Method for verifying accuracy of virtual sensor model for simulation based on reality information data

A virtual sensor verification system comprising:

• a processor configured to acquire information on positions and states of real vehicles which are running on a real road, wherein the real vehicles includes a reality information acquisition vehicle and other vehicles, and wherein GNSS/INS mounted in the other vehicles of the real vehicles are synchronized with reference to a GPS time of GNSS/INS mounted in the reality information acquisition vehicle of the real vehicles, and a result of the synchronizing is used in the acquiring the information on the positions and states of the real vehicles, and to acquire real sensor data generated in real sensors of the reality information acquisition vehicle from among the real vehicles, the real sensor data being synchronized with reference to the GPS time of the GNSS/INS mounted in the reality information acquisition vehicle;
• a simulation processor configured to reproduce the real vehicles on a virtual road as virtual vehicles, based on the acquired information on the positions and states determined from the GPS-time-synchronized GNSS/INS of the real vehicles;
• and
• a verification processor configured to acquire virtual sensor data outputted from virtual sensors mounted in a virtual information acquisition vehicle from among the virtual vehicles, and to verify the virtual sensors by comparing the acquired real sensor data and the virtual sensor data.

A virtual sensor verification method comprising:

• reproducing real vehicles on a virtual road as virtual vehicles, based on information on positions and states which is acquired from real vehicles running on a real road,
• wherein the real vehicles includes a reality information acquisition vehicle and other vehicles, and wherein GNSS/INS mounted in the other vehicles of the real vehicles are synchronized with reference to a GPS time of GNSS/INS mounted in the reality information acquisition vehicle of the real vehicles, and a result of the synchronizing is used in the acquiring the information on the positions and states of the real vehicles;
• acquiring virtual sensor data outputted from virtual sensors mounted in a virtual information acquisition vehicle from among the virtual vehicles, the real sensor data being synchronized with reference to the GPS time of the GNSS/INS mounted in the reality information acquisition vehicle;
• and
• verifying the virtual sensors by comparing the acquired virtual sensor data and real sensor data which is acquired by real sensors of the reality information acquisition vehicle among the real vehicles.