US 12,436,266 B2
Vehicle sensor fusion apparatus and method thereof
Jin Ho Yang, Yongin-si (KR)
Assigned to HYUNDAI MOBIS CO., LTD., Seoul (KR)
Filed by HYUNDAI MOBIS Co., Ltd., Seoul (KR)
Filed on Aug. 2, 2022, as Appl. No. 17/879,044.
Claims priority of application No. 10-2021-0170697 (KR), filed on Dec. 2, 2021.
Prior Publication US 2023/0176204 A1, Jun. 8, 2023
Int. Cl. G01S 13/86 (2006.01); G01S 13/89 (2006.01); G01S 13/931 (2020.01); G01S 17/89 (2020.01); G01S 17/931 (2020.01)
CPC G01S 13/865 (2013.01) [G01S 13/89 (2013.01); G01S 13/931 (2013.01); G01S 17/89 (2013.01); G01S 17/931 (2020.01)] 15 Claims
OG exemplary drawing
 
1. A vehicle sensor fusion apparatus, comprising:
a plurality of sensors to output point cloud-based sensing results;
a fusion determination device configured to determine whether it is possible to fuse the sensing results based on the sensing results; and
a sensing result fusion device configured to fuse the sensing results and output the fused sensing results, when it is determined that it is possible to fuse the sensing results,
wherein the fusion determination device extracts points located at predetermined locations from points included in sensing result of each of the plurality of sensors and determines whether it is possible to fuse the sensing results based on coordinates of the extracted points, and
wherein the fusion determination device calculates distances between the extracted points and inner angles of a shape estimated by the extracted points based on the coordinates of the extracted points, determines whether a first fusion condition is met based on the calculated distances, and determines whether a second fusion condition is met based on the calculated inner angles.