Sensor information fusion method and device, and recording medium recording program for executing the method
View Patent ↗A sensor information fusion method of an embodiment includes selecting target tracks having distances from a reference track within a predetermined distance from among tracks obtained by a plurality of sensors, and selecting a target fusion track to be fused with the reference track on the basis of sums of first calculation values calculated according to distances between the selected target tracks and the reference track and second calculation values calculated according to overlapping areas of the target tracks and the reference track.
1 . A method performed by a vehicle, the method comprising:
obtaining, by a plurality of sensors mounted on the vehicle, sensor data regarding one or more objects around the vehicle;
detecting, by a controller of the vehicle, the one or more objects by processing the sensor data obtained by the plurality of sensors;
determining, by the controller, tracks respectively associated with the plurality of sensors for each of the one or more objects, wherein each of the tracks includes information of at least one of distance, position, speed, or class;
selecting, by the controller, one or more target tracks, each having a distance within a predetermined distance from a reference track from among the tracks; and
selecting, by the controller, a fusion track from among the selected one or more target tracks to be fused with the reference track on the basis of sums of first calculation values calculated according to distances between the selected one or more target tracks and the reference track, and second calculation values calculated according to overlapping areas of the selected one or more target tracks and the reference track; and
controlling, by the controller, to drive the vehicle based on a fused track that is generated by fusing the fusion track and the reference track.
2 . The method according to claim 1 , wherein the selecting of one or more target tracks comprises:
setting a gate on the basis of the reference track; and
selecting, as the one or more target tracks, tracks located inside the gate among the tracks obtained by the plurality of sensors.
3 . The method according to claim 1 , wherein the first calculation values are calculated according to a distance between a midpoint of the reference track and midpoints of each of the selected one or more target tracks.
4 . The method according to claim 1 , wherein the selecting of a fusion track to be fused with the reference track comprises:
calculating the first calculation values as smaller values as the distances between a midpoint of the reference track and the midpoints of the one or more target tracks become shorter; and
selecting a target track having the smallest sum of the first calculation value and the second calculation value as the fusion track to be fused with the reference track.
5 . The method according to claim 4 , further comprising calculating the first calculation value as a relatively large value when the size of a target track is smaller than the size of the reference track.
6 . The method according to claim 4 , further comprising calculating the first calculation value as a relatively large value when the reference track and a target track are arranged in a lateral direction.
7 . The method according to claim 1 , wherein the selecting of a fusion track to be fused with the reference track comprises:
calculating the second calculation values as smaller values as the overlap ratios of the one or more target tracks and the reference track increase; and
selecting a target track having the smallest sum of the first calculation value and the second calculation value as the fusion track to be fused with the reference track.
8 . The method according to claim 7 , further comprising calculating the second calculation value as a relatively small value when the size of a target track is greater than the size of the reference track.
9 . The method according to claim 1 , wherein the sums of the first calculation values and the second calculation values are calculated using the following combined cost calculation formula,
Combined
Cost
=
W
NN
*
D
NN
D
max
+
W
O
L
*
(
1
-
A
O
L
A
T
)
wherein W NN and W OL are weight values adjusted depending on a ratio of the areas between the reference track and a target track,
D NN is a distance between midpoints of the reference track and the target track,
D max is a distance between the midpoint of the reference track and one of two intersection points of the reference track located on a straight line connecting the midpoints of the reference track and the target track, which is closer to the midpoint of the target track,
A OL is an overlapping area between the reference track and the target track, and
A T is an area of the target track.
10 . The method according to claim 9 , wherein the sum of W NN and W OL is 1, the weight of W OL increases when the size of the target track is greater than the size of the reference track, and the weight of W NN increases when the size of the target track is smaller than the size of the reference track.
11 . The method according to claim 9 , further comprising calculating W NN and W OL using the following formulas when the area A R of the reference track is greater than the area A T of the target track (A R >A T )
W
NN
=
1
-
0
.
5
*
A
T
A
R
,
W
O
L
=
1
-
W
NN
.
12 . The method according to claim 11 , further comprising calculating W NN and W OL using the following formulas when the area A R of the reference track is not greater than the area A T of the target track
W
OL
=
1
-
0
.
5
*
A
R
A
T
,
W
NN
=
1
-
W
O
L
.
13 . A non-transitory computer-readable recording medium recording program instructions executed by a controller of a vehicle, the computer-readable recording medium comprising:
program instructions that obtain sensor data from a plurality of sensors mounted on the vehicle regarding one or more objects around the vehicle;
program instructions that detect the one or more objects by processing the sensor data obtained by the plurality of sensors;
program instructions that determine tracks respectively associated with the plurality of sensors for each of the one or more objects, wherein each of the tracks includes information of at least one of distance, position, speed, or class;
program instructions that select target tracks having distances from a reference track within a predetermined distance from among the tracks;
program instructions that select a fusion track to be fused with the reference track on the basis of sums of first calculation values calculated according to distances between the selected target tracks and the reference track and second calculation values calculated according to overlapping areas of the target tracks and the reference track; and
program instructions that control to drive the vehicle based on a fused track that is generated by fusing the fusion track and the reference track.
14 . A vehicle comprising:
a plurality of sensors mounted on the vehicle, the plurality of sensors configured to obtain sensor data regarding one or more objects around the vehicle; and
a controller configured to:
detect the one or more objects by processing the sensor data obtained by the plurality of sensors;
determine first tracks respectively associated with the plurality of sensors for each of the one or more objects, wherein each of the first tracks includes information of at least one of distance, position, speed, or class;
select one or more target tracks having distances within a predetermined distance from a reference track from among the first tracks;
select a target fusion track to be fused with the reference track on the basis of sums of first calculation values calculated according to distances between the selected target tracks and the reference track and second calculation values calculated according to overlapping areas of the selected target tracks and the reference track; and
control to drive the vehicle based on a fused track that is generated by fusing the fusion track and the reference track.
15 . The vehicle according to claim 14 , wherein the controller sets a gate on the basis of the reference track and selects, as the one or more target tracks, one or more tracks located inside the gate from among the tracks obtained by the plurality of sensors.
16 . The vehicle according to claim 14 , wherein the controller calculates the first calculation values as smaller values as the distances between the midpoint of the reference track and the midpoints of the target tracks are shorter and selects a target track having the smallest sum of the first calculation value and the second calculation value as the target fusion track to be fused with the reference track.
17 . The vehicle according to claim 14 , wherein the controller calculates the second calculation values as smaller values as the overlap ratios of the target tracks and the reference track increase and selects a target track having the smallest sum of the first calculation value and the second calculation value as the target fusion track to be fused with the reference track.
18 . The vehicle according to claim 14 , wherein the controller calculates the sums of the first calculation values and the second calculation values using the following combined cost calculation formula,
Combined
Cost
=
W
NN
*
D
NN
D
max
+
W
O
L
*
(
1
-
A
O
L
A
T
)
wherein W NN and W OL are weight values adjusted depending on a ratio of the areas between the reference track and a target track,
D NN is a distance between midpoints of the reference track and the target track,
D max is a distance between the midpoint of the reference track and one of two intersection points of the reference track located on a straight line connecting the midpoints of the reference track and the target track, which is closer to the midpoint of the target track,
A OL is an overlapping area between the reference track and the target track, and
A T is an area of the target track.
19 . The vehicle according to claim 18 , the controller calculates W NN and W OL using the following formulas when the area A R of the reference track is greater than the area A T of the target track (A R >A T ), and
W
N
N
=
1
-
0.5
*
A
T
A
R
,
W
O
L
=
1
-
W
N
N
calculates W NN and W OL using the following formulas when the area A R of the reference track is not greater than the area A T of the target track
W
O
L
=
1
-
0
.
5
*
A
R
A
T
,
W
N
N
=
1
-
W
O
L
.