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

Claim 17:
18. A vehicle, comprising:
a sensing apparatus configured to sense object information regarding a target vehicle; and
an apparatus for evaluating vehicle sensor performance configured to evaluate performance of the sensing apparatus by acquiring the object information regarding the target vehicle,
wherein the apparatus for evaluating vehicle sensor performance is further configured to:
estimate field of views (FoVs) of sensors based on the acquired object information;
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;
evaluate performances of the respective sensors based on the calculated mean errors and error variances; 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 dividing each of the FoVs into the grid cells includes:
when the FoVs are estimated and have a polygonal shape, determining, by the apparatus for evaluating vehicle sensor performance, a size of the grid cells into which each of the FoVs is divided; and
dividing, by the apparatus for evaluating vehicle sensor performance, each of the estimated FoVs into the grid cells based on the determined size;
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.