| CPC B60W 60/0027 (2020.02) [G01S 13/867 (2013.01); G01S 13/931 (2013.01); G06T 7/80 (2017.01); B60W 2420/403 (2013.01); G06T 2207/30244 (2013.01); G06T 2207/30252 (2013.01)] | 7 Claims |
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1. A driving control system, which controls driving of a vehicle, comprising:
a sensor fusion device that integrates and outputs detection results of two or more sensors; and
a driving control device that controls the driving of the vehicle using an output from the sensor fusion device,
wherein the sensor fusion device comprises at least one computer configured to:
convert sensor data detected by the two or more sensors from a coordinate system unique to the two or more sensors into a unified coordinate system;
select features from the sensor data detected by each of the two or more sensors;
define functions each approximating an array state of the features for the respective two or more sensors;
compare the functions each approximating the array state of the features detected by each of the two or more sensors and extrapolates lines represented respectively by the defined functions outside detection areas of the two or more sensors, and compares the extrapolated lines with each other;
calculate a correction amount for converting coordinates of the features detected by the two or more sensors from a result of the comparison of the functions; and
integrate the sensor data and outputs an integration result, and
convert the sensor data into the unified coordinate system using the calculated correction amount.
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