KR102406520B1 - System and Method for correcting parameter for determining obstacle - Google Patents

Abstract

A parameter correction system for determining an obstacle according to an embodiment of the present invention transmits sensor data, location information of the own vehicle, and location information where an override occurs to a server, and determines an obstacle using the corrected parameter, and the vehicle and a server that generates the corrected parameter by using the sensor data received from the sensor data, the location information of the own vehicle, and the location information where the override has occurred, and transmits the corrected parameter to the vehicle.

Description

Parameter correction system and method for determining obstacles {System and Method for correcting parameter for determining obstacle}

The present invention relates to a parameter correction system and method for obstacle determination, and more particularly, to a technique for correcting a parameter of location-based data in an autonomous vehicle for obstacle determination.

In the recent automobile market, advanced driver assistance system (ADAS)-related technology is emerging as an important concern, and the market size is also growing rapidly.

Advanced Driving Assistance System (ADAS) is a system that implements various safety and convenience functions for drivers and pedestrians. Among them, an autonomous emergency braking (AEB) system is representative.

The autonomous emergency braking (AEB) system uses a sensor that can detect an object, such as a lidar sensor or a camera sensor, and an object such as another vehicle that exists within a predetermined distance from the front of the vehicle slows down or appears suddenly It is a system that detects and controls the vehicle so that the vehicle can be braked automatically without the driver operating the brake. This autonomous emergency braking (AEB) system is a step forward from the conventional passive method of simply providing a warning and allowing the driver to take action on their own.

On the other hand, the lidar sensor has higher object detection rate and distance accuracy than the camera sensor, but has low detection reliability. On the other hand, the camera sensor has higher reliability of the object detection result than the lidar sensor, but the accuracy of the distance to the object and the detection rate of the actual object are somewhat inferior. Therefore, when the presence or absence of an object is detected by using the lidar sensor and the camera sensor complementary to each other, the possibility of non-operation and malfunction of the autonomous emergency braking (AEB) system, etc. can be further reduced.

However, in the prior art, only a technology for recognizing a vehicle in front by simply merging a lidar sensor and a camera sensor is disclosed. There is no mention of a technique for increasing the object detection rate through processing and at the same time ensuring reliability of the object detection result.

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

It is an object of the present invention, in an autonomous vehicle, by using sensor data including location information of the own vehicle, location information of obstacles, and location-based data including location information of an override occurrence, the reliability value for each sensor and the location of the override An object of the present invention is to provide a parameter correction system and method for judging an obstacle that can improve accuracy of obstacle recognition when judging an obstacle by updating a correction parameter including a reliability threshold.

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

A parameter correction system for determining an obstacle according to an embodiment of the present invention transmits sensor data, location information of the own vehicle, and location information where an override occurs to a server, and determines an obstacle using the corrected parameter, and the vehicle and a server that generates the corrected parameter by using the sensor data received from the sensor data, the location information of the own vehicle, and the location information where the override has occurred, and transmits the corrected parameter to the vehicle.

In an embodiment, the vehicle stores a sensor unit measuring sensor data including the location information of the obstacle, the sensor data, location information of the own vehicle, and location information where the override occurs, and updates the corrected parameter and a parameter correcting unit that matches the position of the obstacle, analyzes reliability of the matched position, and determines the obstacle by using the corrected parameter.

In an embodiment, the sensor data may include the position, shape, and type of the obstacle, and the moving direction and speed of the host vehicle.

In an embodiment, the parameter correcting unit may include: a data storage unit configured to store sensor data measured from the sensor unit, location information of the own vehicle estimated from the own vehicle position estimator, and location information where the override detected from the override detection unit occurs; The method may include a communication unit that transmits sensor data, location information of the own vehicle, and location information where an override has occurred to a server, and receives a corrected parameter from the server, and a parameter updater that updates the corrected parameter.

In an embodiment, the obstacle recognition unit includes a position matching unit that matches the position of an obstacle for each sensor among the sensor data on a coordinate plane, a reliability analyzer that analyzes reliability of a position matched on the coordinate plane, and the correction It may include an obstacle determination unit that determines the obstacle by using the parameter.

In an embodiment, the location matching unit may match the location of the obstacle for each sensor on the same coordinate plane.

In an embodiment, the server may generate the corrected parameter by accumulating and analyzing location-based data including sensor data received from the vehicle, location information of the own vehicle, and location information where the override occurred for each location. .

In an embodiment, the server may transmit the corrected parameter to another vehicle when the own vehicle is parked or stopped.

In an embodiment, the location information at which the override occurs may include data information before and after the location at which the override occurs and data information at the time point at which the override occurs.

In an embodiment, the corrected parameter may include a reliability value for each sensor at the time when the override occurs and a reliability threshold at the location where the override occurs.

A parameter correction method for determining an obstacle according to an embodiment of the present invention includes measuring sensor data including position information of an obstacle, matching the position of the obstacle, and analyzing the reliability of the matched position, the sensor Transmitting data, location information of the own vehicle, and location information where the override has occurred to a server, receiving the corrected parameter from the server and updating the corrected parameter, and determining the obstacle using the corrected parameter includes steps.

In one embodiment, between the step of transmitting to the server and the step of receiving the corrected parameter from the server and updating the corrected parameter, the server receives the sensor data, the location information of the own vehicle, and the location where the override occurs It may include accumulating and analyzing location-based data including information for each location, and generating, by the server, the corrected parameter.

In an embodiment, after generating the corrected parameter, the method may include transmitting the corrected parameter to another vehicle when the own vehicle is parked or stopped.

In an embodiment, between analyzing the reliability of the matched location and transmitting the sensor data, location information of the own vehicle, and location information where the override has occurred to a server, the sensor data, location information of the own vehicle, and override It may include the step of storing the location information where the occurrence occurred.

In an embodiment, matching the position of the obstacle and analyzing the reliability of the matched position includes matching the position of the obstacle for each sensor among the sensor data on a coordinate plane and a position matched on the coordinate plane It may include the step of analyzing the reliability of the.

In an embodiment, in the step of matching the position of the obstacle for each sensor on the coordinate plane, the position of the obstacle for each sensor may be matched on the same coordinate plane.

In an embodiment, in the step of transmitting the location information at which the override occurs to the server, data information before and after the location at which the override occurs and data information at the time point at which the override occurs may be transmitted.

In an embodiment, in the updating of the corrected parameter, a reliability value for each sensor at the time of occurrence of the override and a reliability threshold value at the position of the occurrence of the override may be updated.

According to the parameter correction system and method for determining obstacles according to an embodiment of the present invention, in an autonomous vehicle, location information of the own vehicle, sensor data including location information of obstacles, and location-based information including location information of occurrence of overrides, etc. By using the data to update a correction parameter including a reliability value for each sensor and a reliability threshold value at an override occurrence location, it is possible to improve the accuracy of obstacle recognition when determining an obstacle.

According to the parameter correction system and method for determining obstacles according to an embodiment of the present invention, obstacles including a lost area of a road, a lost object, a road construction area, a hall or a structure that cannot be recognized by a sensor, etc. existing in various driving environments By more accurately recognizing the

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 diagram illustrating 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 determining an obstacle 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 view for explaining the location, size, and reliability of an integrated object according to an embodiment of the present invention.
7 is a diagram comparing a reliability value of an integrated object with a reliability 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 executing 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. In adding reference numerals to the components of each drawing, it should be noted that the same components are given the same reference numerals as much as possible even though they are indicated on different drawings. In addition, in describing the embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function interferes with the understanding of the embodiment of the present invention, the detailed description thereof will be omitted.

In describing the components of the embodiment of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only for distinguishing the component from other components, and the essence, order, or order of the component is not limited by the term. In addition, 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 the present invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

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

Referring to FIG. 1 , the parameter correction system 10 for obstacle determination includes a sensor unit 100 , an obstacle recognition unit 200 , a parameter correction unit 300 , and a server 400 , and the sensor unit 100 . , the obstacle recognizing unit 200 and the parameter correcting unit 300 may be a parameter correction device provided in the vehicle.

The sensor unit 100 detects sensor data including the position, shape, and type of the obstacle (or object), and the moving direction and speed of the own vehicle. For example, the obstacle may be a static obstacle including a lost area of a roadway, a lost object, a road construction area or a hole, and the like.

The sensor unit 100 may include a lidar sensor, an ultrasonic sensor, a camera sensor, a radar sensor, and the like, which is only an example for helping understanding of the present invention, and is not limited thereto.

The obstacle recognizing unit 200 is a position of an object for each sensor among the sensor data received from the sensor unit 100 (eg, one sensor may extract a plurality of objects, and a plurality of sensors may extract a plurality of objects) possible) on the coordinate plane. For example, the obstacle recognition unit 200 matches the position of the object for each sensor on the same coordinate plane.

The obstacle recognition unit 200 analyzes the reliability of the matched position, integrates them into objects of the same position according to the matched position corresponding to the analyzed reliability, and adds them, and the correction updated from the parameter update unit 330 . An obstacle may be determined using a parameter (a generated correction parameter), and the configuration of the obstacle recognition unit 200 and an operation method of the configuration will be described in detail with reference to FIG. 2 .

The parameter correcting unit 300 detects the location information of the own vehicle estimated from the own vehicle position estimation unit 301 provided in the vehicle, the sensor data measured from the sensor unit 100 and the override detection unit 302 provided in the vehicle. All location information where the override occurs (data information before and after the location where the override occurs, and data storage information at the time point where the override occurs, etc.) are all stored. Here, the override refers to an operation of transferring the driver's control right in the autonomous vehicle.

The parameter correction unit 300 transmits the location information of the own vehicle, the sensor data, and the location information where the override has occurred, stored when the vehicle is parked or stopped to the server 400 through the communication unit 320, and is generated from the server 400. Receive the calibrated parameters.

For example, the parameter corrector 300 may update the corrected parameter after determining whether the corrected parameter is received from the server 400 .

The parameter correcting unit 300 may receive and update the corrected parameters from the server 400 , and the configuration of the parameter correcting unit 300 and its operation method will be described in detail with reference to FIG. 3 .

The server 400 generates the corrected parameters by accumulating and analyzing the location-based data including the location information of the own vehicle, the sensor data, and the location information where the override has occurred, received from the parameter correcting unit 300 for each location. For example, the corrected parameter may be the reliability (reliability value) for each sensor of the sensor unit 100 at the time when the vehicle override occurs and the reliability threshold at the position where the override occurs, and the sensor unit 100 at the time when the vehicle override occurs. ), the reliability (reliability value) for each sensor and the reliability threshold at the location of the override will be described in detail with reference to FIGS. 5 to 7 .

The server 400 may transmit the corrected parameter to the parameter updater 330 and transmit (distribute) the corrected parameter to the other vehicle when the own vehicle is parked or stopped.

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.

Referring to FIG. 2 , the obstacle recognizing unit 200 includes a location 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 each sensor object among the sensor data received from the sensor unit 100 on a coordinate plane. For example, the position matching unit may match the position of the object for each sensor on the same coordinate plane.

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

The obstacle determining unit 230 integrates objects in the same position according to the matched positions corresponding to the analyzed reliability and adds them, and determines the obstacles using the correction parameters updated from the parameter update unit 330 .

The filter unit 240 classifies obstacles outside a set range from the determined obstacles.

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

Referring to FIG. 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 includes location information of the own vehicle estimated from the own vehicle location estimation unit 301 provided in the vehicle, sensor data measured from the sensor unit 100, and an override detected by the override detection unit 302 provided in the vehicle. All location information where the override occurred (data information before and after the location where the override occurred) is saved.

The communication unit 320 transmits the location information of the own vehicle, the sensor data, and the location information where the override has occurred, stored when the vehicle is stopped to the server 400 , and receives the corrected parameters from the server 400 .

The parameter update unit 330 updates the parameter corrected from the server 400 (that is, the parameter update unit 330 can download the correction parameter generated from the server). For example, the corrected parameter may be the reliability (reliability value) for each sensor of the sensor unit 100 at the time when the vehicle override occurs and the reliability threshold value at the location where the override occurs, which is an example for helping understanding of the present invention As only, it is not limited thereto.

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

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

The object integrator 231 integrates objects of the same position according to the position, size, and reliability of the object for each sensor. The position, size, and reliability of the object for each sensor are described in detail in FIG. 5 , and the position and size of the integrated object and reliability and updated calibration parameters (generated calibration parameters) will be described in detail in FIG. 6 .

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

5 is a diagram 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 , the object information for each sensor input from the sensor unit 100 includes the position, size, and reliability of the object for each sensor. For example, the position of the object per sensor is x _mn , y _mn , the size of the object per sensor is W _mn , H _mn , and the longitudinal direction is k _x in the reliability (probability value between 0 and 1) of the object per sensor. _{_ mn} , the lateral direction is k _{y _ mn} , and the probability of existence is k _mn , m is an order of sensors (eg, a first sensor, a second sensor, etc.), and n is an order of objects (eg, a first object, a second object, etc.).

6 is a view for explaining the location, size, and reliability of an integrated object according to an embodiment of the present invention.

Referring to FIG. 6 , the integrated object at the same location from each location of object information for each sensor is represented by the following formula.

For example, l is an integrated object order, and obj _m1n1 , obj _m2n2 , obj _m3n1 , etc. are objects existing within a certain distance (set distance).

For example, the location of the integrated object may be expressed as in Equation 1 below.

[Equation 1]

For example, the size of the integrated object may be expressed as in Equation 2 below.

[Equation 2]

For example, the reliability of the integrated object may be expressed as in Equation 3 below, and C _{m1 ,} C _{m2 , and} C _m3 are Reliability values (reliability values for each sensor) of each sensor m1, m2, m3, the initial value is 1/M, M is the total number of sensors, C _m is a value that can be changed through the server 400, kl is the existence probability of the integrated object.

[Equation 3]

7 is a view for explaining a reliability threshold corresponding to a reliability value of an integrated object according to an embodiment of the present invention.

Referring to FIG. 7 , the reliability threshold may be divided into regions (eg, R1, R2, and R3) based on the current location of the host vehicle, and the reliability threshold is k _thR1 , k _thR2 , k _thR3 (a value between 0 and 1), etc., an initial value is set to 0.5, and the reliability threshold is a value changeable 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 , the above-described steps S11 to S19 of the parameter correction method for determining an obstacle in a vehicle according to an embodiment of the present invention will be described in detail with reference to FIG. 1 .

In steps S11 and S12 , when the autonomous vehicle starts driving, the parameter correction unit 300 included in the parameter correction system 10 determines whether the corrected parameter is received from the server 400 .

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

In step S14 , the parameter correcting unit 300 detects the override occurrence status by detecting the override detection unit 302 when the override occurs. That is, the parameter correcting unit 300 may detect an operation of transferring the driver's control right when the autonomous driving vehicle is overridden.

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

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

In step S17 , if no override occurs in the autonomous driving vehicle, the autonomous driving vehicle checks whether the autonomous driving is terminated.

In steps S18 and S19 , when autonomous driving is finished, the parameter correction unit 300 uploads the stored sensor data to the server 400 and downloads the corrected parameters 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 , the above-described steps S31 to S36 of the parameter correction method for determining an obstacle in the server according to an embodiment of the present invention will be described in detail with reference to FIG. 1 .

In step S31 , the server 400 receives the location information of the own vehicle, the sensor data, and the location information where the override has occurred from the parameter correcting unit 300 of the autonomous vehicle.

In step S32, the server 400 accumulates location-based data including location information of the own vehicle, sensor data, and location information where the override has occurred for each location.

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

In step S34, the server 400 determines whether the correction parameter generation condition is satisfied. For example, the server 400 compares the conditions of the current reliability (reliability value) and reliability threshold value for each sensor among the corrected parameters with the set (arbitrary) conditions of the reliability (reliability value) and reliability threshold value for each sensor. It may be determined whether the conditions for generating the correction parameters are satisfied.

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

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

Referring to FIG. 10 , the computing system 1000 includes at least one processor 1100 , a memory 1300 , a user interface input device 1400 , a user interface output device 1500 , and storage connected through a bus 1200 . 1600 , and a network interface 1700 .

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and/or the storage 1600 . The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Accordingly, steps of a method or algorithm described in connection with the embodiments disclosed herein may be directly implemented in hardware, a software module executed by the processor 1100 , or a combination of the two. A software module resides in a storage medium (ie, memory 1300 and/or storage 1600 ) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, a removable disk, a CD-ROM. You may. An exemplary storage medium is coupled to the processor 1100 , the processor 1100 capable of reading information from, and writing information to, the storage medium. Alternatively, the storage medium may be integrated with the processor 1100 . The processor and storage medium may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The above description is merely illustrative of the technical spirit of the present invention, and various modifications and variations will be possible without departing from the essential characteristics of the present invention by those skilled in the art to which the present invention pertains.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical spirit of the present invention, but to explain, and the scope of the technical spirit of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed by the following claims, and all technical ideas within the scope equivalent thereto should be construed as being included in the scope of the present invention.

10: Parameter correction system for obstacle determination
100: sensor unit
200: obstacle recognition unit
210: location matching unit
220: reliability analysis unit
230: obstacle determination unit
231: object integration unit
232: judgment unit
240: filter unit
300: parameter correction unit
310: data storage unit
320: communication unit
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, location information of the own vehicle, and location information where an override has occurred to a server, and determines an obstacle using the corrected parameter; and
a server that generates the corrected parameter by using the sensor data received from the vehicle, the location information of the own vehicle, and the location information where the override has occurred, and transmits the corrected parameter to the vehicle;
The vehicle is
and an obstacle recognition unit that matches the position of the obstacle, analyzes the reliability of the matched position, and determines the obstacle using the corrected parameter,
The obstacle recognition unit,
and an obstacle determination unit for determining the obstacle by using the corrected parameter,
The obstacle determination unit,
and an object integrator for integrating objects at the same location according to the location, size, and reliability of the obstacles for each sensor among the sensor data. The method according to claim 1,
The vehicle is
a sensor unit for measuring sensor data including location information of the obstacle; and
and a parameter correction unit configured to store the sensor data, the location information of the own vehicle, and the location information where the override has occurred, and update the corrected parameter. 3. The method according to claim 2,
The sensor data is
A parameter correction system for determining an obstacle, characterized in that it includes the position, shape, and type of the obstacle, and the moving direction and speed of the host vehicle. 3. The method according to claim 2,
The parameter correction unit,
a data storage unit for storing sensor data measured from the sensor unit, location information of the own vehicle estimated from the own vehicle location estimator, and location information where the override detected from the override detection unit occurs;
a communication unit that transmits the sensor data, the location information of the own vehicle, and the location information where the override occurs to a server, and receives the corrected parameter from the server; and
and a parameter update unit configured to update the corrected parameter. The method according to claim 1,
The obstacle recognition unit,
a position matching unit that matches the position of the obstacle for each sensor on a coordinate plane; and
Parameter correction system for determining obstacles, characterized in that it comprises a reliability analysis unit for analyzing the reliability with respect to the location matched on the coordinate plane. 6. The method of claim 5,
The position matching unit,
A parameter correction system for determining obstacles, characterized in that the positions of the obstacles for each sensor are matched on the same coordinate plane. The method according to claim 1,
The server is
Parameter correction system for determining an obstacle, characterized in that the corrected parameter is generated by accumulating and analyzing the location-based data including sensor data received from the vehicle, location information of the own vehicle, and location information where the override has occurred for each location . The method according to claim 1,
The server is
The parameter correction system for determining obstacles, characterized in that when the host vehicle is parked or stopped, the corrected parameter is transmitted to another vehicle. The method according to claim 1,
The location information where the override occurred is
The parameter correction system for determining an obstacle, characterized in that it includes data information before and after the location where the override occurs and data information at the time when the override occurs. The method according to claim 1,
The corrected parameter is
A parameter correction system for judging an obstacle, characterized in that it includes a reliability value for each sensor at the time of occurrence of an override and a threshold value of reliability at the position of occurrence of the override. measuring sensor data including location information of an obstacle;
matching the position of the obstacle and analyzing the reliability of the matched position;
transmitting the sensor data, location information of the own vehicle, and location information where an override has occurred to a server;
receiving the calibrated parameter from the server and updating the calibrated parameter; and
Determining the obstacle by using the corrected parameter,
The step of determining the obstacle is
and integrating an object at the same location according to the location, size, and reliability of the obstacle for each sensor among the sensor data. 12. The method of claim 11,
Between the step of sending to the server and the step of receiving the calibrated parameter from the server and updating the calibrated parameter,
accumulating and analyzing, by the server, location-based data including the received sensor data, location information of the own vehicle, and location information where an override occurs for each location; and
Parameter correction method for obstacle determination comprising the step of generating, by the server, the corrected parameter. 13. The method of claim 12,
After generating the corrected parameter,
and transmitting the corrected parameter to another vehicle when the host vehicle is parked or stopped. 12. The method of claim 11,
Between the step of analyzing the reliability of the matched location and the step of transmitting the sensor data, location information of the own vehicle, and location information where the override occurred to the server,
and storing the sensor data, the location information of the own vehicle, and the location information where the override has occurred. 12. The method of claim 11,
Matching the position of the obstacle and analyzing the reliability of the matched position comprises:
matching the positions of the obstacles for each sensor on a coordinate plane; and
Parameter correction method for judging an obstacle, comprising the step of analyzing the reliability of the matched position on the coordinate plane. 16. The method of claim 15,
In the step of matching the position of the obstacle for each sensor on the coordinate plane,
A parameter correction method for determining an obstacle, characterized in that the position of the obstacle for each sensor is matched on the same coordinate plane. 12. The method of claim 11,
In the step of transmitting the location information where the override occurred to the server,
A parameter correction method for determining an obstacle, characterized in that transmitting data information before and after the location where the override occurs and data information at the time when the override occurs. 12. The method of claim 11,
In the step of updating the corrected parameter,
A parameter correction method for judging an obstacle, characterized in that the reliability value for each sensor at the time of occurrence of the override and the threshold value of the reliability at the position of the occurrence of the override are updated.

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