公开(公告)号：US20230236323A1

公开(公告)日：2023-07-27

申请号：US18085147

申请日：2022-12-20

Applicant: PUKYONG NATIONAL UNIVERSITY INDUSTRY-UNIVERSITY COOPERATION FOUNDATION

Inventor： Kyungchang LEE ,  Jaeheon JANG ,  Jungho KANG ,  Hyeongjun KIM ,  Hyunhee KIM

IPC: G01S17/931 ,  G01S17/89 ,  G06T7/73 ,  G01S7/481 ,  G01S7/497

CPC classification number: G01S17/931 ,  G01S17/89 ,  G06T7/73 ,  G01S7/4811 ,  G01S7/497 ,  G06T2207/10028

Abstract: There is provided a simultaneous localization and mapping (SLAM) system including a first LiDAR and a second LiDAR mounted on a vehicle bumper; a LiDAR data merge unit receiving data from the first LiDAR and the second LiDAR, aligning LiDAR times through time synchronization, and then converting the data into a point cloud type and merging the data; an electronic control unit (ECU) providing inertial data of the vehicle for correcting the data merged in the LiDAR data merge unit; and an SLAM unit correcting the data merged in the LiDAR data merge unit by using the inertial data of the vehicle received from the ECU to obtain LiDAR odometry for estimating a movement of the vehicle, generating a 3D map of a road on which the vehicle travels, and extracting a location and a traveling route of the vehicle inside a road.

公开(公告)号：US20230239158A1

公开(公告)日：2023-07-27

申请号：US18083171

申请日：2022-12-16

Applicant: PUKYONG NATIONAL UNIVERSITY INDUSTRY-UNIVERSITY COOPERATION FOUNDATION

Inventor： Kyungchang LEE ,  Hyunjun JANG ,  Hyeongjun KIM ,  Hyunhee KIM ,  Eunhye SIN

IPC: H04L9/32 ,  H04L9/08 ,  H04L12/40

CPC classification number: H04L9/3242 ,  H04L9/0869 ,  H04L12/40026 ,  H04L2012/40215

Abstract: There is provided a message chain-based CAN security system with a hash function, including: a hash value generating unit generating a hash value H(r,ID,i)/H′(r,ID,i) using a received Hash Reset Key HRKr and ID to be transmitted or received by the system when an arbitrary node transmits the HRKr; a CAN message transmitting unit transmitting a CAN message including the hash value H(r,ID,i)/H′(r,ID,i); a validity determining unit determining whether H(r,ID,i) of a CAN message received by a node which has received the CAN message matches a value held by the system; a message receiving and executing unit allowing message reception and executing a command when the validity determining unit determines that the CAN message is valid; and a warning transmitting unit transmitting an intruder detection warning.