Patent ID: 10627823

Abstract:
A method for learning a sensor fusion network for sensor fusion of an autonomous vehicle performing a cooperative driving is provided. The method includes steps of: a learning device, (a) inputting (i) a driving image including the autonomous vehicle, m cooperatively-driving vehicles, and second virtual vehicles and (ii) sensor status information on n sensors in the m cooperatively-driving vehicles into the sensor fusion network, to generate sensor fusion probabilities of sensor values of the n sensors being transmitted and generate fusion sensor information on s sensors having large probabilities, (b) inputting a road-driving video into a detection network, to detect the second virtual vehicles, pedestrians, and lanes and output nearby object information, and inputting sensor values and the nearby object information into a drive network, to generate moving direction probabilities and drive the autonomous vehicle and (c) acquiring traffic condition information, generating a reward, and learning the sensor fusion network.