KR20220055913A - Obstacle detection system and method using a plurality of sensors - Google Patents

Abstract

Disclosed are an obstacle detection system and method using multiple sensors to increase the accuracy for a location of an obstacle. According to the present invention, the obstacle detection system comprises: a radar sensor emitting electromagnetic waves to a first detection region and receiving an echo of the electromagnetic wave reflected from an obstacle to detect the obstacle; a LiDAR sensor emitting a laser pulse to a second detection area and receiving an echo of the laser pulse reflected from the obstacle to detect an obstacle; an operation control unit controlling the LiDAR sensor to move or rotate the second detection area in a range partially or entirely overlapping the first detection area on the basis of obstacle data detected by the radar sensor; and a sensor fusion unit detecting the position of the obstacle on the basis of the obstacle data detected by the radar sensor and the obstacle data detected by the LiDAR sensor.

Description

Obstacle detection system and method using multiple sensors

The present invention relates to a system and method for detecting an obstacle using a plurality of sensors, and to a technology for detecting an obstacle using a radar sensor and a lidar sensor mounted on a vehicle at the same time.

As a driver assistance system mounted on a vehicle, an Advanced Driver Assisted System (ADAS) is being used. This ADAS basically has a function to detect an object around the vehicle (ie, a vehicle or a pedestrian, etc.) and utilizes the ADAS. system (Blind Spot Detection, BSD).

The driver assistance system performs an object detection function using various sensor devices such as a radar device, a vision device, and a light detection and ranging (LiDAR) device. Specifically, the driver assistance system uses a radar device or a camera device to detect surrounding vehicles and pedestrians even at a moment that the driver does not recognize, and accordingly determines the risk of an accident. In this case, when the risk of an accident increases, the driver assistance system provides a warning signal to the driver or controls a brake device or a steering device to prevent accidents such as a collision.

Conventional driver assistance systems generally use an object detection method based on a single sensor device. The control device receives and processes the object detection information sensed by one sensor device, thereby determining the risk of the vehicle surroundings. And, when the risk level is higher than a certain level, the control device notifies the driver of the dangerous situation through the warning device.

Among the sensor devices used in the driver assistance system, the radar device has the advantage of being able to detect an object over a long distance and having robustness against environmental factors, but has limitations in that the angle sensing accuracy is low and object identification is impossible.

In addition, the LiDAR device emits a laser and recognizes the environment around the vehicle, such as an object or a pedestrian, using the reflected signal. However, in the case of the lidar device, there was a problem in that manufacturing cost was required to widen the detection range.

Recently, in order to overcome the disadvantages of the sensor device used in the driver assistance system, a fusion type driver assistance system including two or more sensor devices has been developed.

The matters described as the background art above are only for improving the understanding of the background of the present invention, and should not be accepted as acknowledging that they correspond to the prior art already known to those of ordinary skill in the art.

KR 10-2014-0136165 A

The present invention has been proposed to solve this problem, and it is an object of the present invention to provide a sensor fusion technology for accurately detecting an obstacle by using a radar sensor and a lidar sensor at the same time.

An obstacle detection system using a plurality of sensors according to the present invention for achieving the above object includes: a radar sensor that emits electromagnetic waves to a first detection area and receives an echo of electromagnetic waves reflected from the obstacle to detect the obstacle; a lidar sensor that emits a laser pulse to the second detection area and detects an obstacle by receiving an echo of the laser pulse reflected from the obstacle; a driving control unit for controlling the lidar sensor to move or rotate the second detection area in a range partially or entirely overlapping the first detection area based on the obstacle data detected by the radar sensor; and a sensor fusion unit for detecting the position of the obstacle based on the obstacle data detected by the radar sensor and the obstacle data detected by the lidar sensor.

The angular range of the second detection area of the lidar sensor may be relatively smaller than the angular range of the first detection area.

The lidar sensor includes a main body that emits a laser pulse and receives an echo of the laser pulse, and a rotation motor that rotates the main body based on a fixed position, and the driving controller is configured to move or rotate the second detection area. It is possible to control the driving of the rotary motor.

The driving controller may control the lidar sensor to move or rotate the second detection region so that the position of the obstacle detected by the radar sensor is included in the second detection region.

The driving controller may control the radar sensor to vary the first detection area based on the obstacle data detected by the radar sensor.

The driving control unit may vary the beam pattern of electromagnetic waves radiated from the radar sensor toward the position of the obstacle detected by the radar sensor.

The sensor fusion unit may detect the position of the obstacle by using distance data from the obstacle detected by the radar sensor and angle data of the obstacle detected by the lidar sensor.

An obstacle detection method using a plurality of sensors according to the present invention for achieving the above object includes: detecting an obstacle in a radar sensor that emits electromagnetic waves to a first detection area and receives an echo of electromagnetic waves reflected from the obstacle; controlling the lidar sensor to move or rotate the second detection area in a range partially or entirely overlapping the first detection area based on the obstacle data detected by the radar sensor; detecting an obstacle in a lidar sensor that emits a laser pulse to a second detection area and receives an echo of the laser pulse reflected from the obstacle; and detecting the position of the obstacle based on the obstacle data detected by the radar sensor and the obstacle data detected by the lidar sensor.

In the step of controlling the lidar sensor, the second detection region of the lidar sensor may be moved or rotated so that the angular range of the second detection region is included in the angular range of the first detection region.

In the step of controlling the lidar sensor, it is possible to control the driving of a rotary motor that emits a laser pulse and rotates the main body that receives the echo of the laser pulse based on a fixed position.

In the step of controlling the lidar sensor, the second detection region may be moved or rotated so that the position of the obstacle detected by the radar sensor is included in the second detection region.

After the step of detecting the obstacle by the radar sensor, the step of controlling the radar sensor to vary the first detection area based on the obstacle data detected by the radar sensor; may further include.

In the step of controlling the radar sensor, the beam pattern of the electromagnetic wave radiated from the radar sensor may be varied to face the position of the obstacle detected by the radar sensor.

In the step of detecting the position of the obstacle, the position of the obstacle may be detected using distance data from the obstacle detected by the radar sensor and angle data of the obstacle detected by the lidar sensor.

According to the obstacle detection system and method using a plurality of sensors of the present invention, the accuracy of the position of the detected obstacle is improved by fusing the obstacle data detected by the radar sensor and the obstacle data detected by the lidar sensor.

In particular, by replacing the relatively inaccurate obstacle angle data of the radar sensor with the obstacle angle data detected by the lidar sensor, the position of the obstacle can be accurately detected.

1 is a block diagram of an obstacle detection system using a plurality of sensors according to an embodiment of the present invention.
2 is a block diagram of a lidar sensor according to an embodiment of the present invention.
3 to 4 show detection areas of a radar sensor and a lidar sensor according to an embodiment of the present invention.
5 is a flowchart illustrating an obstacle detection method using a plurality of sensors according to an embodiment of the present invention.

Specific structural or functional descriptions of the embodiments of the present invention disclosed in the present specification or application are only exemplified for the purpose of describing the embodiments according to the present invention, and the embodiments according to the present invention may be implemented in various forms. and should not be construed as being limited to the embodiments described in the present specification or application.

Since the embodiment according to the present invention can have various changes and can have various forms, specific embodiments are illustrated in the drawings and described in detail in the present specification or application. However, this is not intended to limit the embodiment according to the concept of the present invention with respect to a specific disclosed form, and should be understood to include all changes, equivalents or substitutes included in the spirit and scope of the present invention.

Terms such as first and/or second may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one element from another element, for example, without departing from the scope of the present invention, a first element may be called a second element, and similarly The second component may also be referred to as the first component.

When an element is referred to as being “connected” or “connected” to another element, it is understood that it may be directly connected or connected to the other element, but other elements may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle. Other expressions describing the relationship between elements, such as "between" and "immediately between" or "neighboring to" and "directly adjacent to", etc., should be interpreted similarly.

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present specification, terms such as “comprise” or “have” are intended to designate that the described feature, number, step, operation, component, part, or a combination thereof exists, and includes one or more other features or numbers. , it should be understood that it does not preclude the existence or addition of steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having meanings consistent with the context of the related art, and unless explicitly defined in the present specification, they are not to be interpreted in an ideal or excessively formal meaning. .

Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings. Like reference numerals in each figure indicate like elements.

1 is a block diagram of an obstacle (O) detection system using a plurality of sensors according to an embodiment of the present invention.

Referring to FIG. 1 , the obstacle (O) detection system using a plurality of sensors according to an embodiment of the present invention radiates electromagnetic waves to a first detection area (FOV1), and echoes the electromagnetic waves reflected from the obstacle (O). a radar sensor 10 for receiving and detecting an obstacle (O); a lidar sensor 20 that emits a laser pulse to the second detection area FOV2 and detects the obstacle O by receiving an echo of the laser pulse reflected from the obstacle O; Based on the data of the obstacle O detected by the radar sensor 10, the lidar sensor 20 so that the second detection area FOV2 is moved or rotated in a range partially or entirely overlapped with the first detection area FOV1 a driving control unit 30 for controlling the ; and a sensor fusion unit 40 for detecting the position of the obstacle O based on the obstacle (O) data detected by the radar sensor 10 and the obstacle (O) data detected by the lidar sensor 20; do.

The driving control unit 30 and the sensor fusion unit 40 according to an exemplary embodiment of the present invention are configured to store data regarding an algorithm configured to control the operation of various components of a vehicle or a software command for reproducing the algorithm. It may be implemented through a volatile memory (not shown) and a processor (not shown) configured to perform operations described below using data stored in the memory. Here, the memory and the processor may be implemented as separate chips. Alternatively, the memory and processor may be implemented as a single chip integrated with each other. A processor may take the form of one or more processors.

The obstacle (O) detection system using a plurality of sensors according to an embodiment of the present invention may be mounted on a vehicle.

The radar sensor 10 is fixedly installed on the vehicle, and may detect the obstacle O by emitting electromagnetic waves around the vehicle and receiving an echo of the electromagnetic wave reflected from the obstacle O. The first detection area FOV1 of the radar sensor 10 fixed to the vehicle may be a fixed area.

In one embodiment, the radar sensor 10 is disposed on the left front end, the right front end, the left rear end, and the right rear end of the vehicle, respectively, each detection area may be directed toward the periphery of the vehicle.

Here, the detection range (FOV: Field Of View) of the radar sensor 10 may have a relatively wide angular range in the range of 140 ~ 150 [deg].

The lidar sensor 20 is movably or rotatably installed in the vehicle, and can detect the obstacle O by emitting a laser pulse around the vehicle and receiving an echo of the laser pulse reflected from the obstacle O. there is.

The detection range (FOV) of the lidar sensor 20 may vary depending on the performance, and in the case of high performance, the detection range (FOV) may be 120 [deg], and in the case of low performance, the detection range (FOV) is 20 ~ It can be in the range of 30 [deg].

Here, the lidar sensor 20 is a low-cost and low-performance to assist the radar sensor 10, the detection range (FOV) may be in the range of 20 ~ 30 [deg]. In an embodiment, the lidar sensor 20 may be positioned adjacent to the radar sensor 10 such that the second detection region FOV2 is included in the first detection region FOV1 of the radar sensor 10 .

When the radar sensor 10 detects the obstacle (O), the driving control unit 30 is a lidar so that the second detection area (FOV2) is moved or rotated based on the obstacle (O) data detected by the radar sensor (10). The sensor 20 can be controlled.

Part or all of the second detection area FOV2 of the lidar sensor 20 may overlap the first detection area FOV1. In particular, the angular range of the second detection area FOV2 is relatively small compared to the angular range of the first detection area FOV1 , and may be included in the angular range of the first detection area FOV1 .

In addition, the driving control unit 30 is located in the first detection area FOV1 so that the obstacle O detected by the radar sensor 10 is located inside the second detection area FOV2 in the second detection area FOV2. can be moved or rotated. The lidar sensor 20 may detect an obstacle O positioned in the second detection area FOV2 in a state in which the second detection area FOV2 is moved or rotated by the driving control unit 30 .

The sensor fusion unit 40 may detect the position of the obstacle O by fusing the obstacle O data detected by the radar sensor 10 and the obstacle O data detected by the lidar sensor 20 . Accordingly, the sensor fusion unit 40 has the effect of improving the accuracy of the position of the detected obstacle (O).

The angle range of the second detection area FOV2 of the lidar sensor 20 may be relatively smaller than that of the first detection area FOV1 .

5 [deg] 수준이나, 라이다센서(20)의 검출 각도에 대한 오차는

0.1 [deg] 수준일 수 있다. 즉, 라이다센서(20)의 검출 각도에 대한 오차가 레이더센서(10)의 검출 각도에 대한 오차보다 현저히 낮고, 이에 따라 라이다센서(20)의 각도 검출 정확도가 우수할 수 있다.In addition, the error for the detection angle of the radar sensor 10 is

5 [deg] level, but the error for the detection angle of the lidar sensor 20 is

It can be on the 0.1 [deg] level. That is, the error with respect to the detection angle of the lidar sensor 20 is significantly lower than the error with respect to the detection angle of the radar sensor 10 , and accordingly, the angle detection accuracy of the lidar sensor 20 may be excellent.

2 is a block diagram of the lidar sensor 20 according to an embodiment of the present invention.

2, the lidar sensor 20 has a main body 21 that emits a laser pulse and receives an echo of the laser pulse, and a rotation motor that rotates the main body 21 based on a fixed position ( 22), and the driving control unit 30 may control the driving of the rotary motor 22 so that the second detection region FOV2 moves or rotates.

The rotation motor 22 may be fixedly coupled to the vehicle, and may rotate the main body 21 with respect to the vehicle when driven. The main body 21 may be equipped with a transmitter for emitting a laser pulse and a receiver for receiving an echo of the laser pulse.

3 to 4 show detection areas of the radar sensor 10 and the lidar sensor 20 according to an embodiment of the present invention.

3 to 4 , the driving control unit 30 moves the second detection area FOV2 so that the position of the obstacle O detected by the radar sensor 10 is included in the second detection area FOV2. Alternatively, the lidar sensor 20 may be controlled to rotate. In particular, the driving controller 30 may control the driving of the rotation motor 22 so that the second detection area FOV2 moves or rotates to include the obstacle O detected by the radar sensor 10 .

That is, the driving control unit 30 moves or rotates the second detection range of the lidar sensor 20 based on the position of the obstacle O firstly detected by the radar sensor 10 , thereby secondarily detecting the obstacle O ) can be detected. Accordingly, angle data of the obstacle O can be accurately detected through the lidar sensor 20 having a relatively narrow detection range but excellent angle detection accuracy.

The driving controller 30 may control the radar sensor 10 to vary the first detection area FOV1 based on the data of the obstacle O detected by the radar sensor 10 .

The radar sensor 10 may have an electromagnetic wave radiation range that coincides with a detection angle (FOV) of the radar sensor 10 , and the radiation intensity of the electromagnetic wave may be determined by a detection distance of the electromagnetic wave. That is, in order to detect the distant obstacle O, the radiation intensity of the electromagnetic wave can be largely controlled.

In one embodiment, the radar sensor 10 may radiate electromagnetic waves around the vehicle according to a preset beam pattern, and in particular, a plurality of preset beam patterns may be provided. In an embodiment, the beam pattern may include a main lobe, a side lobe, and a back lobe.

The driving control unit 30 may vary the beam pattern of the electromagnetic wave radiated from the radar sensor 10 toward the position of the obstacle O detected by the radar sensor 10 .

More specifically, the driving control unit 30 may vary the beam pattern to face the position of the obstacle O primarily detected by the radar sensor 10 . In particular, the driving control unit 30 may change the beam pattern so that the intensity of the electromagnetic wave transmitted to the position of the obstacle O detected by the radar sensor 10 is increased, and the electromagnetic wave is concentrated in the corresponding angular range. Accordingly, it has the effect of more accurately detecting the position of the obstacle O detected primarily.

In another embodiment, the radar sensor 10 radiates an electromagnetic wave through any one of the antenna groups electrically connected through a switching device, and is reflected from an obstacle O around the vehicle through the antenna that radiated the electromagnetic wave. By receiving the electromagnetic wave, the distance to the obstacle O, the direction, the height, and the like can be sensed.

The switching device is controlled by the driving controller 30 , and may electrically connect the radar to one of a plurality of antennas included in the antenna group based on antenna selection information of the driving controller 30 .

For example, the antenna group may include three antennas classified according to the radiation angle and radiation intensity of electromagnetic waves. The antenna group may include an ultra-near-range antenna, a short-range antenna, and a far-field antenna.

The ultra-near-distance antenna may have the largest radiation angle of electromagnetic waves and the shortest radiation distance among the antennas included in the antenna group. The remote antenna may have the smallest radiation angle of electromagnetic waves and the longest radiation distance among antennas included in the antenna group. The short-range antenna may have a radiation angle and a radiation distance between the ultra-near-range antenna and the far-end antenna.

The electromagnetic wave radiation intensity of the ultra-near-range antenna is determined such that the sensing distance is within 5 meters, and the radiation angle may be 120 degrees. The electromagnetic wave radiation intensity of the short-range antenna is determined such that the sensing distance is 5 meters or more and less than 25 meters, and the radiation angle may be 80 degrees. The electromagnetic wave radiation intensity of the far-field antenna is determined to be 25 meters or more and less than 60 meters, and the radiation angle may be 60 degrees.

That is, as the radiation angle of the antenna or the beam pattern decreases, the radiation intensity of the radar sensor 10 increases, and accordingly, the sensing distance may be increased. The controller may vary the detection range of the radar sensor 10 according to the driving environment of the vehicle.

Specifically, in the case of the radar sensor 10, it has the advantage that the distance data about the distance separated from the obstacle O is accurate, and the detection range FOV has the advantage of having a relatively wide angular range. However, in the case of the radar sensor 10, the angle data at which the obstacle O is located is not accurate.

In contrast, in the case of the lidar sensor 20, it is difficult to extend the detection range FOV, but the angle data at which the obstacle O is located has an accurate advantage.

Accordingly, the sensor fusion unit 40 detects the obstacle O inside the first detection area FOV1 through the radar sensor 10, and the lidar sensor 20 to detect the position of the detected obstacle O. After moving the second detection area FOV2 of can detect

In particular, the sensor fusion unit 40 uses the distance data to the obstacle O detected by the radar sensor 10 and the angle data of the obstacle O detected by the lidar sensor 20 to the position can be detected.

That is, the inaccurate angle data of the obstacle O of the radar sensor 10 is replaced with the angle data of the obstacle O detected by the lidar sensor 20 , and the obstacle O accurately detected by the radar sensor 10 . ) and the distance data can be simultaneously used to detect the position of the obstacle (O).

5 is a flowchart illustrating a method for detecting an obstacle (O) using a plurality of sensors according to an embodiment of the present invention.

5 , detecting the obstacle O from the radar sensor 10 that emits electromagnetic waves to the first detection area FOV1 and receives the echo of the electromagnetic waves reflected from the obstacle O (S100); Based on the data of the obstacle (O) detected by the radar sensor 10, the lidar sensor 20 so that the second detection area FOV2 is moved or rotated in a range partially or entirely overlapped with the first detection area FOV1 controlling the (S200); emitting a laser pulse to the second detection area FOV2 and detecting the obstacle O from the lidar sensor 20 that receives the echo of the laser pulse reflected from the obstacle O (S300); and detecting the position of the obstacle (O) based on the obstacle (O) data detected by the radar sensor 10 and the obstacle (O) data detected by the lidar sensor 20 (S500).

In the step of controlling the lidar sensor 20 ( S200 ), the second detection area of the lidar sensor 20 is such that the angular range of the second detection area FOV2 is included in the angular range of the first detection area FOV1 . (FOV2) can be moved or rotated.

In the step (S200) of controlling the lidar sensor 20, the driving of the rotary motor 22 that emits a laser pulse and rotates the main body 21 that receives the echo of the laser pulse based on a fixed position is controlled can do.

In the step of controlling the lidar sensor 20 ( S200 ), the second detection area FOV2 is moved or can be rotated

After the step of detecting the obstacle O by the radar sensor 10 ( S100 ), the radar sensor 10 varies the first detection area FOV1 based on the data of the obstacle O detected by the radar sensor 10 . ) controlling the step (S400); may further include.

In the step of controlling the radar sensor 10 ( S400 ), the beam pattern of the electromagnetic wave radiated from the radar sensor 10 may be changed toward the position of the obstacle O detected by the radar sensor 10 .

In the step S500 of detecting the position of the obstacle O, distance data from the obstacle O detected by the radar sensor 10 and angle data of the obstacle O detected by the lidar sensor 20 are used. Thus, the position of the obstacle O can be detected.

Although shown and described with respect to specific embodiments of the present invention, it is within the art that the present invention can be variously improved and changed without departing from the spirit of the present invention provided by the following claims. It will be obvious to those of ordinary skill in the art.

10: radar sensor 20: lidar sensor
30: drive control unit 40: sensor fusion unit

Claims (14)

a radar sensor that emits electromagnetic waves to the first detection area and detects the obstacle by receiving an echo of the electromagnetic wave reflected from the obstacle;
a lidar sensor that emits a laser pulse to the second detection area and detects an obstacle by receiving an echo of the laser pulse reflected from the obstacle;
a driving control unit for controlling the lidar sensor to move or rotate the second detection area in a range partially or entirely overlapping the first detection area based on the obstacle data detected by the radar sensor; and
An obstacle detection system using a plurality of sensors including a; a sensor fusion unit for detecting the position of an obstacle based on the obstacle data detected by the radar sensor and the obstacle data detected by the lidar sensor. The method according to claim 1,
The obstacle detection system using a plurality of sensors, characterized in that the angle range of the second detection area of the lidar sensor is relatively smaller than the angle range of the first detection area. The method according to claim 1,
The lidar sensor includes a main body that emits a laser pulse and receives an echo of the laser pulse, and a rotation motor that rotates the main body based on a fixed position,
The driving control unit controls the driving of the rotary motor to move or rotate the second detection area. An obstacle detection system using a plurality of sensors. The method according to claim 1,
An obstacle detection system using a plurality of sensors, characterized in that the driving control unit controls the lidar sensor to move or rotate the second detection area so that the position of the obstacle detected by the radar sensor is included in the second detection area. The method according to claim 1,
An obstacle detection system using a plurality of sensors, characterized in that the driving control unit controls the radar sensor to vary the first detection area based on the obstacle data detected by the radar sensor. 6. The method of claim 5,
An obstacle detection system using a plurality of sensors, characterized in that the driving control unit varies a beam pattern of electromagnetic waves radiated from the radar sensor toward the position of the obstacle detected by the radar sensor. The method according to claim 1,
An obstacle detection system using a plurality of sensors, characterized in that the sensor fusion unit detects the position of the obstacle by using distance data from the obstacle detected by the radar sensor and angle data of the obstacle detected by the lidar sensor. detecting an obstacle by a radar sensor that emits electromagnetic waves to a first detection area and receives an echo of electromagnetic waves reflected from the obstacle;
controlling the lidar sensor to move or rotate the second detection area in a range partially or entirely overlapping the first detection area based on the obstacle data detected by the radar sensor;
detecting an obstacle in a lidar sensor that emits a laser pulse to a second detection area and receives an echo of the laser pulse reflected from the obstacle; and
An obstacle detection method using a plurality of sensors, comprising: detecting the position of the obstacle based on the obstacle data detected by the radar sensor and the obstacle data detected by the lidar sensor. 9. The method of claim 8,
In the step of controlling the lidar sensor, an obstacle using a plurality of sensors, characterized in that the second detection region of the lidar sensor is moved or rotated so that the angular range of the second detection region is included in the angular range of the first detection region. detection method. 9. The method of claim 8,
In the step of controlling the lidar sensor, obstacle detection using a plurality of sensors, characterized in that controlling the driving of a rotary motor that emits a laser pulse and rotates the main body receiving the echo of the laser pulse based on a fixed position Way. 9. The method of claim 8,
In the controlling of the lidar sensor, the obstacle detection method using a plurality of sensors, characterized in that the second detection area is moved or rotated so that the position of the obstacle detected by the radar sensor is included in the second detection area. 9. The method of claim 8,
After detecting the obstacle by the radar sensor, controlling the radar sensor to vary the first detection area based on the obstacle data detected by the radar sensor; Obstacle detection using a plurality of sensors, characterized in that it further comprises Way. 13. The method of claim 12,
In the step of controlling the radar sensor, an obstacle detection method using a plurality of sensors, characterized in that the beam pattern of the electromagnetic wave radiated from the radar sensor is varied to face the position of the obstacle detected by the radar sensor. 9. The method of claim 8,
In the step of detecting the position of the obstacle, obstacle detection using a plurality of sensors, characterized in that the position of the obstacle is detected using distance data from the obstacle detected by the radar sensor and angle data of the obstacle detected by the lidar sensor Way.

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