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

Claim 6:
7. A light detection and ranging (LIDAR) signal processing method, comprising:
deriving 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;
estimating a vertical inclination and a horizontal inclination of the vehicle with respect to the road based on the flight length;
determining reliability of information detected from the sensor based on the vertical inclination and the horizontal inclination of the vehicle;
when the detected information is reliable, processing the detected information as valid data;
when the detected information is not reliable and the detected information is within a first error tolerance range, processing the detected information as invalid data and compensating 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, subtracting an inclination value from the error value and comparing the subtracted inclination value with vehicle's orientation information; and
when the comparison result is out of the first error tolerance range, outputting a warning message,
wherein in estimating the vertical inclination and horizontal inclination, an actual vertical inclination is calculated 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 the vertical inclination of the vehicle is calculated by subtracting the actual vertical inclination from an ideal vertical inclination.