# US 11,307,292 B2 · ODM information reliability determination system and method and vehicle using the same > Agents: this data is available as JSON from the patentgrep API and MCP server — see https://patentgrep.com/llms.txt - Number: US 11,307,292 B2 - Document ID: US11307292B2 - Status: Granted - Kind: B2 - Application number: 16/584,508 - Filed: 2019-09-26 - Published: 2020-06-18 - Granted: 2022-04-19 - Earliest claimed: 2018-12-12 - Assignees: Hyundai Motor Company; Kia Motors Corporation - Applicants: Hyundai Motor Company; Kia Motors Corporation - Inventors: Su Min Jo; Ji Eun Won; Sang Bok Won; Min Kyun Yoo; Jae Pil Hwang; Woo Young Lee; Uk Il Yang; Hoon Lee; Seul Ki Han; Bo Young Yun; Hyok Jin Chong; Hyung Sun Jang - Web page: https://patentgrep.com/patent/US11307292B2 ## CPC - G01S 7/40: Means for monitoring or calibrating - G01S 13/42: Simultaneous measurement of distance and other co-ordinates (indirect measurement G01S13/46) - G01S 13/584: {adapted for simultaneous range and velocity measurements} - G01S 13/878: {Combination of several spaced transmitters or receivers of known location for determining the position of a transponder or a reflector (G01S13/874 takes precedence)} - G01S 13/89: for mapping or imaging - G01S 13/931: of land vehicles - G01S 2013/93271: {in the front of the vehicles} - G01S 2013/93274: {on the side of the vehicles} - G01S: RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES ## Abstract Disclosed are an occupancy distance map (ODM) information reliability determination system and method and a vehicle using the same. The system includes 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. ## Claims ### Claim 1 An occupancy distance map (ODM) information reliability determination system comprising: 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 fusion 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. ### Claim 2 (depends on 1) The ODM information reliability determination system according to claim 1, wherein the signal conversion unit receives the plurality of sensing signals from forward radar and lateral radar of a host vehicle. ### Claim 3 (depends on 1) The ODM information reliability determination system according to claim 1, wherein, when calculating the detected state information of the nearby vehicle, the calculation unit calculates detected distance information, speed information and angle information of the nearby vehicle. ### Claim 4 (depends on 1) The ODM information reliability determination system according to claim 1, wherein, when outputting the ODM information, the ODM output unit outputs a grid map, in which a forward-longitudinal direction region and a lateral direction region are divided into six regions, a longitudinal position, a lateral position, a longitudinal speed, a flag indicating presence, and probability information at a predetermined speed or less of a host vehicle. ### Claim 5 (depends on 1) The ODM information reliability determination system according to claim 1, wherein, when outputting the ODM information, the ODM output unit generates a plurality of detection points based on effective detection information received from forward radar and lateral radar of a host vehicle, and generates at least one ODM object by clustering a group of detection points, which is determined to be an object or a vehicle, among the plurality of detection points located within a grid map. ### Claim 6 (depends on 1) The ODM information reliability determination system according to claim 1, wherein, when generating the sensor fusion ODM information, the ODM fusion unit generates the sensor fusion ODM information in consideration of accuracy of a sensor in each sensing region of the sensor. ### Claim 7 (depends on 6) The ODM information reliability determination system according to claim 6, wherein the ODM fusion unit: outputs ODM information of left radar as sensor fusion ODM information within a sensing region of the sensor, the sensing region ranging from −0.8 m to 10 m from a host vehicle in a longitudinal direction thereof and ranging from −2.2 m to −0.5 m from the host vehicle in a lateral direction thereof; outputs ODM information of forward radar as sensor fusion ODM information within a sensing region of the sensor, the sensing region ranging from −0.8 m to 10 m from the host vehicle in the longitudinal direction thereof and ranging from −0.5 m to 0.5 m from the host vehicle in the lateral direction thereof; outputs ODM information of right radar as sensor fusion ODM information within a sensing region of the sensor, the sensing region ranging from −0.8 m to 10 m from the host vehicle in the longitudinal direction thereof and ranging from 0.5 m to 2.2 m from the host vehicle in the lateral direction thereof; and outputs ODM information of the forward radar as sensor fusion ODM information within a sensing region of the sensor, the sensing region ranging from 10 m to 20 m from the host vehicle in the longitudinal direction thereof and ranging from −2.2 m to 2.2 m from the host vehicle in the lateral direction thereof. ### Claim 8 (depends on 1) The ODM information reliability determination system according to claim 1, wherein the association information is generated as a 6-bit signal, the 6-bit signal comprising right radar track information, left radar track information, forward radar track information, right radar ODM information, left radar ODM information, and forward radar ODM information. ### Claim 9 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. ### Claim 10 (depends on 9) The ODM information reliability determination method according to claim 9, wherein the receiving the plurality of sensing signals comprises receiving the sensing signals from forward radar and lateral radar of a host vehicle. ### Claim 11 (depends on 9) The ODM information reliability determination method according to claim 9, wherein the calculating the detected state information of the nearby vehicle comprises calculating detected distance information, speed information and angle information of the nearby vehicle. ### Claim 12 (depends on 9) The ODM information reliability determination method according to claim 9, wherein the outputting the ODM information comprises outputting a grid map, in which a forward-longitudinal direction region and a lateral direction region are divided into six regions, a longitudinal position, a lateral position, a longitudinal speed, a flag indicating presence, and probability information at a predetermined speed or less of a host vehicle. ### Claim 13 (depends on 9) The ODM information reliability determination method according to claim 9, wherein the outputting the ODM information comprises generating a plurality of detection points based on effective detection information received from forward radar and lateral radar of a host vehicle and generating at least one ODM object by clustering a group of detection points, which is determined to be an object or a vehicle, among the plurality of detection points located within a grid map. ### Claim 14 (depends on 9) The ODM information reliability determination method according to claim 9, wherein the generating the sensor fusion ODM information comprises generating the sensor fusion ODM information in consideration of accuracy of a sensor in each sensing region of the sensor. ### Claim 15 (depends on 14) The ODM information reliability determination method according to claim 14, wherein the generating the sensor fusion ODM information comprises: outputting ODM information of left radar as sensor fusion ODM information within a sensing region of the sensor, the sensing region ranging from −0.8 m to 10 m from a host vehicle in a longitudinal direction thereof and ranging from −2.2 m to −0.5 m from the host vehicle in a lateral direction thereof; outputting ODM information of forward radar as sensor fusion ODM information within a sensing region of the sensor, the sensing region ranging from −0.8 m to 10 m from the host vehicle in the longitudinal direction thereof and ranging from −0.5 m to 0.5 m from the host vehicle in the lateral direction thereof; outputting ODM information of right radar as sensor fusion ODM information within a sensing region of the sensor, the sensing region ranging from −0.8 m to 10 m from the host vehicle in the longitudinal direction thereof and ranging from 0.5 m to 2.2 m from the host vehicle in the lateral direction thereof; and outputting ODM information of the forward radar as sensor fusion ODM information within a sensing region of the sensor, the sensing region ranging from 10 m to 20 m from the host vehicle in the longitudinal direction thereof and ranging from −2.2 m to 2.2 m from the host vehicle in the lateral direction thereof. ### Claim 16 (depends on 9) The ODM information reliability determination method according to claim 9, wherein the association information is generated as a 6-bit signal, the 6-bit signal comprising right radar track information, left radar track information, forward radar track information, right radar ODM information, left radar ODM information, and forward radar ODM information. ### Claim 17 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.