape and a type of the obstacle, and a moving direction and a speed of the subject vehicle.

In one embodiment, the parameter correction unit includes a data storage unit for storing sensor data measured from the sensor unit, positional information of the self-estimated car estimated by the car position estimation unit, and positional information of the override sensed by the override sensing unit, A communication unit for transmitting the sensor data, the position information of the vehicle, and the position information where the overrides have occurred to the server, receiving the corrected parameters from the server, and a parameter updating unit for updating the corrected parameters.

In one embodiment, the obstacle recognizing unit includes a position matching unit for matching the position of an obstacle for each sensor in the sensor data on a coordinate plane, a reliability analyzing unit for analyzing reliability of a position matched on the coordinate plane, And an obstacle judging unit for judging the obstacle by using the parameter.

In one embodiment, the position matching unit may match the position of the obstacle per sensor on the same coordinate plane.

In one embodiment, the server may accumulate and analyze location-based data, including sensor data received from the vehicle, location information of the vehicle, and location information where overrides have occurred, on a location-by-location basis to generate the corrected parameter .

In one embodiment, the server can transmit the corrected parameter to another vehicle when the child vehicle is parked or stopped.

In one embodiment, the location information in which the override occurs may include data information before and after the occurrence of the override and data information at the time of occurrence of the override.

In one embodiment, the calibrated parameter may include a per-sensor confidence value at the time of occurrence of the override and a confidence threshold at the override occurrence position.

According to an embodiment of the present invention, a parameter correction method for obstacle determination includes measuring sensor data including position information of an obstacle, matching positions of the obstacle, analyzing reliability of a matched position, Data, location information of the vehicle, and location information of occurrence of overriding, to the server, receiving the corrected parameter from the server and updating the corrected parameter, and determining the obstacle by using the corrected parameter .

In one embodiment, the step of transmitting to the server and the step of receiving the calibrated parameter from the server and updating the calibrated parameter include the step of determining whether the server receives the received sensor data, the position information of the child vehicle, Accumulating and analyzing the position-based data including the information on a position-by-position basis, and generating the corrected parameter by the server.

In one embodiment, the step of generating the corrected parameter may include the step of the child vehicle transmitting the corrected parameter to another vehicle at the time of parking or stopping.

In one embodiment, the step of analyzing the reliability of the matched position, and the step of transmitting the sensor data, the position information of the child vehicle and the position information where the override occurs, to the server, And storing the generated location information.

In one embodiment, the step of matching the position of the obstacle and analyzing the reliability of the matched position comprises the steps of: matching the position of the obstacle per sensor in the sensor data on a coordinate plane; And analyzing the reliability with respect to < RTI ID = 0.0 >

In one embodiment, in the step of matching the position of the obstacle per sensor on the coordinate plane, the position of the obstacle per sensor may be matched on the same coordinate plane.

In one embodiment, in the step of transmitting the position information in which the overrides have occurred to the server, the data information before and after the position where the overrides occurred and the data information at the time of occurrence of the overrides can be transmitted.

In one embodiment, in updating the corrected parameter, the reliability threshold value at the time of occurrence of the override and the reliability threshold value at the override occurrence position may be updated.

According to the parameter correction system and method for determining an obstacle according to an embodiment of the present invention, the positional information including the position information of the self vehicle, the sensor data including the position information of the obstacle, the override occurrence position information, It is possible to improve the accuracy of the obstacle recognition upon the determination of the obstacle by updating the correction parameters including the reliability value at the sensor and the reliability threshold value at the override occurrence position using the data.

According to the parameter correction system and method for determining obstacles according to an embodiment of the present invention, obstacles, such as obstacles, obstacles, road construction areas, It is possible to carry out safe running, and it is possible to improve the driver's satisfaction with the running.

1 is a block diagram illustrating a parameter correction system for determining an obstacle according to an embodiment of the present invention.
2 is a view for explaining an obstacle recognition unit in a parameter correction system for obstacle determination according to an embodiment of the present invention.
3 is a view for explaining a parameter correction unit in a parameter correction system for determining an obstacle according to an embodiment of the present invention.
4 is a view for explaining an obstacle determining unit in a parameter correction system for obstacle determination according to an embodiment of the present invention.
5 is a view for explaining the position, size, and reliability of an object for each sensor according to an embodiment of the present invention.
6 is a diagram illustrating the location, size, and reliability of an integrated object according to an embodiment of the present invention.
FIG. 7 is a diagram comparing a confidence value of an integrated object with a confidence threshold according to an embodiment of the present invention.
8 is a flowchart illustrating a parameter correction method for determining an obstacle in a vehicle according to an embodiment of the present invention.
9 is a flowchart illustrating a parameter correction method for determining an obstacle in a server according to an embodiment of the present invention.
10 is a diagram illustrating a computing system that executes a parameter correction method for determining an obstacle according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. It should be noted that, in adding reference numerals to the constituent elements of the drawings, the same constituent elements are denoted by the same reference symbols as possible even if they are shown in different drawings. In the following description of the embodiments of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the difference that the embodiments of the present invention are not conclusive.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. Also, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the relevant art and are to be interpreted in an ideal or overly formal sense unless explicitly defined in the present application Do not.

1 is a block diagram illustrating a parameter correction system for determining an obstacle according to an embodiment of the present invention.

1, a parameter correction system 10 for determining an obstacle includes a sensor unit 100, an obstacle recognition unit 200, a parameter correction unit 300, and a server 400, The obstacle recognition unit 200 and the parameter correction unit 300 may be parameter correction devices provided in the vehicle.

The sensor unit 100 detects the sensor data including the position, shape, kind, and moving direction and speed of the obstacle (or object). For example, the obstacle may be a static obstacle including a lost area of a road, a lost item, a road construction area, or a hall.

The sensor unit 100 may include a rider sensor, an ultrasonic sensor, a camera sensor, a radar sensor, and the like, which are merely examples for facilitating understanding of the present invention, and are not limited thereto.

The obstacle recognizing unit 200 recognizes the position of an object per sensor among the sensor data received from the sensor unit 100 (for example, one sensor can extract a plurality of objects, and a plurality of sensors extract Can be matched on the coordinate plane. For example, the obstacle recognition unit 200 matches the position of an object per sensor on the same coordinate plane.

The obstacle recognizing unit 200 analyzes the reliability of the matched positions, integrates them into the objects at the same position according to the matched positions corresponding to the analyzed reliability, and sums them, The parameters (generated correction parameters) can be used to determine an obstacle. The configuration of the obstacle recognition unit 200 and the operation method of the configuration will be described in detail with reference to FIG.

The parameter correcting unit 300 corrects the positional information of the vehicle estimated from the vehicle position estimating unit 301 provided in the vehicle, the sensor data measured from the sensor unit 100, and the sensor data detected from the override sensing unit 302 provided in the vehicle (E.g., data information before and after the position at which the override occurs, data storage information at the time of occurrence of the override, etc.). Here, the override means an operation of transferring the driver's control right in the autonomous vehicle.

The parameter correcting unit 300 transmits to the server 400 through the communication unit 320 the position information of the vehicle stored at the time of parking or stopping the vehicle or sensor information and the location information where the overrides occurred, And receives the calibrated parameter.

For example, the parameter correcting unit 300 can update the corrected parameter after determining whether or not the corrected parameter is received from the server 400. [

The parameter correcting unit 300 can receive and update the corrected parameter from the server 400, and the configuration of the parameter correcting unit 300 and the operation method of the configuration will be described in detail with reference to FIG.

The server 400 accumulates positional data including the position information of the vehicle, the sensor data, and the positional information on the position of the override, received from the parameter correcting unit 300, and analyzes the positional data to generate corrected parameters. For example, the calibrated parameter may be a reliability threshold value at the occurrence position of the override of the sensor unit 100 at the time when the vehicle is overridden and a reliability threshold value at the override occurrence position, (Reliability value) and the reliability threshold value at the override occurrence position of the sensor 100 will be described in detail with reference to FIG. 5 to FIG.

The server 400 may transmit the corrected parameter to the parameter updating unit 330 and transmit (distribute) the parameter corrected by the other vehicle at the time of parking or stopping the vehicle.

2 is a view for explaining an obstacle recognition unit in a parameter correction system for obstacle determination according to an embodiment of the present invention.

2, the obstacle recognizing unit 200 includes a position matching unit 210, a reliability analyzing unit 220, an obstacle determining unit 230, and a filter unit 240.

The position matching unit 210 matches the position of the sensor-specific object among the sensor data received from the sensor unit 100 on the coordinate plane. For example, the position matching unit can match the position of an object per sensor on the same coordinate plane.

The reliability analyzer 220 analyzes the reliability of the position matched on the coordinate plane.

The obstacle determining unit 230 integrates the objects into the same position according to the matched position corresponding to the analyzed reliability, adds the objects, and determines the obstacle by using the updated correction parameters from the parameter updating unit 330.

The filter unit 240 classifies obstacles out of the set range of the determined obstacle.

3 is a view for explaining a parameter correction unit 300 in a parameter correction system for obstacle determination according to an embodiment of the present invention.

3, the parameter correction unit 300 includes a data storage unit 310, a communication unit 320, and a parameter update unit 330. [

The data storage unit 310 stores positional information of the vehicle estimated by the vehicle position estimating unit 301 provided in the vehicle, sensor data measured by the sensor unit 100, and sensor data sensed by the override sensing unit 302 provided in the vehicle And position information where overrides have occurred (data information before and after the position where the override occurred) are all stored.

The communication unit 320 transmits to the server 400 the location information of the car stored at the time of stopping the vehicle, the location of the sensor data and the location of the overrides, and receives the corrected parameters from the server 400.

The parameter update unit 330 updates the calibrated parameter from the server 400 (i.e., the parameter update unit 330 can download the correction parameter generated from the server). For example, the calibrated parameter may be a reliability threshold value at the time of occurrence of an override of the vehicle and a reliability threshold value at an override occurrence position of the sensor unit 100, which is an example for helping understanding of the present invention But is not limited thereto.

4 is a view for explaining an obstacle determining unit in a parameter correction system for obstacle determination according to an embodiment of the present invention.

Referring to FIG. 4, the obstacle determination unit 230 includes an object integration unit 231 and a determination unit 232.

The object integrating unit 231 integrates objects at the same position according to the position, size, and reliability of each sensor-related object. The position, size, and reliability of each sensor-based object are described in detail with reference to FIG. 5, And reliability and updated correction parameters (generated correction parameters) are described in detail in FIG.

The determination unit 232 determines an obstacle by using the position, size, and reliability of the integrated object and the corrected parameters from the parameter updating unit 330. [

5 is a view for explaining the position, size, and reliability of an object for each sensor according to an embodiment of the present invention.

Referring to FIG. 5, object information per sensor input from the sensor unit 100 includes the position, size, and reliability of an object for each sensor. For example, if the position of an object per sensor is x _mn , y _mn , the size of an object per sensor is W _mn , H _mn , and the longitudinal direction is k _{x _ mn} , the lateral direction is k _{y _ mn} , the probability of existence is k _mn , m is a sequence of sensors (e.g., a first sensor, a second sensor, etc.), and n is a sequence of objects (e.g., a first object, a second object, etc.).

6 is a diagram illustrating the location, size, and reliability of an integrated object according to an embodiment of the present invention.

Referring to FIG. 6, an integrated object at the same position from each position of object information for each sensor is expressed by the following equation.

For example, l is the order of integration objects, and obj _m1n1 , obj _m2n2 , obj _m3n1, etc. are objects within a certain distance (set distance).

For example, the position of the integrated object can be expressed by Equation 1 below.

[Equation 1]

For example, the size of the integrated object can be expressed by the following equation (2).

&Quot; (2) "

For example, the reliability of the integrated object may be expressed by Equation (3), and C _{m1 ,} C _{m2 ,} C _m3 The initial value is 1 / M, M is the number of all sensors, C _m is a changeable value through the server 400, and kl Is the probability of existence of an integrated object.

&Quot; (3) "

7 is a diagram illustrating a reliability threshold value corresponding to a reliability value of an integrated object according to an embodiment of the present invention.

Referring to FIG. 7, the reliability threshold value may be divided into regions (for example, R1, R2, and R3) based on the current position of the subject vehicle, and the reliability threshold values may be _kthR1 , _kthR2 , k _thR3 (a value between 0 and 1), and the initial value is set to 0.5, and the reliability threshold value is a changeable value through the server 400. [

8 is a flowchart illustrating a parameter correction method for determining an obstacle in a vehicle according to an embodiment of the present invention.

Referring to FIG. 8, a parameter correction method for obstacle determination in a vehicle according to an embodiment of the present invention will be described in detail with reference to FIG. 1 in the steps S11 to S19.

In step S11 and step S12, when the autonomous vehicle starts traveling, the parameter correcting unit 300 included in the parameter correcting system 10 determines whether or not the corrected parameter is received from the server 400. [

In step S13, the parameter correcting unit 300 receives the corrected parameter, and updates the corrected parameter.

In step S14, the parameter correcting unit 300 detects the override occurrence state by sensing from the override detecting unit 302 when the override occurs. That is, the parameter correcting unit 300 can sense an operation of transferring the control of the driver when the override of the autonomous vehicle is generated.

In step S15, the parameter correcting unit 300 again checks whether or not the occurrence of the override of the autonomous vehicle has actually occurred.

In step S16, when an override occurs in the autonomous vehicle, the parameter correcting unit 300 stores the sensor data measured by the sensor unit 100 in the data storage unit 310. [ That is, the parameter correcting unit 300 can store the sensor data at a predetermined point (set point in time) before and after the override occurrence time point of the autonomous vehicle.

If no override occurs in the autonomous driving vehicle in step S17, the autonomous driving vehicle confirms whether or not the autonomous driving has ended.

In step S18 and step S19, when the autonomous running is completed, the parameter correcting unit 300 uploads the stored sensor data to the server 400 and downloads the corrected parameter from the server 400. [

9 is a flowchart illustrating a parameter correction method for determining an obstacle in a server according to an embodiment of the present invention.

Referring to FIG. 9, a parameter correction method for determining an obstacle in a server according to an embodiment of the present invention will be described in detail with reference to FIG. 1 in the steps S31 to S36.

In step S31, the server 400 receives positional information of the vehicle, sensor data, and positional information on the override from the parameter correction unit 300 of the autonomous vehicle.

In step S32, the server 400 accumulates position-based data including positional information of the vehicle, sensor data, and positional information where overrides have occurred, by position.

In step S33, the server 400 analyzes the data accumulated for each position.

In step S34, the server 400 determines whether or not the correction parameter generation condition is satisfied. For example, the server 400 compares the condition of the current sensor reliability (reliability value) and the reliability threshold value among the calibrated parameters with the condition of the (optional) sensor reliability (reliability value) and the reliability threshold value It is possible to judge whether or not the generation condition of the correction parameter is satisfied.

In steps S35 and S36, the server 400 generates the calibrated parameter through self-verification, and then transmits (distributes) the calibrated parameter to the other vehicle when the vehicle is parked or stopped.

10 is a diagram illustrating a computing system that executes a parameter correction method for determining an obstacle according to an embodiment of the present invention.

10, a computing system 1000 includes at least one processor 1100 connected via a bus 1200, a memory 1300, a user interface input device 1400, a user interface output device 1500, (1600), and a network interface (1700).

The processor 1100 may be a central processing unit (CPU) or a memory device 1300 and / or a semiconductor device that performs processing for instructions stored in the storage 1600. Memory 1300 and storage 1600 may include various types of volatile or non-volatile storage media. For example, the memory 1300 may include a ROM (Read Only Memory) and a RAM (Random Access Memory).

Thus, the steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by processor 1100, or in a combination of the two. The software module may reside in a storage medium (i.e., memory 1300 and / or storage 1600) such as a RAM memory, a flash memory, a ROM memory, an EPROM memory, an EEPROM memory, a register, a hard disk, a removable disk, You may. An exemplary storage medium is coupled to the processor 1100, which can read information from, and write information to, the storage medium. Alternatively, the storage medium may be integral to the processor 1100. [ The processor and the storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and the storage medium may reside as discrete components in a user terminal.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention.

Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

10: Parameter correction system for obstacle judgment
100:
200: an obstacle recognition unit
210: Position matching unit
220: Reliability Analysis Department
230: obstacle judgment unit
231:
232:
240:
300: Parameter correction unit
310: Data storage unit
320:
330: Parameter update unit
400: Server
1000: Computing System
1100: Processor
1200: System bus
1300: Memory
1310: ROM
1320: RAM
1400: User interface input device
1500: User interface output device
1600: Storage
1700: Network interface

Claims (18)

A vehicle that transmits sensor data, position information of a child vehicle, and position information of an override to a server, and determines an obstacle by using the corrected parameter; And
A server for generating the corrected parameter using the sensor data received from the vehicle, the positional information of the vehicle, and the positional information where the override occurred, and transmitting the corrected parameter to the vehicle;
And a parameter correction system for determining an obstacle. The method according to claim 1,
The vehicle includes:
A sensor unit for measuring sensor data including positional information of the obstacle;
A parameter correcting part for storing the sensor data, the location information of the vehicle, and the location information of the overrides, and updating the corrected parameters; And
And an obstacle recognition unit for matching the position of the obstacle, analyzing the reliability of the matched position, and determining the obstacle by using the corrected parameter. The method of claim 2,
The sensor data includes:
A position and a type of the obstacle, and a moving direction and a velocity of the obstacle. The method of claim 2,
Wherein the parameter correcting unit comprises:
A data storage unit for storing sensor data measured from the sensor unit, positional information of a car estimated by the car position estimating unit, and positional information of an override sensed by the override sensor;
A communication unit for transmitting the sensor data, the location information of the vehicle, and the location information where the overrides occurred to the server, and receiving the corrected parameters from the server; And
And a parameter update unit for updating the corrected parameter. The method of claim 2,
The obstacle recognizing unit includes:
A position matching unit for matching the position of an obstacle for each sensor among the sensor data on a coordinate plane;
A reliability analyzer for analyzing reliability of a position matched on the coordinate plane; And
And an obstacle determining unit for determining the obstacle by using the corrected parameter. The method of claim 5,
The position-
And the position of the obstacle for each sensor is matched on the same coordinate plane. The method according to claim 1,
The server comprises:
Based on positional data including positional information of the vehicle, positional information of the subject vehicle, and positional information of the overrides, the sensor data received from the vehicle, . The method according to claim 1,
The server comprises:
And the corrected vehicle parameters are transmitted to another vehicle when the vehicle is parked or stopped. The method according to claim 1,
The location information, in which the override occurs,
Wherein the parameter information includes data information before and after a position at which the override occurs, and data information at an override occurrence time point. The method according to claim 1,
The calibrated parameter may comprise:
A reliability value for each sensor at the occurrence time of the override, and a reliability threshold value at the override occurrence position. Measuring sensor data including positional information of an obstacle;
Matching the position of the obstacle and analyzing the reliability of the matched position;
Transmitting the sensor data, the position information of the child vehicle, and the position information of the override to the server;
Receiving a calibrated parameter from the server and updating the calibrated parameter; And
Determining the obstacle using the corrected parameter
Wherein the parameter correction method comprises the steps of: The method of claim 11,
Transmitting to the server, and receiving the calibrated parameter from the server and updating the calibrated parameter,
Accumulating and analyzing the location-based data including the sensor data, the location information of the child vehicle and the location information of the overrides, received by the server; And
And the server generating the corrected parameter. ≪ Desc / Clms Page number 19 > The method of claim 11,
After generating the corrected parameter,
And transmitting the corrected parameter to another vehicle when the vehicle is parked or stopped. The method of claim 11,
Analyzing the reliability of the matched position, and transmitting the location information of the sensor data, the child vehicle, and the position information where the override occurs, to the server,
And storing the sensor data, position information of the vehicle, and position information of the override. The method of claim 11,
Wherein the step of matching the position of the obstacle and analyzing the reliability of the matched position comprises:
Matching a position of an obstacle in each sensor among the sensor data on a coordinate plane; And
And analyzing the reliability of the position matched on the coordinate plane. The method of claim 11,
In the step of matching the position of the obstacle per sensor on the coordinate plane,
And the positions of the obstacles for each sensor are matched on the same coordinate plane. The method of claim 11,
In the step of transmitting location information where the override occurs,
The data information before and after the position at which the override occurs and the data information at the time of the override occurrence are transmitted. The method of claim 11,
In updating the calibrated parameter,
And updating the reliability threshold value at the time of occurrence of the override and the reliability threshold value at the override occurrence position.

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