System and method for infrastructure dynamic object recognition information convergence processing in autonomous vehicle

A system for infrastructure dynamic object recognition information convergence processing in an autonomous vehicle, the system comprising:

• a recognition unit configured to receive object information collected by a sensor of the autonomous vehicle to recognize an environment;
• a V2X reception message processing unit configured to receive object information collected by an InfraEdge system;
• and
• a determination and control unit configured to use the object information collected by the sensor and the object information collected by the InfraEdge system, and perform a determination for autonomous driving in consideration of a reflection area of the InfraEdge system,
• wherein the determination and control unit corrects a location of an object included in the object information collected by the InfraEdge system in consideration of the convergence delay time, which is a time difference between a time recorded according to message reception of the V2X reception message processing unit and a current time,
• wherein the determination and control unit considers a corrected location of the object included in the object information collected by the InfraEdge system and the reflection area of the InfraEdge system, and when the location information of the corrected location of the object included in the object information collected by the InfraEdge system is included in the reflection area, if the object is a recognized object recognized by the InfraEdge system, uses the recognized object to determine the autonomous driving, and if it is an object recognized by the sensor of the autonomous vehicle, discards the recognized object, and
• wherein the determination and control unit establishes a driving plan using the object information collected by the sensor and the object information collected by the InfraEdge system, and generates and follows a local route.