The present invention relates to an apparatus and a method for monitoring a surrounding environment of a vehicle. The apparatus comprises: a sensor unit including a plurality of detection sensors for detecting an object outside a vehicle according to a frame at a predefined period; and a control unit which extracts a stationary object from among the outside objects detected by the sensor unit, maps the extracted stationary object to a grid map, calculates an occupancy probability parameter, indicative of a probability that the stationary object will be located on a grid of the grid map, from the result of mapping, and monitors the surrounding environment of the vehicle by specifying a grid on which the stationary object is located in the grid map, based on the occupancy probability parameter. The control unit operates to recognize a free space around the vehicle using the specified grid. The present invention can improve detection accuracy for the outside objects.

    본 발명은 차량의 주변 환경 모니터링 장치 및 방법에 관한 것으로서, 미리 정의된 주기에 의한 프레임에 따라 차량의 외부 객체를 검출하기 위한 복수의 검출 센서를 포함하는 센서부; 및 센서부에 의해 검출된 외부 객체 중 정지 객체를 추출하고, 추출된 정지 객체를 미리 설정된 그리드 맵(Grid Map)에 매핑하고 그 매핑 결과로부터 정지 객체가 그리드 맵의 그리드에 위치할 확률을 지표하는 점유 확률(Occupancy Probability) 파라미터를 산출하며, 산출된 점유 확률 파라미터를 토대로 그리드 맵 내에서 정지 객체가 위치하는 그리드를 특정하는 방식으로 차량의 주변 환경을 모니터링하되, 특정된 그리드를 이용하여 차량 주변의 자유 공간(Free Space)을 인식하도록 동작하는 제어부;를 포함하는 것을 특징으로 한다.


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    Title :

    APPARATUS AMD METHOD FOR MONITORING SURROUNDING ENVIRONMENT OF VEHICLE


    Additional title:

    차량의 주변 환경 모니터링 장치 및 방법


    Contributors:

    Publication date :

    2023-01-30


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Korean


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion / G06F ELECTRIC DIGITAL DATA PROCESSING , Elektrische digitale Datenverarbeitung



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