APPARATUS AND METHOD FOR CORRECTING OFFSET OF SENSOR FOR AUTONOMOUS VEHICLE

• Main Authors: LEE KEON CHANG, KIM BYOUNG KWANG
• Format: Patent
• Language: English; Korean
• Published: 28.06.2021
• Subjects: CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE ORDIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; PERFORMING OPERATIONS; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TOTHE CONTROL OF A PARTICULAR SUB-UNIT; TRANSPORTING; VEHICLES IN GENERAL

The present invention relates to a sensor offset correction apparatus of an autonomous vehicle and a method thereof. The sensor offset correction method of the autonomous vehicle according to one embodiment comprises the following steps of: recognizing an abnormal behavior of the vehicle satisfying a predetermined condition based on driving information; collecting point-type lidar data through a lidar sensor when an abnormal behavior is recognized, and determining whether the vehicle is in a straight-line driving state based on lidar data and the driving information; and controlling an attitude of the vehicle by correcting an offset of at least one of a heading angle, a steering angle, and a yaw rate of the vehicle when it is determined that the vehicle is in the straight-line driving state. An embodiment of the present invention is to provide the apparatus of the autonomous vehicle and the method thereof, capable of re-adjusting a zero point of a steering angle or regenerating a driving path through offset correction. 일 실시 예에 의한 자율주행 차량의 센서 오프셋 보정 방법에 있어서, 주행정보를 기반으로 소정의 조건을 만족하는 차량의 비정상 거동을 인지하는 단계; 비정상 거동이 인지되면, 라이다 센서를 통해 포인트 형태의 라이다 데이터를 수집하고, 상기 라이다 데이터와 상기 주행정보에 기초하여 상기 차량이 직진 주행상태인지를 판단하는 단계; 및 직진 주행상태로 판단되면, 차량의 헤딩각, 조향각, 및 요레이트 중 적어도 하나의 오프셋을 보정하여 상기 차량의 자세를 제어하는 단계;를 포함할 수 있다.