KR102276597B1 - Device and method to control vehicle for optimizing LIDAR data range by using vector map - Google Patents

Abstract

A vehicle control device, a vehicle control method, a recording medium, and an autonomous vehicle are provided. The vehicle control device receives lidar data sensed by lidar, determines a storage angle of lidar data according to road information of the current location, and can store lidar data within the determined storage angle, so that unnecessary By allowing data to be removed, resources can be minimized and processing speed can be improved.

Description

{Device and method to control vehicle for optimizing LIDAR data range by using vector map}

The present invention relates to a vehicle control apparatus and a vehicle control method, and more particularly, to a vehicle control apparatus and method for optimizing a range of lidar data using a vector map.

The content described in this section merely provides background information for the present embodiment and does not constitute the prior art.

Autonomous vehicles are equipped with various sensors to recognize surrounding objects.

Among them, the camera creates data for recognizing the types of objects in the vicinity of the vehicle by photographing the surroundings, and the lidar generates data for measuring the distance to objects in the vicinity.

In general, when data from a lidar that detects 360° and a camera that detects about 43 to 120° is fused, data other than the overlapping angle of view is not fused. At this time, the amount of data discarded on the lidar side is large, and resource waste occurs here. However, since the resources of the autonomous vehicle are limited, it is desirable to utilize the minimum resources.

Accordingly, it is required to find a way to minimize the use of resources of an autonomous vehicle in relation to lidar data.

The present invention has been devised to solve the above problems, and an object of the present invention is to receive lidar data sensed by lidar, determine a storage angle of lidar data according to road information of a current location, and , to provide a vehicle control device for storing lidar data within a determined storage angle, a vehicle control method, a recording medium, and an autonomous driving vehicle.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description. will be able

According to an embodiment of the present invention for achieving the above object, a vehicle control apparatus includes: a communication unit configured to receive lidar data sensed by the lidar; and a controller for determining a storage angle of the lidar data according to road information of the current location and storing the lidar data within the determined storage angle.

And, the road information includes information on which type of road the current location is of a straight road, a curved road, and an intersection, and the control unit includes a first storage angle when the road shape of the current location is a straight road, It may be determined as the second storage angle in the case of a curved road and the third storage angle in the case of an intersection.

In addition, the road information includes information on which type of road the current location is of a general road, a national road, and a highway, and the controller includes a first weight when the road shape of the current location is a general road, and a national road The storage angle may be determined by applying the second weight and the third weight in the case of a highway.

And, the road information includes information on whether the road at the current location is a child protection area, and the controller determines the storage angle of the lidar data as the fourth storage angle when the road at the current location is the child protection area may be

Also, the communication unit may receive the vehicle driving data, and the controller may determine a storage angle of the lidar data according to the vehicle driving data and road information of the current location.

In addition, the vehicle driving data includes the current speed data of the vehicle, and the controller may increase the storage angle of the lidar data as the current speed of the vehicle increases.

Also, when the current speed of the vehicle is less than or equal to the threshold speed, the controller may determine the storage angle of the lidar data to 360 degrees.

In addition, the vehicle driving data includes data on the right or left turn angle of the vehicle, and the controller may increase the storage angle of the lidar data as the right turn or left turn angle of the vehicle increases.

In addition, the communication unit may receive video data captured by the camera, and the controller may determine a storage angle of the lidar data according to the angle of view information of the captured video data and road information of the current location.

Meanwhile, according to an embodiment of the present invention, a vehicle control method by a vehicle control apparatus includes: receiving lidar data sensed by lidar; and determining a storage angle of lidar data according to road information of the current location; and storing the lidar data within the determined storage angle.

On the other hand, according to an embodiment of the present invention, a computer-readable recording medium in which a computer program for performing a vehicle control method by a vehicle control device is recorded may include: receiving lidar data sensed by lidar; and determining a storage angle of lidar data according to road information of the current location; and storing the lidar data within the determined storage angle; a computer program for performing a vehicle control method including a computer program is recorded.

On the other hand, according to an embodiment of the present invention, an autonomous vehicle, a lidar for measuring a distance; and a vehicle control device that receives the lidar data sensed by the lidar, determines a storage angle of the lidar data according to road information of the current location, and stores the lidar data within the determined storage angle.

According to various embodiments of the present disclosure, a vehicle that receives lidar data sensed by lidar, determines a storage angle of lidar data according to road information of a current location, and stores lidar data within the determined storage angle It is possible to provide a control device, a vehicle control method, a recording medium, and an autonomous vehicle, so unnecessary data can be removed, so that resources can be minimized and processing speed can be improved.

The effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those of ordinary skill in the art from the following description. will be.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are included as a part of the detailed description to help the understanding of the present invention, provide embodiments of the present invention, and together with the detailed description, explain the technical features of the present invention.
1 is a diagram showing the structure of an autonomous vehicle according to an embodiment of the present invention;
2 is a view showing a storage angle of lidar data according to an embodiment of the present invention;
3 is a view showing the configuration of a vehicle control device according to an embodiment of the present invention;
4 is a view showing an example of a storage angle when the vehicle is located on a straight road according to an embodiment of the present invention;
5 is a view showing an example of a storage angle when the vehicle is located on a curved road according to an embodiment of the present invention;
6 is a view showing an example of a storage angle when a vehicle is located at an intersection according to an embodiment of the present invention;
7 is a view showing an example of a storage angle when the vehicle is located on a highway according to an embodiment of the present invention;
8 is a view showing an example of a storage angle when the vehicle makes a left-turn U-turn according to an embodiment of the present invention;
9 is a flowchart provided to explain a vehicle control method according to an embodiment of the present invention.

In order to clarify the characteristics and advantages of the problem solving means of the present invention, the present invention will be described in more detail with reference to specific embodiments of the present invention shown in the accompanying drawings.

However, detailed descriptions of well-known functions or configurations that may obscure the gist of the present invention in the following description and accompanying drawings will be omitted. Also, it should be noted that throughout the drawings, the same components are denoted by the same reference numerals as much as possible.

The terms or words used in the following description and drawings should not be construed as being limited to conventional or dictionary meanings, and the inventor may appropriately define the concept of terms for describing his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle that there is.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are only the most preferred embodiment of the present invention, and do not represent all the technical spirit of the present invention, so at the time of the present application, various It should be understood that there may be equivalents and variations.

In addition, terms including ordinal numbers such as first, second, etc. are used to describe various components, and are used only for the purpose of distinguishing one component from other components, and to limit the components. not used For example, without departing from the scope of the present invention, the second component may be referred to as the first component, and similarly, the first component may also be referred to as the second component.

In addition, when an element is referred to as being “connected” or “connected” to another element, it means that it is logically or physically connected or can be connected.

In other words, it should be understood that a component may be directly connected or connected to another component, but another component may exist in the middle, and may be indirectly connected or connected.

In addition, terms such as "comprises" or "have" described in this specification are intended to designate the existence of a feature, number, step, operation, component, part, or combination thereof described in the specification, one or the It should be understood that the above does not preclude the possibility of the existence or addition of other features or numbers, steps, operations, components, parts, or combinations thereof.

In addition, terms such as “…unit”, “…group”, and “module” described in the specification mean a unit that processes at least one function or operation, which may be implemented by hardware or software or a combination of hardware and software. have.

Also, "a or an", "one", "the" and similar terms are otherwise indicated herein in the context of describing the invention (especially in the context of the following claims). or may be used in a sense including both the singular and the plural unless clearly contradicted by context.

Hereinafter, the present invention will be described in more detail with reference to the drawings.

1 is a diagram illustrating a structure of an autonomous vehicle according to an embodiment of the present invention. As shown in FIG. 1 , the autonomous vehicle 10 includes a lidar 20 , a camera 30 , and a vehicle control device 100 .

The lidar 20 measures the distance of objects arranged around the autonomous vehicle 10 .

Specifically, the lidar 20 is a device that precisely draws the surroundings by emitting a laser pulse, receiving the light reflected from the surrounding target object, and measuring the distance to the object. . LIDAR is sometimes interpreted as an abbreviation of LIght Detection And Ranging in English, but the origin of its name is a compound word created by mixing “light” and “radar (radio detection and ranging)”. In other words, the name lidar refers to a radar that uses light instead of radio waves. Although the principle of lidar is the same as that of a traditional radar, the wavelength of the electromagnetic wave used is different, so the actual application technology and scope are different.

The lidar 20 is used for not only the distance to the target object, but also the moving speed and direction, temperature, and analysis and concentration of surrounding atmospheric substances. It can detect non-metallic rocks, clouds, raindrops, aerosols, etc. using ultraviolet, visible, and near-infrared rays, so it can be used for weather observation, to accurately draw terrain, to guide the landing of aircraft, or to recognize the surroundings of autonomous vehicles. It is used as a device and is also used to find out the chemical composition of a gas mixed in the air by using the phenomenon that the wavelength of light that scatters well for each molecule is different.

In recent years, lidar has emerged as a core technology for sensors that acquire information necessary to implement 3D images. If the topography is surveyed by analyzing the spatial location of the reflection point by measuring the return time by firing a laser pulse to the ground while flying with the lidar mounted on the aircraft, the reflection and return time is different depending on the structure, so the optical image is obtained from this. It is possible to obtain a 3D model that is difficult to obtain. Ground LiDAR can also combine this with GPS location coordinates to obtain precise data.

The lidar 20 generally consists of a laser, a scanner, a receiver, and a positioning system. Lasers have different wavelengths depending on the application, and generally use light with a wavelength of 600-1000 nm. However, to reduce damage to the human eye, longer wavelength light is sometimes used. The scanner is the part that allows you to quickly scan your surroundings to get information. For this purpose, various types of mirrors are being applied. The receiver is a part that detects the returning light, and the sensitivity of the receiver to the light is a major factor in determining the performance of the lidar. Essentially, the receiver detects the photon and amplifies it. The positioning system is a part that confirms the position coordinates and direction where the receiver is placed in order to implement a 3D image.

The camera 30 shoots a video about the autonomous vehicle 10 .

In addition, the autonomous vehicle 10 may include GPS to detect information about its current location.

The vehicle control device 100 receives the lidar data detected by the lidar 20, determines a storage angle of the lidar data according to road information of the current location, and stores the lidar data within the determined storage angle. . Here, the storage angle indicates an angular range of data to be stored among data sensed by the lidar, and the concept of the storage angle is illustrated in FIG. 2 . 2 is a diagram illustrating a storage angle of lidar data according to an embodiment of the present invention.

As shown in FIG. 2 , the storage angle of the lidar data represents an angle that spreads to both sides when the traveling direction of the vehicle is the central axis. The lidar 20 generates lidar data by measuring the distance to objects around the vehicle by 360 degrees. However, since the waste of resources becomes severe when all 360-degree information is stored, the vehicle control apparatus 100 stores only lidar data included in the range of the 360-degree storage angle.

The vehicle control device 100 uses lidar data including distance information detected by the lidar 20 and image data captured by the camera 30 to detect objects located in the vicinity of the autonomous vehicle 10 . It recognizes and processes the data required for autonomous driving, and controls the autonomous vehicle 10 based on the data.

The vehicle control apparatus 100 will be described in more detail with reference to FIG. 3 . 3 is a diagram illustrating a configuration of a vehicle control apparatus 100 according to an embodiment of the present invention. 3 , the vehicle control apparatus 100 includes a communication unit 110 and a control unit 120 .

The communication unit 110 transmits and receives data from internal sensors or modules of the autonomous vehicle 10 . Specifically, the communication unit 110 transmits and receives data through a controller area network (CAN). CAN (Controller Area Network) is a communication standard mainly used inside a vehicle and is used as a network to control more than 100 ECUs (Electronic Control Units). In addition, the communication unit 110 may communicate with external devices of the autonomous vehicle 10 , and may be connected to communicate with an external server or other vehicles for outsourced communication. The communication unit 110 may perform communication in various wireless communication methods such as Bluetooth, Wi-Fi (WIFI), short-range wireless communication (NFC), cellular, and LTE (Long-Term Evolution) for external communication, Of course you can do it.

The communication unit 110 receives lidar data detected by the lidar. In addition, the communication unit 110 receives vehicle driving data and video data captured by the camera. Here, the vehicle driving data includes current position data of the vehicle, current speed data, and right-turn or left-turn angle data of the vehicle.

The control unit 120 controls the overall operation of the vehicle control device 100 , and autonomously using lidar data including distance information detected by the lidar 20 and image data captured by the camera 30 . Objects located in the vicinity of the driving vehicle 10 are recognized, processed as data required for autonomous driving, and the autonomous driving vehicle 10 is controlled based on the data.

Specifically, the controller 120 determines a storage angle of the lidar data according to road information of the current location, and stores the lidar data within the determined storage angle.

Here, the road information represents data that includes various information on roads across the country, and specifically, information on which type of road the current location is of a straight road, a curved road, and an intersection, and information about the current location Information on whether the road is a highway, a national road, or a general road, and information on whether the road at the current location is a child protection zone is included. Specifically, the road information may be included in the precision map data, and may be configured as a vector map in the form of vector data. A vector map refers to a map composed of vector data.

The main components of vector data are points, lines, and polygons. Each element is used when rendering the map.

First, point data is used to express text or icon symbols representing main points on the map, and it has X-axis (latitude) and Y-axis (longitude) coordinates.

Second, line data is used to express road center lines, railroads, subways, administrative boundaries, national boundaries, contour lines, etc. on a map, and each point is connected with a line and expressed as a single continuous line (the term LineString in OpenGIS SimpleFeature) use).

Finally, face data is used to express buildings, parks, complexes, rivers, seas, road surfaces, etc. The data type is similar to line data, but it is defined as a polygon with the first and last points of the Point Array connected. also do

The road information is composed of vector data as described above, and can be implemented using a map with precision. Precision road maps are three-dimensional high-precision vector data for roads and surrounding facilities, including lanes (regulatory lines, road boundary lines, stop lines, lane center lines), road facilities (median strips, tunnels, bridges, underpasses), signs necessary for autonomous driving, etc. It represents an electronic map made in three dimensions of facility (traffic safety signs, road markings, signal flags) information. Maps with precision are produced through the combination of cutting-edge surveying techniques and data construction technology, and maps are produced with precision after acquiring various road information using MMS (Mobile Mapping System). With the precision produced in this way, the map is vector data containing geometric location information, geometric (shx) spatial (sbx, sbn) index file, database file containing attribute information, projection, and coordinate system information. It may also include a projection file that includes it.

The controller 120 determines whether the road at the current location is a straight road, a curved road, and an intersection by using the road information based on the current location information of the autonomous vehicle 10 , and determines which type of road the current location is. When the shape is a straight road, it is determined as the first storage angle, in the case of a curved road, the second storage angle, and in the case of an intersection, the third storage angle. Here, the intersection refers to a road where three or more roads meet, such as a three-way street, a four-way street, or a five-way street.

In the case of a straight road, the storage angle is small because there is relatively little need to look around. In the case of a curved road, the storage angle is medium because it is necessary to look at some of the surrounding conditions. In the case of an intersection, it is necessary to check for vehicles or people coming from other roads Therefore, the storage angle becomes a large value. Accordingly, the controller 120 sets the second storage angle to be greater than the first storage angle and the third storage angle to be greater than the second storage angle. Hereinafter, it will be described in more detail with reference to FIGS. 4 to 6 . 4 to 6 are screens in which road information is displayed as a vector map based on vector data, and one line indicates one lane.

4 is a diagram illustrating an example of a storage angle when a vehicle is located on a straight road according to an embodiment of the present invention. In the case of FIG. 4 , the autonomous vehicle 10 is driving on a straight road composed of one lane. As shown in FIG. 4 , the controller 120 of the autonomous driving vehicle 10 may confirm that the lidar data of a relatively small angle value is stored as the first storage angle when the vehicle is running on a straight road.

5 is a diagram illustrating an example of a storage angle when a vehicle is located on a curved road according to an embodiment of the present invention. In the case of FIG. 5 , the autonomous vehicle 10 is driving on a curved road composed of two lanes. As shown in FIG. 5 , the controller 120 of the autonomous driving vehicle 10 can confirm that the lidar data of an intermediate angle value is stored as the second storage angle when the vehicle is running on a curved road, as shown in FIG. 4 . It can be seen that the angle is larger than the first storage angle.

6 is a diagram illustrating an example of a storage angle when a vehicle is located at an intersection according to an embodiment of the present invention. In the case of FIG. 6 , the autonomous vehicle 10 is driving at an intersection composed of four lanes. As shown in FIG. 6 , the control unit 120 of the autonomous vehicle 10 can confirm that the lidar data of a large angle value is stored as the third storage angle when running at the intersection, and the second storage of FIG. 5 . It can be seen that the angle is larger than the angle.

In addition, the control unit 120 determines whether the road at the current location is a general road, a national road, or a highway by using the road information on the basis of the current location information of the autonomous vehicle 10 , and the current location The storage angle is determined by applying the first weight when the road type is a general road, the second weight in the case of a national road, and the third weight in the case of a highway.

In the case of general roads, the angle of storage is small because there is relatively little need to look around because it is operated at low speed. In the case of national roads, the angle of storage is medium because it is necessary to look at some of the surrounding conditions. The storage angle becomes a large value because we have to check for vehicles coming from the road. Accordingly, the controller 120 sets the second weight to be greater than the first weight and the third weight to be greater than the second weight. Hereinafter, it will be described in more detail with reference to FIG. 7 . 7 is a screen in which road information is displayed as a vector map based on vector data, and one line indicates one lane.

7 is a diagram illustrating an example of a storage angle when a vehicle is located on a highway according to an embodiment of the present invention. In the case of FIG. 7 , the autonomous vehicle 10 is driving on a straight road of a highway composed of four lanes. As shown in FIG. 7 , the control unit 120 of the autonomous vehicle 10 applies a third weight to the first stored angle when running on a highway to receive lidar data having an angle value greater than that of a straight section of a general road. It can be confirmed that it is stored, and it can be confirmed that the angle is larger than the first storage angle of FIG. 4 .

In addition, based on the current location information of the autonomous vehicle 10, it is determined whether the road at the current location is a child protection area using the road information, and if the road at the current location is a child protection area, the fourth storage angle This determines the storage angle of lidar data. In the case of a child protection area, the storage angle becomes the largest value because there is a high risk of a child passing by suddenly. Accordingly, the fourth storage angle becomes the largest storage angle and may be 360 degrees.

Meanwhile, the controller 120 may determine the storage angle by further considering the vehicle operation data, that is, may determine the storage angle of the lidar data according to the vehicle operation data and road information of the current location.

Here, the vehicle driving data includes the current speed data of the autonomous vehicle 10 , and the controller 120 may increase the storage angle of the lidar data as the current speed of the vehicle increases. The higher the speed, the higher the risk, so the controller 120 increases the storage angle of the vehicle.

Also, when the current speed of the vehicle is less than or equal to the threshold speed, the controller 120 may determine the storage angle of the lidar data to 360 degrees. For example, when the current speed of the vehicle is 30 km or less, the controller 120 may determine the storage angle of the lidar data to 360 degrees. If the speed is very slow, it may be a narrow road, a road with many people, or a parking situation, so it is necessary to look around the entire autonomous vehicle 10, so the controller 120 determines that the current speed of the vehicle is less than or equal to the critical speed. In this case, the storage angle of the lidar data is determined to be 360 degrees.

In addition, the vehicle driving data includes data on the right or left turn angle of the vehicle, and the controller 120 may increase the storage angle of the lidar data as the right or left turn angle of the vehicle increases. The greater the right or left turn angle of the vehicle, the higher the chance of an accident and the higher the need to look around, so the storage angle is increased. Referring to FIG. 8 , a case in which the right-turn or left-turn angle of the vehicle is large will be described.

8 is a diagram illustrating an example of a storage angle when a vehicle makes a left-turn U-turn according to an embodiment of the present invention. 8 illustrates that the autonomous vehicle 10 is making a U-turn in the left-turn direction. As shown in FIG. 8 , when making a U-turn, the controller 120 of the autonomous vehicle 10 applies a weight corresponding to the rotation angle to the second storage angle because the rotation angle is very large, so that it is higher than the curved section of the general road. It can be confirmed that the lidar data of a larger angle value is stored, and it can be confirmed that the angle is larger than the second storage angle of FIG. 5 .

Meanwhile, the communication unit 110 may receive video data captured by the camera, and the controller 120 may determine a storage angle of the lidar data according to the angle of view information of the captured video data and road information of the current location. The control unit 120 may generate a 3D image including depth information by combining the lidar data with the moving picture data, and the control unit 120 captures the image to extract the lidar data corresponding to the angle of view of the moving image data. It is also possible to determine the storage angle of the lidar data as a value corresponding to the angle of view information of the video data.

As such, the vehicle control apparatus 100 determines the storage angle of the lidar data in various ways, and can remove unnecessary data from the lidar data, thereby minimizing the use of resources and improving the processing speed. .

9 is a flowchart provided to explain a vehicle control method according to an embodiment of the present invention.

First, the vehicle control apparatus 100 receives lidar data detected by the lidar (S210).

Then, the vehicle control apparatus 100 determines the storage angle of the lidar data according to the road information of the current location (S220).

Thereafter, the vehicle control device 100 stores the lidar data within the determined storage angle (S230).

On the other hand, it goes without saying that the technical idea of the present invention can also be applied to a computer-readable recording medium containing a computer program for performing the function and method of the apparatus according to the present embodiment. In addition, the technical ideas according to various embodiments of the present invention may be implemented in the form of computer-readable programming language codes recorded on a computer-readable recording medium. The computer-readable recording medium may be any data storage device readable by the computer and capable of storing data. For example, the computer-readable recording medium may be a ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical disk, hard disk drive, flash memory, solid state disk (SSD), or the like. In addition, the computer-readable code or program stored in the computer-readable recording medium may be transmitted through a network connected between computers.

Although this specification and drawings describe exemplary device configurations, implementations of the functional operations and subject matter described herein may be implemented in other types of digital electronic circuits, or include structures disclosed herein and structural equivalents thereof. may be implemented as computer software, firmware, or hardware, or a combination of one or more of these.

Accordingly, although the present invention has been described in detail with reference to the above-described examples, those skilled in the art to which the present invention pertains can make modifications, changes and modifications to the examples without departing from the scope of the present invention.

In addition, although preferred embodiments of the present invention have been illustrated and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present invention as claimed in the claims Various modifications are possible by those of ordinary skill in the art, and these modifications should not be individually understood from the technical spirit or prospect of the present invention.

10: autonomous vehicle
20 : Lidar
30 : camera
100: vehicle control unit
110: communication department
120: control unit

Claims (12)

a communication unit for receiving lidar data detected by lidar; and
Includes; a control unit that determines a storage angle of the lidar data according to the road information of the current location, and stores the lidar data within the determined storage angle;
road information,
Depending on the location of the road, information on which type of road is a straight road, a curved road, and an intersection, information on which type of road the current location is among highways, national roads, and general roads, and the road at the current location contains information on whether the is a child sanctuary;
the control unit,
By using road information based on the current location information, whether the road at the current location is a straight road, a curved road, or an intersection, what type of road is the road at the current location, a highway, a national road, or a general road to determine whether the road at the current location is a children's sanctuary,
communication department,
receive vehicle driving data;
the control unit,
Determines the storage angle of lidar data according to vehicle driving data and road information of the current location,
The vehicle driving data includes current speed data of the vehicle,
the control unit,
The vehicle control device, characterized in that the higher the current speed of the vehicle, the higher the storage angle of the lidar data, and the 360 degrees of the storage angle of the lidar data when the current speed of the vehicle is less than or equal to the threshold speed.
The method according to claim 1,
the control unit,
The vehicle control device according to claim 1, wherein the first storage angle is determined when the road shape of the current location is a straight road, the second storage angle is the curved road, and the third storage angle is determined when the road is an intersection.
3. The method according to claim 2,
the control unit,
A vehicle control apparatus, characterized in that the storage angle is determined by applying a first weight when the road type of the current location is a general road, a second weight when the road is a national road, and a third weight when the road is a highway.
4. The method according to claim 3,
the control unit,
When the road at the current location is a child protection zone, the vehicle control device, characterized in that the storage angle of the lidar data is determined as the fourth storage angle.
delete delete delete The method according to claim 1,
The vehicle driving data includes right-turn or left-turn angle data of the vehicle,
the control unit,
The vehicle control device, characterized in that the storage angle of the lidar data increases as the right or left turn angle of the vehicle increases.
The method according to claim 1,
communication department,
Receive video data captured by the camera,
the control unit,
A vehicle control device, characterized in that the storage angle of the lidar data is determined according to the angle of view information of the captured video data and the road information of the current location.
A vehicle control method by a vehicle control device, comprising:
receiving lidar data sensed by lidar; and
determining a storage angle of lidar data according to road information of the current location; and
Including; storing the lidar data within the determined storage angle;
road information,
Depending on the location of the road, information on which type of road is a straight road, a curved road, and an intersection, information on which type of road the current location is among highways, national roads, and general roads, and the road at the current location contains information on whether the is a child sanctuary;
The decision step is
By using road information based on the current location information, whether the road at the current location is a straight road, a curved road, or an intersection, what type of road is the road at the current location, a highway, a national road, or a general road to determine whether the road at the current location is a children's sanctuary,
The receiving step is
receive more vehicle driving data,
The decision step is
Determines the storage angle of lidar data according to vehicle driving data and road information of the current location,
The vehicle driving data includes current speed data of the vehicle,
The decision step is
A vehicle control method, characterized in that the storage angle of the lidar data is increased as the current speed of the vehicle is higher, and the storage angle of the lidar data is determined to be 360 degrees when the current speed of the vehicle is less than or equal to a critical speed.
A computer-readable recording medium containing a computer program for performing a vehicle control method by a vehicle control device, comprising:
receiving lidar data sensed by lidar; and
determining a storage angle of lidar data according to road information of the current location; and
Including; storing the lidar data within the determined storage angle;
road information,
Depending on the location of the road, information on which type of road is a straight road, a curved road, and an intersection, information on which type of road the current location is among highways, national roads, and general roads, and the road at the current location contains information on whether the is a child sanctuary;
The decision step is
By using road information based on the current location information, whether the road at the current location is a straight road, a curved road, or an intersection, what type of road is the road at the current location, a highway, a national road, or a general road to determine whether the road at the current location is a children's sanctuary,
The receiving step is
receive more vehicle driving data,
The decision step is
Determines the storage angle of lidar data according to vehicle driving data and road information of the current location,
The vehicle driving data includes current speed data of the vehicle,
The decision step is
As the current speed of the vehicle increases, the storage angle of the lidar data is increased, and when the current speed of the vehicle is less than or equal to the threshold speed, the computer program for performing the vehicle control method, characterized in that the storage angle of the lidar data is determined by 360 degrees A computer-readable recording medium recorded therein.
Lidar to measure distance; and
A vehicle control device for receiving lidar data sensed by lidar, determining a storage angle of lidar data according to road information of the current location, and storing lidar data within the determined storage angle; includes;
road information,
Depending on the location of the road, information on which type of road is a straight road, a curved road, and an intersection, information on which type of road the current location is among highways, national roads, and general roads, and the road at the current location contains information on whether the is a child sanctuary;
vehicle control unit,
By using road information based on the current location information, whether the road at the current location is a straight road, a curved road, or an intersection, what type of road is the road at the current location, a highway, a national road, or a general road to determine whether and whether the road at the current location is a children's sanctuary;
vehicle control unit,
receive vehicle driving data;
Determines the storage angle of lidar data according to vehicle driving data and road information of the current location,
The vehicle driving data includes current speed data of the vehicle,
vehicle control unit,
An autonomous driving vehicle, characterized in that the storage angle of the lidar data is increased as the current speed of the vehicle is higher, and the storage angle of the lidar data is determined to be 360 degrees when the current speed of the vehicle is less than or equal to the threshold speed.

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