Patent ID: 11948408
Assignee: HYUNDAI MOTOR COMPANY
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. An apparatus for evaluating vehicle sensor performance, comprising:
a memory configured to store program instructions; and
a processor configured to execute the program instructions, the program instructions when executed configured to:
estimate field of views (FoVs) of sensors based on acquired object information regarding a target vehicle;
divide each of the estimated FoVs into a plurality of grid cells;
collect the object information corresponding to the respective grid cells and calculate mean errors and error variances of the object information; and
evaluate performances of the respective sensors based on the calculated mean errors and error variances,
wherein, when the FoVs are estimated and have a polygonal shape, the program instructions when executed are further configured to determine a size of the grid cells into which each of the FoVs is divided, and divide each of the estimated FoVs into the grid cells based on the determined size; and
recognize, as an FoV boundary area, an area in which the target vehicle is not detected by the sensors or an area in which the target vehicle is detected by the sensors after moving less than a predetermined distance;
wherein the mean errors and error variances of the object information are calculated by:
detecting object points around a GPS reference point located at a center of each grid cell; and
calculating a mean error value and an error variance value based on the GPS reference point.