ODM information reliability determination system and method and vehicle using the same

An ODM information reliability determination method comprising:

• receiving a plurality of sensing signals;
• processing the received sensing signals;
• calculating state information of a nearby vehicle detected from processed signals;
• outputting sensor track information and ODM information based on the calculated state information of the nearby vehicle;
• generating sensor fusion ODM information by performing sensor fusion with respect to the ODM information;
• and
• determining reliability of the sensor fusion ODM information by confirming association between the sensor fusion track information and the sensor fusion ODM information;
• wherein the determining reliability of the sensor fusion ODM information comprises generating association information by confirming the association between the sensor fusion track information and the sensor fusion ODM information.

A vehicle comprising:

• a sensing device configured to sense a nearby vehicle;
• and
• an occupancy distance map (ODM) information reliability determination system configured to generate sensor fusion ODM information based on information of the nearby vehicle received from the sensing device and to determine reliability of the sensor fusion ODM information,
• wherein the ODM information reliability determination system comprises:
• a signal conversion unit configured to receive a plurality of sensing signals and to perform signal processing;
• a calculation unit configured to calculate state information of a nearby vehicle detected from processed signals;
• a sensor fusion track output unit configured to output sensor fusion track information based on the calculated state information of the nearby vehicle;
• an ODM output unit configured to output ODM information based on the calculated state information of the nearby vehicle;
• an ODM fusion unit configured to generate sensor fusion ODM information by performing sensor fusion with respect to the ODM information;
• and
• an ODM information reliability determination unit configured to determine reliability of the sensor fusion ODM information by confirming association between the sensor fusion track information and the sensor fusion ODM information;
• wherein when confirming the association between the sensor track information and the sensor fusion ODM information, the ODM information reliability determination unit generates association information by confirming the association between the sensor fusion track information and the sensor fusion ODM information.