Patent ID: 11948408
Assignee: KIA MOTORS CORPORATION
Field: Measurement (Instruments)
Classification: CPC G | IPC G

Claim 8:
9. A method for evaluating vehicle sensor performance in an apparatus for evaluating vehicle sensor performance, comprising:
estimating, by a processor, fields of view (FoVs) of sensors based on acquired object information regarding a target vehicle;
dividing, by the processor, each of the estimated FoVs into a plurality of grid cells;
collecting, by the processor, the object information that corresponds to the respective grid cells and calculating mean errors and error variances of the object information;
evaluating, by the processor, performances of the respective sensors based on the calculated mean errors and error variances,
wherein the dividing each of the FoVs into the grid cells includes:
when the FoVs are estimated and have a polygonal shape, determining, by the processor, a size of the grid cells into which each of the FoVs is divided; and
dividing, by the processor, each of the estimated FoVs into the grid cells based on the determined size; and

recognizing, by the processor, an FoV boundary area as 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.