| 摘要 |
The present invention relates to a lane estimation system and method using a radar for a vehicle which obtains lateral location of an object using the radar for the vehicle and corrects by a radius of a route; generates a lateral histogram for a non-moving and moving objects by distinguishing the non-moving and moving objects based on a relative velocity; and enabling to determine whether the vehicle changes the lane by clustering the lateral histogram and estimating a shape of a left lane and a right lane using the clustering result. The lane estimation system using the radar for the vehicle in accordance with the present invention, is characterized in comprising: a radar transmitting unit which transmits and radiates a radar signal; a radar receiving unit which receives the radar signal which is reflected by the object and returned back; and a lane estimation unit which represents the received radar signal in a relative distance with the vehicle considering a curved ratio of a road, determines whether the object is the non-moving object or the moving object by obtaining the lateral location on straight lanes based on the relative distance, generates each of the lateral histogram for the non-moving vehicle and the moving vehicle, estimating the shape of the left land and the right land by using the generated lateral histogram, and determines whether the vehicle changes the lanes by using a similarity between information on previous lanes and current lanes. |
