KR20190069747A - Object recognition apparatus and method for vehicle - Google Patents

Abstract

The present invention relates to an object recognition apparatus for a vehicle and a method thereof, which can accurately recognize objects positioned around a truck including a tractor and a trailer. To this end, the object recognition apparatus for a vehicle in which the trailer for mounting freight is connected to the tractor for traction comprises: a first sensor installed on the tractor; a second sensor installed on the trailer; and a control unit detecting an angle of refraction between the tractor and the trailer by using the first sensor, correcting the coordinates of the second sensor by using the angle of refraction, and recognizing the location of an object detected by the second sensor by using the corrected coordinates of the second sensor.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an object recognition apparatus and method,

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a vehicle, and more particularly, to a freight vehicle comprising a tractor for traction and a trailer for cargo loading.

Freight vehicles consisting of tractors for traction and trailers for cargo loading are suitable for transporting large cargoes or bulk cargoes. The tractor and the trailer are mechanically fastened, so that the trailer can be moved together with the tractor, or only the tractor can be moved with the trailer removed.

When the trailer is connected to the tractor, the connection point between the tractor and the trailer acts as a rotating shaft, and the trailer rotates if necessary. Also, the size of the trailer has been enlarged to accommodate large cargoes or large cargoes.

Such a tractor-trailer-structured freight vehicle is not easy for the driver to confirm the existence of other objects around the freight vehicle due to the enlargement.

According to one aspect, the object of the present invention is to accurately recognize objects located in the vicinity of a truck, which is composed of a tractor and a trailer.

The object recognition apparatus for a vehicle according to the present invention is characterized in that a trailer for loading a cargo is connected to a tractor for traction, the object recognition apparatus comprising: a first sensor installed on the tractor; A second sensor installed on the trailer; Wherein the first sensor is used to detect an angle of refraction between the tractor and the trailer, the coordinates of the second sensor are corrected using the refraction angle, and the coordinates of the second sensor And a control unit for recognizing the position of the detected object.

In the above-described vehicle object recognition apparatus, the control unit fuses the coordinates of the first sensor with the coordinates of the second sensor, obtains a correction variable between the fused coordinate and the corrected coordinates of the second sensor, And recognizes the position of the single detected object of the second sensor by applying the correction variable to the coordinates of the single detected object of the second sensor.

In the above-described object recognition apparatus for a vehicle, the control section performs the coordinate fusion when a joint detection object of the first sensor and the second sensor exists.

In the above-described object recognition apparatus for a vehicle, the control section does not perform the coordinate fusion when only a single detected object of the second sensor is present.

In the above-described object recognition apparatus for a vehicle, the control section performs detection of a dead zone of the vehicle through recognition of the position of the detection object.

In the above-described object recognition apparatus for a vehicle, the control section controls the autonomous travel of the vehicle using the result of the detection of the position of the detection object.

In the above-described object recognition apparatus for a vehicle, the second sensor is installed at each end of the trailer, one at each end.

In the above object recognition apparatus for a vehicle, the first sensor is a rider (LiDAR); The second sensor is a RADAR.

A method for recognizing an object of a vehicle according to the present invention is characterized in that a trailer for loading a cargo is connected to a tractor for traction, wherein the method for recognizing an object of the vehicle comprises the steps of: Detecting a refraction angle between the tractor and the trailer; Correcting coordinates of a second sensor installed on the trailer using the refraction angle; And recognizing the position of the detection object of the second sensor using the corrected coordinates of the second sensor.

In the method for recognizing an object of a vehicle described above, a step of fusing the coordinates of the first sensor and the coordinates of the second sensor; Obtaining a correction parameter between the fused coordinate and the corrected coordinate of the second sensor; And recognizing the position of the single detected object of the second sensor by applying the correction variable to the coordinates of the single detected object of the second sensor.

In the above-described vehicle object recognition method, the coordinate fusion is performed when a joint detection object of the first sensor and the second sensor exists.

In the above-described vehicle object recognition method, the coordinate fusion is not performed when only the single detected object of the second sensor is present.

In the above-described vehicle object recognition method, the detection of the blind spot of the vehicle is performed through the recognition of the position of the detection object.

In the above-described object recognition method for a vehicle, autonomous travel of the vehicle is controlled by using the position recognition result of the detected object.

In the above-described object recognition method for a vehicle, the second sensors are installed at the rear ends of the trailer, respectively.

In the vehicle object recognition method described above, the first sensor is a rider (LiDAR); The second sensor is a RADAR.

Another object recognition apparatus for a vehicle according to the present invention for a vehicle having the above-mentioned object includes: a tractor for traction; A trailer connected to the tractor for loading a cargo; A rider installed on the tractor; A radar installed at the rear of the trailer; A controller for detecting a refraction angle between the tractor and the trailer using the rider, correcting the coordinates of the radar using the refraction angle, and recognizing the position of the detected object of the radar using the corrected coordinates of the radar, Wherein the control unit fuses the coordinates of the rider with the coordinates of the radar to obtain a correction variable between the fused coordinates and the corrected coordinates of the radar, And the position of the single detection object of the radar is recognized by applying the variable.

A method for recognizing an object of a vehicle according to the present invention is characterized in that a trailer for loading a cargo is connected to a tractor for towing, wherein the method for recognizing an object of the vehicle comprises the steps of: Detecting the refraction angle between the tractor and the trailer, correcting the coordinates of the radar installed on the trailer using the refraction angle, and recognizing the position of the detected object of the radar using the corrected coordinates of the radar Wow; Wherein the correction parameter is applied to the coordinates of the single detected object of the radar so as to determine a correction parameter between the fused coordinate and the corrected coordinate of the radar, And recognizing the position of the detected object.

According to one aspect, it is possible to accurately recognize objects located in the vicinity of a truck, which is composed of a tractor and a trailer.

1 is a view showing a freight vehicle according to an embodiment of the present invention.
2 is a view illustrating rotation of a trailer of a freight vehicle according to an embodiment of the present invention.
FIG. 3 is a diagram showing a detection error of a radar caused by a swing of a trailer.
4 is a view showing a control system of a freight vehicle according to an embodiment of the present invention.
5 is a diagram illustrating a method of recognizing an object of a freight vehicle according to an embodiment of the present invention.
Fig. 6 is a diagram showing the coordinates of an object detected by a radar in a state in which the trailer is not rotated and a state in which the trailer is rotated.
FIG. 7 is a diagram showing coordinate fusing of a freight vehicle according to an embodiment of the present invention.
Fig. 8 is a diagram showing fused coordinates obtained by adding weight values X? And Y? To the detection result of the rider.
9 is a diagram illustrating a result of an object recognition method of a freight vehicle according to an embodiment of the present invention.

1 is a view showing a freight vehicle according to an embodiment of the present invention.

The freight vehicle 100 according to the embodiment of the present invention is comprised of a tractor 110 for towing and a trailer 120 for loading freight. 1, the container 130 is mounted on the trailer 120 so that the trailer 120 located below the container 130 is not exposed. The trailer 120 and the container 130 mounted on the trailer 120 move together in a fixed state.

The tractor 110 pulls the trailer 120 using the driving force of the mounted engine. On the other hand, the trailer 120 is pulled by the tractor 110 while being connected to the tractor 110 because the power source is not mounted. To this end, the trailer 120 is mechanically connected to the tractor 110 so as to be rotatable. That is, the trailer 120 rotates within a certain angle range on a plane (for example, a surface substantially parallel to the ground) around a rotation axis 142 formed by mechanically connecting the tractor 110 and the trailer 120 . The rotation (swing) of the trailer 120 will be described in more detail with reference to FIG.

Since the freight vehicle 100 according to the embodiment of the present invention has the large and long cargo loading means called the trailer 120, it is very difficult for the driver to observe the left side, the right side and the rear side of the freight vehicle 100 in a complete manner. Therefore, the freight vehicle 100 is provided with a rider (LiDAR) 152 and a radar 162 as detection means for detecting the left, right, and rear conditions of the freight vehicle 100 on behalf of the driver. The rider 152 may be a first sensor installed on the tractor 110 to detect objects present in the vicinity of the freight vehicle 100. The radar 162 may be a second sensor installed in the trailer 120 to detect objects present in the vicinity of the freight vehicle 100.

The rider 152 is installed on the left and right sides of the tractor 110, respectively. The rider 152 is a short range detection means and detects an object existing in a certain region behind the left and right sides of the tractor 110. [ The object may be another automobile or a pedestrian, a structure, a building, and the like. 1, reference numeral 152L denotes a rider installed on the left side of the tractor 110, and 152R denotes a rider installed on the right side of the tractor 110. In Fig.

The radar 162 is installed on the left and right sides of the rear of the trailer 120, respectively. The radar 162 detects an object that exists in a certain area behind the trailer 120 as a relatively long distance detection means as compared to the rider 152. [ The object may be another automobile or a pedestrian, a structure, a building, and the like. 1, 162L denotes a radar installed on the left side of the trailer 120, and 162R denotes a radar installed on the right side of the trailer 120. In FIG.

As described above, the rider 152 is a short range detection means and the radar 162 is a relatively long range detection means. Therefore, the detection range of the rider 152 and the detection range of the radar 162 are partially overlapped. The detection range other than the overlapping portion in the detection range of the rider 152 may be referred to as a 'rider inherent detection range'. The overlapped detection range of the rider 152 and the mirror 162 may be referred to as an " overlap detection range ". The detection range other than the overlapping portion in the detection range of the radar 162 may be referred to as a 'radar inherent detection range'.

2 is a view illustrating rotation of a trailer of a freight vehicle according to an embodiment of the present invention.

1, the freight vehicle 100 according to the embodiment of the present invention is comprised of a tractor 110 for towing and a trailer 120 for loading freight. The trailer 120 rotates in a plane on the plane of the rotation axis 142. Due to this structure, the relative angles of the tractor 110 and the trailer 120 are different when the freight vehicle 100 goes straight, turns to the left, and turns to the right. In the following description, the angle formed by the tractor 110 and the trailer 120 is referred to as a 'refraction angle'.

As shown in FIG. 2 (I), when the tractor 110 goes straight and the slider of the trailer 120 does not occur, the tractor 110 and the trailer 120 are aligned with each other. The refraction angle at this time is 0 degrees. As shown in FIG. 2 (II), when the tractor 110 turns to the left or slips to the left of the trailer 120, the trailer 120 rotates (swings) clockwise with respect to the tractor 110, do. The difference between the center axis of the tractor 110 and the center axis of the trailer 120 is caused by the refraction angle? 1. 2 (III), when the tractor 110 turns to the right or slips to the right of the trailer 120, the trailer 120 is rotated counterclockwise with respect to the tractor 110 (Swing). The difference between the center axis of the tractor 110 and the center axis of the trailer 120 is caused by the refraction angle? 2.

FIG. 3 is a diagram showing a detection error of a radar caused by a swing of a trailer. The coordinates of the radar 162 may be distorted due to the rotation (swing) of the trailer 120 as shown in Figs. 2 (II) and (III), and the position of the object detected by the radar 162 may be I can not recognize it well.

FIG. 3 (I) is a diagram showing the detection result of the radar 162 in the situation shown in FIG. 2 (I). 3 (I), when the tractor 110 goes straight and the slider of the trailer 120 does not occur, so that when the tractor 110 and the trailer 120 form a straight line with each other, The position of the object 302 is accurately detected.

FIG. 3 (II) is a diagram showing the detection result of the radar 162 in the situation shown in FIG. 2 (I). The trailer 120 is rotated clockwise (swinging) with respect to the tractor 110, as shown in (II) of FIG. 3, when the tractor 110 is pivoted to the left or a slip occurs to the left in the trailer 120, The position of the object 304 detected by the radar 162 installed in the lower trajectory 162 is different from the actual position of the object 304. In the case of (I) of FIG. 3, it is detected that the object 302 is traveling alongside the freight vehicle 100 on both sides of the rear of the freight vehicle 100. In contrast, in FIG. 3 (II), the left object 304 may be incorrectly recognized as being located on a lane on which the freight vehicle 100 is traveling. The present invention is intended to solve an object detection error due to the rotation (swing) of a trailer in a freight vehicle having a tractor and a trailer.

4 is a view showing a control system of a freight vehicle according to an embodiment of the present invention.

The control unit 420 may be an electronic control unit (ECU) involved in the overall operation of the freight vehicle 100 according to the embodiment of the present invention. The controller 420 corrects the detection result of the radar 162 in consideration of the rotation (swing) of the trailer 120 so that the position of the object can be accurately recognized. The correction result of the controller 420 may be provided to a blind spot detection module (BSD module) 450 and used for blind spot detection.

A memory 470 is connected to the control unit 420. In the memory 470, software and firmware necessary for the control unit 420 to control the freight vehicle 100 are stored. The control unit 420 also stores data necessary for controlling the freight vehicle 100 and data generated while controlling the freight vehicle 100 in the memory 470.

The control unit 420 of the freight vehicle 100 according to the embodiment of the present invention includes the following control logic for correcting the detection result of the radar 162.

The refraction angle calculation logic 422 calculates a refraction angle (see? 1 and? 2 in FIG. 2), which is the relative angle of the trailer 120 to the tractor 110.

The object recognition logic 424 determines whether there are other objects in the vicinity of the freight vehicle 100 from the detection result of the rider 152 or the radar 162.

The object coordinate transformation logic 426 transforms the coordinates of the object detected through the radar 162 in consideration of the refraction angle according to the rotation (swing) of the trailer 120. [

The rider information fusion logic 428 may be configured to determine if the object detected by the radar 162 is also detected by the rider 152 (i.e., if the object is located in the 'overlap detection range' And fuses the coordinates of the object detected by the rider 152 with the coordinates of the detected object.

The object position determination logic 430 recognizes the exact position of the object from the coordinates of the fused object.

The object fusion determination logic 432 determines the precise location and speed of the recognized object.

5 is a diagram illustrating a method of recognizing an object of a freight vehicle according to an embodiment of the present invention. The object recognition method shown in FIG. 5 includes a control unit 420 of a freight vehicle 100 including a tractor 110 in which a rider 152 as shown in FIG. 1 is installed and a trailer 120 in which a radar 162 is installed. . ≪ / RTI >

The control unit 420 attempts communication with the rider 152 and the radar 162 to check whether the rider 152 and the radar 162 are activated (512). When the rider 152 and the radar 162 are activated, the control unit 420 performs control for recognizing the surrounding objects using the rider 152 and the radar 162.

The control unit 420 detects the refraction angle of the trailer 120 using the rider 152 installed in the tractor 110 (514). The state of the trailer 120 can be confirmed from the detection result of the rider 152 since the rider 152 installed on the tractor 110 can detect a certain range behind the tractor 110 side. For example, by confirming the state of (II) or (III) with reference to the state of (I) in FIG. 2 described above, whether or not the trailer 120 is swung (swing) can do.

As described above with reference to FIG. 3, the positions of the objects detected by the radar 162 are different from each other in a state where the trailer 120 is not rotated and a state where the trailer 120 is rotated. This is shown in Fig. 6 is a view showing the coordinates of the object 602 (604) detected by the radar 162 in a state in which the trailer 120 is not rotated and rotated. 6 is a diagram showing a case where the object 602 (604) is detected only by the radar 162 at a distance from the trailer 120, and is not detected by the rider 152. Fig.

In FIG. 6, 'L' is the length of the trailer 120 and 'W' is the width of the trailer 120. First, in FIG. 6 (I), when a virtual rectangular coordinate having the rotation axis 142 of the trailer 120 as the origin is applied, the coordinates of the left radar 162L are (-W / 2, -L). When the straight line distance from the left radar 162L to the object 602 is R and the angle formed by the straight line R with respect to the rear surface of the trailer 120 is φ, the imaginary rectangular coordinates having the left radar 162L as the origin When applied, the coordinates of the object 602 are (R * cos? - W / 2, R * sin? - L).

6 (II), when the trailer 120 swings, the coordinates of the left radar 162L having the rotation axis 142 as the origin also change. Therefore, the object 602 shown in FIG. 6 (I) ) Is no longer reliable. Therefore, the transformed coordinates reflecting the rotation (swing) of the trailer 120 shown in FIG. 6 (II) are obtained by the method of obtaining the coordinates of the object 602 in (I) of FIG. Since the center axis of the trailer 120 is rotated by the angle? By the rotation (swing) of the trailer 120, the coordinates of the left radar 162L are newly corrected by reflecting the refraction angle? The coordinates of the object 604 are obtained. The corrected new coordinates of the left radar 162L reflecting the refraction angle? Are ((-W / 2) * cos? -L * sin ?, (-W / 2) * sin? + L * cos?). The coordinates of the object 604 reflecting the new corrected coordinates of the left radar 162L are ((R'cos? '+ ((- W / 2) * cos? - L * sin? -W / 2) * sin? + L * cos?)).

Returning to FIG. 5, the control unit 420 confirms whether there is an object that is detected by both the rider 152 and the radar 162, that is, a common detection object (518). That is, the joint detection object is an object existing within the overlapping detection range of the rider 152 and the radar 162.

If there is a common detection object (YES in 518) that exists within the overlapping detection range of the rider 152 and the radar 162, the control unit 420 determines whether or not both of the two acquired through the rider 152 and the radar 162 The coordinates of the points are fused (532). FIG. 7 is a diagram showing coordinate fusing of a freight vehicle according to an embodiment of the present invention. 7 (I) is a diagram showing the coordinate of the object 702 by using the rider 152. FIG. FIG. 7 (II) is a diagram showing the coordinates of the object 702 using the radar 162. FIG. By fusing two coordinates obtained through (I) and (II) in FIG. 7, the position of the object 702 can be more accurately recognized.

The radar 152 mounted on the tractor 110 moves together with the tractor 110 so that the coordinates of the radar 152 do not change even if the tractor 110 rotates as shown in (I) of FIG. 7 . Therefore, the transformation of the coordinates (a, b) of the object 702 detected by the radar 152 is not required.

In Fig. 7 (II), the coordinates of the left radar 162L of the trailer 120 and the coordinates of the object 702 detected by the left radar 162L are the same as those described in (II) . ≪ / RTI > That is, the corrected new coordinates of the left radar 162L reflecting the refraction angle? Are ((-W / 2) * cos? - L * sin ?, (-W / 2) * sin? + L * cos?). The coordinates of the object 702 reflecting the new coordinates of the left radar 162L are ((R'cos? '+ ((- W / 2) * cos? - L * sin? -W / 2) * sin? + L * cos?)).

The coordinates (a, b) of the object 702 detected using the radar 152 shown in (I) of FIG. 7 and the coordinates of the object 702 detected using the left rider 162L shown in ((R 'cos φ' + ((- W / 2) * cos θ-L * sin θ) The left radar 152L and the left radar 162L jointly detect the object 702 (L) and the left radar 152L (L) ) Is the corrected fused coordinate of (a, (Rsin? '+ ((- W / 2) * sin? + L * cos?)).

5, the control unit 420 determines whether or not the corrected transformed coordinates ((R'cos? '+ ((- W / 2) * cos? - L * sin?) Of the left radar 162L (W / 2) * sin? + L * cos?) And the corrected fused coordinates a, Rsin? '+ And stores it in the memory 470. The correction variables stored in the memory 470 can be used to obtain the position coordinates of the detected object using only the radar 162 in the future.

If there is an object detected by the radar 162 alone, the position of the object can be recognized more accurately by applying the correction variable stored in the memory 470 to the detection result of the radar 162 in step 534 (536). If there is a matched correction variable of the rider 152, the error of the position coordinates of the object can be corrected based on the abscissa. It is also possible to compensate for the position by placing a relatively greater weight of the rider 152, which detects nearness in coordinate fusion.

The control unit 420 derives an equation of a straight line on the X-Y coordinates except the height of the trailer 120 for each of the left, rear, and right sides of the trailer 120 (538).

If multiple objects are detected by the radar 162 and some of the objects are also detected by the rider 152, the coordinates for the joint detection object and the single detection object of the radar 162 can be obtained as follows have. That is, in the case of the joint detection object (near object), the lateral direction is fused to the lateral coordinate detected by the rider 152, and the longitudinal direction is fused to the two coordinates obtained by using the rider 152 and the radar 162 Take an average. Or a fusion coordinate obtained by weighting the detection result of the rider 152 may be taken. 8 is a diagram showing fusion coordinates obtained by adding weight values X? And Y? To the detection result of the rider 152. Fig. In the case of the single detection object 802 of the radar 162, the difference between the horizontal and vertical coordinates of the joint detection object and the coordinate obtained using the radar 162 is used as an offset, It is possible to obtain the exact coordinates of the center 802.

Returning to FIG. 5, if there is no joint detection object present within the overlap detection range of the rider 152 and the radar 162 ('No' of 518), that is, if all the objects are the single detection objects of the radar 162 In this case, the controller 420 obtains coordinates of all the objects and assigns them to the respective objects using the method described above with reference to FIG.

The position recognition result of the objects around the freight vehicle 100 obtained by the above-described method can be applied to the autonomous traveling or blind spot detection (BSD) of the freight vehicle 100 (572).

9 is a diagram illustrating a result of an object recognition method of a freight vehicle according to an embodiment of the present invention.

9 (I), when the swing of the trailer 120 occurs, the coordinates of the radar 162 are changed as shown in (II) of FIG. 9 in the conventional case and the object detected by the radar 162 The position of the robot can not be recognized. However, by applying the corrected coordinate transformation of the object recognition method of the freight vehicle according to the embodiment of the present invention, accurate coordinate acquisition of the object considering the rotation (swing) of the trailer 120 as shown in (III) Can be accurately recognized.

The description above is merely illustrative of the technical idea, and various modifications, alterations, and substitutions are possible without departing from the essential characteristics of the present invention. Therefore, the embodiments and the accompanying drawings described above are intended to illustrate and not limit the technical idea, and the scope of technical thought is not limited by these embodiments and the accompanying drawings. The scope of which is to be construed in accordance with the following claims, and all technical ideas which are within the scope of the same shall be construed as being included in the scope of the right.

100: Freight vehicles
110: Tractor
120: Trailer
130: Container
142:
152: Rider (LiDAR)
162: RADAR
302, 304, 602, 604, 702, 802, 902, 904: object
420:
450: BSD module
θ: Refraction angle

Claims (18)

A vehicle in which a trailer for cargo loading is connected to a tractor for towing,
A first sensor installed on the tractor;
A second sensor installed on the trailer;
Wherein the first sensor is used to detect an angle of refraction between the tractor and the trailer, the coordinates of the second sensor are corrected using the refraction angle, and the coordinates of the second sensor And a control unit for recognizing the position of the detected object. The apparatus of claim 1,
Wherein the coordinates of the first sensor and the coordinates of the second sensor are fused to obtain a correction variable between the fused coordinate and the corrected coordinates of the second sensor, And recognizes the position of the single detected object of the second sensor by applying the variable. 3. The apparatus of claim 2,
And performs the coordinate fusion when a joint detection object of the first sensor and the second sensor exists. 3. The apparatus of claim 2,
And does not perform the coordinate fusion when only the single detected object of the second sensor is present. The apparatus of claim 1,
And detecting a blind spot of the vehicle through recognition of the position of the detected object. The apparatus of claim 1,
And controls autonomous travel of the vehicle using the position recognition result of the detected object. The method according to claim 1,
And the second sensor is installed at each end of the rear of the trailer. The method according to claim 1,
The first sensor is a rider (LiDAR);
And the second sensor is a RADAR. A vehicle having a trailer for towing attached to a trailer for loading, the method comprising:
Detecting a refraction angle between the tractor and the trailer using a first sensor installed on the tractor;
Correcting coordinates of a second sensor installed on the trailer using the refraction angle;
And recognizing the position of the detected object of the second sensor using the corrected coordinates of the second sensor. 10. The method of claim 9,
Fusing the coordinates of the first sensor with the coordinates of the second sensor;
Obtaining a correction parameter between the fused coordinate and the corrected coordinate of the second sensor;
Further comprising the step of: recognizing the position of the single detected object of the second sensor by applying the correction variable to the coordinates of the single detected object of the second sensor. 11. The method of claim 10,
Wherein the coordinate fusion is performed when a joint detection object of the first sensor and the second sensor exists. 11. The method of claim 10,
Wherein the coordinate fusion is not performed when only a single detected object of the second sensor is present. 10. The method of claim 9,
And detecting a blind spot of the vehicle through recognition of the position of the detected object. 10. The method of claim 9,
And controlling autonomous travel of the vehicle by using the position recognition result of the detected object. 10. The method of claim 9,
And the second sensor is installed at each end of the rear of the trailer. 10. The method of claim 9,
The first sensor is a rider (LiDAR);
And the second sensor is a RADAR. A tractor for traction;
A trailer connected to the tractor for loading a cargo;
A rider installed on the tractor;
A radar installed at the rear of the trailer;
A controller for detecting a refraction angle between the tractor and the trailer using the rider, correcting the coordinates of the radar using the refraction angle, and recognizing the position of the detected object of the radar using the corrected coordinates of the radar, , ≪ / RTI &
Wherein the control unit fuses the coordinates of the rider with the coordinates of the radar and obtains a correction variable between the fused coordinates and the corrected coordinates of the radar and applies the correction variable to the coordinates of the single detected object of the radar And recognizes the position of the single detection object of the radar. A vehicle having a trailer for towing attached to a trailer for loading, the method comprising:
A radar installed on the tractor is used to detect a refraction angle between the tractor and the trailer, a coordinate of a radar installed on the trailer is corrected using the refraction angle, Recognizing the location of the detected object;
Wherein the correction parameter is applied to the coordinates of the single detected object of the radar so as to determine a correction parameter between the fused coordinate and the corrected coordinate of the radar, And recognizing the position of the detected object.

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