Patent ID: 11899138
Assignee: HYUNDAI MOBIS CO., LTD.
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 0:
1. A light detection and ranging (LIDAR) signal processing apparatus comprising:
a flight length deriving unit configured to derive a flight length of a first laser light emitted from a sensor of a vehicle, the emitted first laser light directed at an incline towards a road on which the vehicle is present;
a vertical inclination measurement unit configured to estimate a vertical inclination of the vehicle with respect to the road based on the flight length;
a horizontal inclination measurement unit configured to estimate a horizontal inclination of the vehicle with respect to the road based on the flight length;
a reliability determination unit configured to determine reliability of information detected by the sensor based on the vertical inclination and the horizontal inclination of the vehicle; and
a data processing unit configured to:
when the detected information is reliable, process the detected information as valid,
when the detected information is not reliable and the detected information is within a first error tolerance range, process the detected information as invalid data and compensate the detected information with an error value,
when the detected information is not reliable and the detected information is out of the first error tolerance range, subtract an inclination value from the error value and compare the subtracted inclination value with vehicle's orientation information, and
when the comparison result is out of the first error tolerance range, output a warning message,

wherein the vertical inclination measurement unit is configured to:
calculate an actual vertical inclination based on the derived flight length of the first laser light and a mounted height of the sensor of the vehicle from the road to the sensor in a vertical direction, and
estimate the vertical inclination of the vehicle by subtracting the actual inclination from an ideal vertical inclination.