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

Claim 4:
5. A light detection and ranging (LIDAR) apparatus for a vehicle, the LIDAR apparatus comprising:
a sensor configured to emit a first laser light toward a road on which a vehicle is present, the emitted first laser light directed at a first angle towards the road, the sensor configured to receive a reflection wave;
a flight length deriving unit configured to derive a flight length of the first laser light;
a vertical inclination measurement unit configured to estimate a vertical inclination of the vehicle with respect to the road based on the flight length of the first laser light;
a horizontal inclination measurement unit configured to estimate a horizontal inclination of the vehicle with respect to the road based on the flight length of the first laser light;
a reliability determination unit configured to determine reliability of information detected by the sensor based on the vertical inclination and horizontal inclination of the vehicle; and
a data processing unit configured to:
when the information detected by the sensor is reliable, process the information detected from the sensor as valid data,
when the information detected by the sensor is not reliable and the information detected by the sensor is within a first error tolerance range, process the information detected from the sensor as invalid data and compensate the information detected by the sensor with an error value,
when the information detected by the sensor is not reliable and the information detected by the sensor 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.