LIDAR signal processing apparatus and LIDAR apparatus

1. A light detection and ranging (LIDAR) signal processing apparatus comprising:

a flight length deriving unit configured to derive a flight length of a first laser light emitted from a sensor of a vehicle, the emitted first laser light directed at an incline towards a road on which the vehicle is present;

a vertical inclination measurement unit configured to estimate a vertical inclination of the vehicle with respect to the road based on the flight length;

a horizontal inclination measurement unit configured to estimate a horizontal inclination of the vehicle with respect to the road based on the flight length;

a reliability determination unit configured to determine reliability of information detected by the sensor based on the vertical inclination and the horizontal inclination of the vehicle; and

a data processing unit configured to:

when the detected information is reliable, process the detected information as valid,

when the detected information is not reliable and the detected information is within a first error tolerance range, process the detected information as invalid data and compensate the detected information with an error value,

when the detected information is not reliable and the detected information is out of the first error tolerance range, subtract an inclination value from the error value and compare the subtracted inclination value with vehicle's orientation information, and

when the comparison result is out of the first error tolerance range, output a warning message,

wherein the vertical inclination measurement unit is configured to:

calculate an actual vertical inclination based on the derived flight length of the first laser light and a mounted height of the sensor of the vehicle from the road to the sensor in a vertical direction, and

estimate the vertical inclination of the vehicle by subtracting the actual inclination from an ideal vertical inclination.

2. The LIDAR signal processing apparatus of claim 1 , wherein the flight length deriving unit is configured to calculate a Time of Flight (TOF) using a reflection light received from a first position on the road in response to the first laser light emitted toward the road so as to be inclined at a first angle with respect to a height direction of the vehicle, and configured to derive the flight length of the first laser light using the calculated TOF.

3. The LIDAR signal processing apparatus of claim 1 , wherein the horizontal inclination measurement unit is configured to:

determine whether left and right reference patterns of the first laser light are within a second error tolerance range,

calculate an actual horizontal inclination from an ideal horizontal inclination when the left and right reference patterns are within the second error tolerance range, and

estimate the horizontal inclination of the vehicle by subtracting the actual horizontal inclination from the ideal horizontal inclination.

4. The LIDAR signal processing apparatus of claim 3 , wherein the reliability determination unit is configured to determine the detected information by the sensor as being reliable when the vertical inclination and the horizontal inclination of the vehicle are within a normal range based on an ideal number measured in a state where the vehicle and the road are both parallel to each other.

5. A light detection and ranging (LIDAR) apparatus for a vehicle, the LIDAR apparatus comprising:

a sensor configured to emit a first laser light toward a road on which a vehicle is present, the emitted first laser light directed at a first angle towards the road, the sensor configured to receive a reflection wave;

a flight length deriving unit configured to derive a flight length of the first laser light;

a vertical inclination measurement unit configured to estimate a vertical inclination of the vehicle with respect to the road based on the flight length of the first laser light;

a horizontal inclination measurement unit configured to estimate a horizontal inclination of the vehicle with respect to the road based on the flight length of the first laser light;

a reliability determination unit configured to determine reliability of information detected by the sensor based on the vertical inclination and horizontal inclination of the vehicle; and

a data processing unit configured to:

when the information detected by the sensor is reliable, process the information detected from the sensor as valid data,

when the information detected by the sensor is not reliable and the information detected by the sensor is within a first error tolerance range, process the information detected from the sensor as invalid data and compensate the information detected by the sensor with an error value,

when the information detected by the sensor is not reliable and the information detected by the sensor is out of the first error tolerance range, subtract an inclination value from the error value and compare the subtracted inclination value with vehicle's orientation information, and

when the comparison result is out of the first error tolerance range, output a warning message,

wherein the vertical inclination measurement unit is configured to:

calculate an actual vertical inclination based on the derived flight length of the first laser light and a mounted height of the sensor of the vehicle from the road to the sensor in a vertical direction, and

estimate the vertical inclination of the vehicle by subtracting the actual inclination from an ideal vertical inclination.

6. The LIDAR apparatus of claim 5 , wherein the sensor comprises:

a plurality of laser diodes installed in the vehicle and configured to emit beams of laser light of various channels at various angles; and

a plurality of photodiodes configured to receive the beams of the laser light in various channels for each laser diode.

7. A light detection and ranging (LIDAR) signal processing method, comprising:

deriving a flight length of a first laser light emitted from a sensor of a vehicle, the emitted first laser light directed at an incline towards a road on which the vehicle is present;

estimating a vertical inclination and a horizontal inclination of the vehicle with respect to the road based on the flight length;

determining reliability of information detected from the sensor based on the vertical inclination and the horizontal inclination of the vehicle;

when the detected information is reliable, processing the detected information as valid data;

when the detected information is not reliable and the detected information is within a first error tolerance range, processing the detected information as invalid data and compensating the detected information with an error value;

when the detected information is not reliable and the detected information is out of the first error tolerance range, subtracting an inclination value from the error value and comparing the subtracted inclination value with vehicle's orientation information; and

when the comparison result is out of the first error tolerance range, outputting a warning message,

wherein in estimating the vertical inclination and horizontal inclination, an actual vertical inclination is calculated based on the derived flight length of the first laser light and a mounted height of the sensor of the vehicle from the road to the sensor in a vertical direction, and the vertical inclination of the vehicle is calculated by subtracting the actual vertical inclination from an ideal vertical inclination.

8. The method of claim 7 , wherein in deriving the flight length of the first laser light, a Time of Flight (TOF) is calculated using a reflection light received from a first position on the road in response to the first laser light emitted toward the road so as to be inclined at a first angle with respect to a height direction of the vehicle, and the flight length of the first laser light is derived using the calculated TOF.

9. The method of claim 7 , estimating the vertical inclination and horizontal inclination includes:

determining whether left and right reference patterns of the first laser light are within a second error tolerance range,

calculating an actual horizontal inclination from an ideal horizontal inclination when the left and right reference patterns are within the second error tolerance range, and

estimating the horizontal inclination of the vehicle by subtracting the actual horizontal inclination from the ideal horizontal inclination.

10. The method of claim 7 , wherein in determining the reliability of the detected information, the detected information is determined as being reliable when the vertical inclination and the horizontal inclination of the vehicle are within a normal range based on an ideal number measured in a state where the vehicle and the road are both parallel to each other.