KR102354170B1 - Malfunction determining apparatus and method of lidar sensor - Google Patents

Abstract

Disclosed are a device and method for determining a failure of a LiDAR sensor. According to the present invention, a device for determining the failure of the LiDAR sensor includes: at least one test pattern formed on a window glass; and a control module which determines the failure of the LiDAR sensor by analyzing a received signal of a laser which is emitted through a light emitting unit and is reflected by the test pattern and received by the light receiving unit. Therefore, it is possible to verify the performance of the LiDAR sensor and determine whether there is a failure in real time.

Description

LIDAR sensor failure determination apparatus and method

The present invention relates to a lidar sensor failure determination apparatus and method, and more particularly, forming a plurality of test patterns on a window glass, analyzing a received signal reflected from each test pattern, and detecting failure of the lidar sensor according to the analysis result It relates to a lidar sensor failure determination apparatus and method for determining.

Recently, various types of sensors such as cameras, radars, lidars, and ultrasonic sensors for recognizing the surrounding environment have been used to produce precise maps for autonomous driving, and technologies for enhancing the functions of sensors are being developed.

For example, a camera is developing from a conventional monocular to a stereo camera that recognizes an object in three dimensions using the visual difference between two lenses. In addition, a technology for recognizing the surrounding environment by combining a radar in addition to a camera has been proposed and commercialized. have. In addition, sensors capable of additionally providing situational information such as detecting the risk of collision or adjusting the distance from the vehicle in front based on the information recognizing the surrounding environment are being developed.

In particular, the lidar sensor is a laser sensor that recognizes the surrounding environment by detecting a plurality of lasers output by rotating a certain number of laser light sources by 360 degrees while moving. LiDAR sensors are mounted on moving objects, such as unmanned vehicles, drones, and robots, and are widely used to recognize the surrounding environment.

However, the conventional lidar sensor can determine the change in the physical position of the internal device and the physical error of the received signal, but it is difficult to verify the actual performance or to determine the failure in real time.

The background technology of the present invention is disclosed in 'LiDAR sensor module' of Korean Patent Publication No. 10-2019-0014314 (2019.02.12).

The present invention was devised to improve the above problems, and an object according to an aspect of the present invention is to form a plurality of test patterns on a window glass, and when a laser is reflected from each test pattern and received, the reception period of the corresponding received signal and An object of the present invention is to provide a lidar sensor failure determination apparatus and method for determining failure of a lidar sensor based on signal strength.

A lidar sensor failure determination apparatus according to an aspect of the present invention includes: at least one test pattern formed on a window glass; and a control module that determines the failure of the lidar sensor by analyzing the received signal of the laser that is emitted through the light emitting unit, is reflected by the test pattern and received by the light receiving unit.

The test pattern of the present invention is characterized in that it is formed in a one-to-one correspondence with the light emitting part on the window glass.

The test pattern of the present invention is characterized in that it is disposed in a diagonal direction of the window glass.

The control module of the present invention includes: a failure determination unit for determining a failure of the lidar sensor by analyzing the received signal of the laser received by the light receiving unit; and a control unit for driving the light emitting unit through a driving control unit and analyzing the received signal of the laser received by the light receiving unit through the failure determination unit to determine the failure of the lidar sensor.

The control module of the present invention further comprises a driving state determining unit for collecting driving information of the vehicle to determine whether the vehicle is in a driving state, wherein the control unit determines that the vehicle is in a driving state by the driving state determining unit, the failure It is characterized in that the failure of the radar sensor is determined through the determination unit.

The control module of the present invention is a detection signal for generating a detection signal for the area covered by the test pattern by using the average value of the received signals around the test pattern when the lidar sensor is determined to be normal by the failure determination unit It is characterized in that it further comprises a generator.

The failure determination unit of the present invention is characterized in that it determines the rotation speed failure of the light emitting unit according to whether the reception period of the received signal signal-processed by the signal processing unit is within a preset reception period range.

The failure determination unit of the present invention adjusts the rotation speed of the light emitting unit when the reception period is out of the set receiving period range, and even after adjusting the rotation speed of the light emitting unit, if the receiving period is out of the set receiving period range, the It is characterized in that it is determined as a rotation speed failure of the light emitting part.

According to whether the signal strength of the received signal processed by the signal processing unit is within a preset signal strength range, the failure determining unit of the present invention may cause at least one failure of the laser emission state of the light emitting unit and the laser light receiving state of the light receiving unit. It is characterized by judging.

The failure determination unit of the present invention is characterized in that it determines the laser emission deviation failure for each of the light emitting units according to whether the error between the signal strengths of the received signal processed by the signal processing unit is within a preset error range.

A lidar sensor failure determination method according to an aspect of the present invention includes the steps of: determining, by a control module, whether the vehicle is in a driving state by collecting driving information of the vehicle; emitting, by the control module, a laser through a light emitting unit when the vehicle is in a driving state; and when the light is received by the light receiving unit after being reflected by the test pattern, the control module analyzes the received signal of the laser received by the light receiving unit to determine the failure of the lidar sensor.

The test pattern of the present invention is characterized in that it is formed in a one-to-one correspondence with the light emitting part on the window glass.

The test pattern of the present invention is characterized in that it is arranged in a diagonal direction of the window glass.

The present invention further comprises the step of generating, by the control module, a detection signal for an area covered by the test pattern by using an average value of the received signals around the test pattern when it is determined that the lidar sensor is normal do.

The step of determining the failure of the lidar sensor of the present invention is characterized in that the rotation speed failure of the light emitting unit is determined according to whether the reception period of the received signal of the laser received by the light receiving unit is within a preset receiving period range. do it with

In the step of determining the failure of the lidar sensor of the present invention, if the receiving period is out of the set receiving period range, the rotation speed of the light emitting unit is adjusted, and even after adjusting the rotation speed of the light emitting unit, the receiving period is set above If it is out of the receiving period range, it is characterized in that it is determined as a rotation speed failure of the light emitting unit.

In the step of determining the failure of the lidar sensor of the present invention, the laser emission state of the light emitting unit and the laser light reception of the light receiving unit according to whether the signal strength of the received signal of the laser received by the light receiving unit is within a preset set signal strength range It is characterized in that at least one of the states is determined as a failure.

The step of determining the failure of the lidar sensor of the present invention is a laser emission deviation failure for each of the light emitting units according to whether the error between the signal strengths of the received signal of the laser received by the light receiving unit is within a preset error range. It is characterized by judging.

A lidar sensor failure determination apparatus and method according to an aspect of the present invention forms a plurality of test patterns on a window glass, and when a laser is reflected from each test pattern and received, the lidar sensor based on the reception period and signal strength of the corresponding received signal to determine the failure of

The apparatus and method for determining a failure of a lidar sensor according to another aspect of the present invention can verify the performance of the lidar sensor while driving a vehicle and determine whether there is a failure in real time.

1 is a block diagram of an apparatus for determining a failure of a lidar sensor according to an embodiment of the present invention.
2 is a diagram illustrating an arrangement structure of a test pattern according to an embodiment of the present invention.
3 is a block diagram of a control module according to an embodiment of the present invention.
4 is a flowchart of a method for determining a failure of a lidar sensor according to an embodiment of the present invention.
5 is a flowchart of a failure determination process according to an embodiment of the present invention.

Hereinafter, a lidar sensor failure determination apparatus and method according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, the thickness of the lines or the size of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to intentions or customs of users and operators. Therefore, definitions of these terms should be made based on the content throughout this specification.

1 is a block diagram of an apparatus for determining a failure of a lidar sensor according to an embodiment of the present invention, FIG. 2 is a diagram showing an arrangement structure of a test pattern according to an embodiment of the present invention, and FIG. 3 is a diagram of the present invention It is a block diagram of a control module according to an embodiment.

Referring to FIG. 1 , the lidar sensor failure determination apparatus according to an embodiment of the present invention includes a window glass 40 , at least one test pattern 50 formed on the window glass 40 , and a light emitting unit 20 . After being emitted through the test pattern 50 and reflected by the light receiving unit 30 includes a control module 10 to analyze the received signal to determine the failure of the lidar sensor.

In general, the lidar sensor includes a light emitting unit 20 for emitting a laser, a light receiving unit 30 for receiving the laser, a driving control unit 12 for controlling the driving of the light emitting unit 20, and the light receiving unit 30 It may include a signal processing unit 13 for processing the received signal.

The light emitting unit 20 , the light receiving unit 30 , the driving control unit 12 and the signal processing unit 13 may be integrally provided in the lidar sensor, but unlike this, the driving control unit 12 and the signal processing unit 13 are It may be installed inside the control module 10 of this embodiment. However, the driving control unit 12 and the signal processing unit 13 may be installed separately from the control module 40 .

The light emitting unit 20 emits a laser. The m light emitting units 20 are installed in the vertical direction to correspond to the m vertical channels employed in the radar sensor. A laser diode may be employed as the light emitting unit 20 , but is not limited thereto.

The light receiving unit 30 receives the laser reflected from the test pattern 50 or the object to be detected after being emitted by the light emitting unit 20 . A plurality of light receiving units 30 may be provided. The light receiving unit 30 may include a photodiode, but is not limited thereto.

The window glass 40 is installed in front of the light emitting unit 20 and the light receiving unit 30 and the laser is transmitted therethrough.

Referring to FIG. 2 , the test pattern 50 is formed in a diagonal direction in the window glass 40 to reflect the laser emitted from the light emitting unit 20 . The test pattern 50 is formed to correspond to the light emitting part 20 one-to-one. The test pattern 50 may be formed in a long oval shape in a vertical direction, but is not limited thereto.

The interval in the vertical direction of the test pattern 50 may be the same as the interval in the vertical direction of the light emitting unit 20 . That is, the test pattern 50 may be formed to correspond to the light emitting unit 20 in one-to-one correspondence with the m vertical channels.

The distance between the outermost test patterns 50 at both ends of the test patterns 50 may be within a field of view (FOV) of the light emitting unit 20 .

The control module 40 emits a laser through the light emitting unit 20 and analyzes a received signal of the laser received by the light receiving unit 30 to determine the failure of the lidar sensor. The laser reflected by the light receiving unit 30 is reflected by the test pattern 50 after being emitted by the light emitting unit 20 .

Referring to FIG. 3 , the control module 10 includes a driving state determination unit 11 , a driving control unit 12 , a signal processing unit 13 , a failure determination unit 14 , a detection signal generation unit 15 , and a control unit 16 . ) is included.

The driving state determination unit 11 collects driving information of the vehicle, determines whether the vehicle is in a driving state, and inputs the determination result to the control unit 16 .

The driving information of the vehicle is information necessary to determine whether the vehicle is currently driving or the engine is on. The driving information of the vehicle may include, but is not limited to, a vehicle start signal, vehicle speed information, shift stage information, and engine information.

The driving control unit 12 controls the light emitting unit 20 according to the control signal of the control unit 16 to emit the laser through the light emitting unit 20 . In this case, the driving control unit 12 not only emits a laser through the light emitting unit 20 but also rotates the light emitting unit 20 .

The signal processing unit 13 processes the received signal received from the light receiving unit 30 . It is obvious to those skilled in the art that the signal processing unit 13 processes the signal received from the light receiving unit 30 , and a detailed description thereof will be omitted herein.

The failure determination unit 14 determines the rotation speed failure of the light emitting unit 20 according to whether the reception period of the reception signal of the laser reflected by the test pattern 50 is within a preset reception period range.

The set receiving period range is a receiving period range in which the light receiving unit 30 receives the laser when the preset light emitting unit 20 rotates at a normal rotation speed. Whether the received signal of the laser reflected by the test pattern 50 may be determined based on the signal strength of the corresponding received signal. In a state where the lidar sensor is normal, if the signal strength of the received signal is within the threshold range with the signal strength of the laser reflected by the test pattern 50 , the received signal is received by the laser reflected by the same test pattern 50 . It can be judged as a signal.

Typically, the light emitting unit 20 rotates at a preset rotation speed. In this case, when a rotation speed failure occurs in the light emitting unit 20, the light emitting unit 20 cannot rotate at a preset rotation speed. Therefore, the failure determination unit 14 determines whether the rotation speed of the light emitting unit 20 is within the above-described set receiving period range, and if the receiving period is within the set receiving period range, the light emitting unit 20 is rotating at a normal rotation speed. It is determined, and if the receiving period is out of the set receiving period range, it is determined that the rotation speed of the light emitting unit 20 is malfunctioning.

In this case, the control unit 16 may control the driving control unit 12 to adjust the rotation speed of the light emitting unit 20 , and in this case, the failure determination unit 14 receives even after adjusting the rotation speed of the light emitting unit 20 . If the period is out of the set receiving period range, it may be determined that the rotation speed of the light emitting unit 20 is malfunctioning.

In addition, the failure determination unit 14 determines whether the signal strength of the laser reflected by the test pattern 50 is within a preset signal strength range, the laser emission state of the light emitting unit 20 and the laser light receiving state of the light receiving unit 30 At least one of them is considered to be faulty.

The light emitting unit 20 emits a laser of a preset signal strength, or the light receiving unit 30 normally receives the laser and outputs the signal strength. In this case, when a failure occurs in at least one of the light emitting unit 20 and the light receiving unit 30, the signal strength of the laser emitted from the light emitting unit 20 may be weak or the signal strength output by the light receiving unit 30 may be weak. .

Here, the set signal strength range is a signal strength range that can be received when the light emitting unit 20 and the light receiving unit 30 operate normally.

Accordingly, the failure determination unit 14 determines any one of the laser light emission state of the light emitting unit 20 and the laser light receiving state of the light receiving unit 30 as a failure depending on whether the signal strength is within a preset set signal strength range.

In addition, the failure determination unit 14 determines the laser emission deviation failure for each of the light emitting units 20 according to whether the error between the signal strengths of the laser reflected by each of the test patterns 50 is within a preset error range. .

Here, the setting error range is a signal intensity range for determining whether each of the light emitting units 20 emits a laser of the same signal intensity.

Typically, each light emitting unit 20 emits a laser having the same signal strength. Accordingly, the failure determination unit 14 compares the signal strength received from each light emitting unit 20 with each other. At this time, when a signal out of the above-described set error range exists among the signal strengths of each light emitting unit 20, the failure determining unit 14 determines that the light emitting unit 20 that has emitted the corresponding laser is different from the light emitting unit 20 in a normal state. ) and the laser emission deviation failure to guide that there is a deviation in signal strength.

As described above, when it is determined as normal by the failure determining unit 14, the detection signal generating unit 15 uses the received signals around the test pattern 50 to simulate the area covered by the test pattern 50. Generates a sensing signal. That is, by generating a detection signal for the area covered by the test pattern 50 , if it is not a lidar sensor, it is recognized that an object around the vehicle is normally detected.

That is, the failure determination unit 14 determines in real time the failure of the lidar sensor while the vehicle is running. Accordingly, when it is determined that the lidar sensor is normal, the detection signal generating unit 15 is covered by the test pattern 50 , that is, an area behind the test pattern 50 where the laser is reflected by the test pattern 50 and not detected. generates a detection signal for

In this case, the failure determination unit 14 may generate a detection signal for the area covered by the test pattern 50 by using the average value of the received signals around the test pattern 50 . Here, the received signal around the test pattern 50 is the received signal of the laser reflected by the object behind the window glass 40 .

When it is determined by the driving state determination unit 11 that the vehicle is being driven, the control unit 16 determines whether a preset failure determination start condition is satisfied.

Here, the failure determination start condition is a condition for determining the failure of the radar sensor. That is, the controller 16 determines the failure of the lidar sensor when a preset time has elapsed after starting the vehicle, or determines the failure of the lidar sensor whenever a preset period elapses during driving, or the autonomous vehicle If the conditions for operating in the autonomous driving mode are satisfied, the failure of the lidar sensor is determined.

If the failure determination start condition is satisfied as described above, the control unit 16 controls the failure determination unit 14 to determine the failure of the lidar sensor through the received signal signal processed by the signal processing unit 13 .

That is, the control unit 16 controls the failure determination unit 14 to detect the signal strength and the reception period of the received signal, determine whether the signal strength and the reception period satisfy the preset failure determination condition, and according to the determination result, It determines the failure of the sensor.

At this time, if it is determined that the lidar sensor is faulty, the control unit 16 corrects a control signal such as controlling the operation of the light emitting unit 20 or controlling the output through the driving control unit 12, and the failure of the lidar sensor alerts through clusters, etc. For example, the control unit 16 adjusts the output of the light emitting unit 20 or corrects the control signal for adjusting the rotation speed so that the lidar sensor can operate normally.

On the other hand, when it is determined that the lidar sensor is normal, the controller 16 controls the detection signal generator 15 to generate a detection signal for the area covered by the test pattern 50 .

Hereinafter, a lidar sensor failure determination method according to an embodiment of the present invention will be described in detail with reference to FIGS. 4 and 5 .

4 is a flowchart of a lidar sensor failure determination method according to an embodiment of the present invention, and FIG. 5 is a flowchart of a failure determination process according to an embodiment of the present invention.

4 and 5 , first, the controller 16 controls the driving state determination unit 11 to collect driving information of the vehicle and determines whether the vehicle is currently driving based on the driving information ( S100 ).

If it is determined in step S100 that the vehicle is currently driving, the control unit 16 controls the driving control unit 12 to rotate the laser while emitting the laser through the light emitting unit 20 . At this time, the light receiving unit 30 receives the laser reflected from the test pattern 50 or the object to be detected after being emitted by the light emitting unit 20 , and the signal processing unit 13 receives the received from the light receiving unit 30 . signal processing.

In this process, the control unit 16 determines whether a preset failure determination start condition is satisfied (S200). That is, the controller 16 determines whether a condition for operating in the autonomous driving mode in the autonomous driving vehicle is satisfied whenever a preset time elapses after the vehicle is started, whenever a preset period of time elapses during driving, or in the autonomous driving vehicle.

As a result of the determination in step S200, if the failure determination start condition is satisfied, the control unit 16 controls the failure determination unit 14 to detect the signal strength and the reception period of the received signal (S300).

Next, the control unit 16 controls the failure determination unit 14 to determine whether the signal strength and the reception period of the received signal satisfy preset failure determination conditions (S400).

As a result of the determination in step S400, if the signal strength and the reception period of the received signal satisfy the failure determination conditions, the control unit 16 controls the failure determination unit 14 to determine the lidar sensor as a failure (S500).

This will be described in more detail with reference to FIG. 5 .

Referring to FIG. 5 , the failure determination unit 14 determines whether the reception period of the reception signal of the laser reflected by the test pattern 50 is within a preset reception period range ( S410 ).

As a result of the determination in step S410, if the reception period is not within the set reception period range, the control unit 16 determines a rotation speed failure of the light emitting unit 20 (S510).

In addition, the failure determination unit 14 determines whether the signal strength of the received signal is within a preset signal strength range (S420).

As a result of the determination in step S420, if the signal strength is not within the set signal strength range, the failure determination unit 14 determines that at least one of the laser light emission state of the light emitting unit 20 and the laser light reception state of the light receiving unit 30 is defective. (S520).

In addition, the failure determination unit 14 determines whether the error between the signal strength of the received signal is within a preset error range (S430).

As a result of the determination in step S430, if the error between the signal strengths is not within the set error range, the failure determination unit 14 determines the light emitting unit 20 as a laser emission deviation failure (S530).

Next, the control unit 16 corrects a control signal such as controlling the operation of the light emitting unit 20 or controlling the output of the light emitting unit 20 through the driving control unit 12 according to the failure of the lidar sensor (S600) ).

On the other hand, if the signal strength and the reception period of the received signal do not satisfy the failure determination condition as a result of the determination in step S400, the control unit 16 determines that the lidar sensor is normal, and controls the detection signal generation unit 15 to A detection signal is generated for an area covered by the test pattern 50 , that is, a region behind the test pattern 50 that is not detected because the laser is reflected by the test pattern 50 ( S700 ).

As described above, in the lidar sensor failure determination apparatus and method according to an embodiment of the present invention, a plurality of test patterns are formed on the window glass, and when the laser is reflected from each test pattern and received, the reception period and signal strength of the corresponding received signal are determined. Based on this, it determines the failure of the lidar sensor.

In addition, the apparatus and method for determining a failure of a lidar sensor according to an embodiment of the present invention can verify the performance of the lidar sensor while driving and determine whether there is a failure in real time.

Implementations described herein may be implemented in, for example, a method or process, an apparatus, a software program, a data stream, or a signal. Although discussed only in the context of a single form of implementation (eg, discussed only as a method), implementations of the discussed features may also be implemented in other forms (eg, as an apparatus or program). The apparatus may be implemented in suitable hardware, software and firmware, and the like. A method may be implemented in an apparatus such as, for example, a processor, which generally refers to a computer, a microprocessor, a processing device, including an integrated circuit or programmable logic device, or the like. Processors also include communication devices such as computers, cell phones, portable/personal digital assistants (“PDA”) and other devices that facilitate communication of information between end-users.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is merely exemplary and those of ordinary skill in the art to which the art pertains are aware that various modifications and equivalent other embodiments are possible therefrom. will understand Accordingly, the true technical protection scope of the present invention should be defined by the following claims.

10: control module 11: driving state determination unit
12: driving control unit 13: signal processing unit
14: failure determination unit 15: detection signal generation unit
16: control unit 20: light emitting unit
30: light receiving unit 40: window glass
50: test pattern

Claims (18)

at least one test pattern formed on the window glass; and
After being emitted through the light emitting unit, it is reflected by the test pattern and includes a control module for analyzing the received signal of the laser received by the light receiving unit to determine the failure of the lidar sensor,
The control module analyzes the received signal of the laser received by the light receiving unit to determine a failure of the lidar sensor, and when the lidar sensor is determined to be normal by the failure determination unit, the test pattern is LiDAR sensor failure determination apparatus comprising: a detection signal generation unit for generating a detection signal for the area covered by the test pattern by using the average value of the received signal. The method of claim 1, wherein the test pattern is
LiDAR sensor failure determination device, characterized in that formed in a one-to-one correspondence with the light emitting part on the window glass. The method of claim 1, wherein the test pattern is
LiDAR sensor failure determination device, characterized in that disposed in a diagonal direction of the window glass. The method of claim 1, wherein the control module is
LiDAR sensor failure determination apparatus further comprising a control unit for driving the light emitting unit through the driving control unit and analyzing the received signal of the laser received by the light receiving unit through the failure determination unit to determine the failure of the lidar sensor. 5. The method of claim 4, wherein the control module is
Further comprising a driving state determination unit for collecting driving information of the vehicle to determine whether the vehicle is in a driving state, wherein the control unit determines whether the vehicle is in a driving state by the driving state determination unit, the failure of the radar sensor through the failure determination unit Lidar sensor failure determination device, characterized in that to determine. delete at least one test pattern formed on the window glass; and
After being emitted through the light emitting unit, it is reflected by the test pattern and includes a control module for analyzing the received signal of the laser received by the light receiving unit to determine the failure of the lidar sensor,
The control module includes a failure determination unit for determining a failure of the lidar sensor by analyzing the received signal of the laser received by the light receiving unit,
The failure determination unit Lidar sensor failure determination device, characterized in that for determining the rotational speed failure of the light emitting unit according to whether the reception period of the received signal signal-processed by the signal processing unit is within a preset receiving period range. The method of claim 7, wherein the failure determination unit
If the receiving period is out of the set receiving period range, the rotation speed of the light emitting unit is adjusted, and even after adjusting the rotation speed of the light emitting unit, if the receiving period is out of the set receiving period range, it is determined that the rotation speed of the light emitting unit is malfunctioning Lidar sensor failure determination device, characterized in that. 5. The method of claim 4, wherein the failure determination unit
Lidar, characterized in that it is determined as a failure of at least one of the laser emission state of the light emitting unit and the laser light receiving state of the light receiving unit according to whether the signal strength of the received signal processed by the signal processing unit is within a preset set signal strength range Sensor failure determination device. at least one test pattern formed on the window glass; and
After being emitted through the light emitting unit, it is reflected by the test pattern and includes a control module for analyzing the received signal of the laser received by the light receiving unit to determine the failure of the lidar sensor,
The control module includes a failure determination unit for determining a failure of the lidar sensor by analyzing the received signal of the laser received by the light receiving unit,
The failure determination unit Lidar sensor failure determination device, characterized in that the error between the signal strength of the received signal signal-processed by the signal processing unit is determined as a laser emission deviation failure for the light emitting unit according to whether the error is within a preset error range. . determining, by the control module, whether the vehicle is in a driving state by collecting driving information of the vehicle;
emitting, by the control module, a laser through a light emitting unit when the vehicle is in a driving state; and
When the test pattern is reflected and received by the light receiving unit, the control module analyzes the received signal of the laser received by the light receiving unit comprising the step of determining a failure of the lidar sensor,
When the control module determines that the lidar sensor is normal, generating a detection signal for an area covered by the test pattern by using the average value of the received signals around the test pattern How to determine sensor failure. 12. The method of claim 11, wherein the test pattern is
LiDAR sensor failure determination method, characterized in that formed in a one-to-one correspondence with the light emitting part on the window glass. 12. The method of claim 11, wherein the test pattern is
LiDAR sensor failure determination method, characterized in that disposed in the diagonal direction of the window glass. delete determining, by the control module, whether the vehicle is in a driving state by collecting driving information of the vehicle;
emitting, by the control module, a laser through a light emitting unit when the vehicle is in a driving state; and
When the test pattern is reflected and received by the light receiving unit, the control module analyzes the received signal of the laser received by the light receiving unit comprising the step of determining a failure of the lidar sensor,
The step of determining the failure of the lidar sensor is characterized in that the rotation speed failure of the light emitting unit is determined according to whether the reception period of the received signal of the laser received by the light receiving unit is within a preset receiving period range. This is a sensor failure determination method. The method of claim 15, wherein determining the failure of the lidar sensor comprises:
If the receiving period is out of the set receiving period range, the rotation speed of the light emitting unit is adjusted, and even after adjusting the rotation speed of the light emitting unit, if the receiving period is out of the set receiving period range, it is determined that the rotation speed of the light emitting unit is malfunctioning Lidar sensor failure determination method, characterized in that. The method of claim 11, wherein determining the failure of the lidar sensor comprises:
According to whether the signal strength of the received signal of the laser received by the light receiving unit is within a preset set signal strength range, it is characterized in that at least one of the laser emission state of the light emitting unit and the laser light receiving state of the light receiving unit is determined as a failure This is a sensor failure determination method. determining, by the control module, whether the vehicle is in a driving state by collecting driving information of the vehicle;
emitting, by the control module, a laser through a light emitting unit when the vehicle is in a driving state; and
When the test pattern is reflected and received by the light receiving unit, the control module analyzes the received signal of the laser received by the light receiving unit comprising the step of determining a failure of the lidar sensor,
The step of determining the failure of the lidar sensor is characterized in that it is determined as a laser emission deviation failure for the light emitting unit according to whether an error between the signal strengths of the received signal of the laser received by the light receiving unit is within a preset error range. LiDAR sensor failure determination method.

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