A learning method and a learning apparatus for integrating the space detection result of another autonomous vehicle with the space detection result of the own autonomous vehicle acquired by V2V communication, and a test method and a test apparatus using the learning method and the learning apparatus. DEVICE FOR INTEGRATING OBJECT DETECTION INFORMATION ACQUIRED THROUGH V2V COMMUNICATION FROM OTHER AUTONOMOUS VEHICLE WITH OBJECT DETECTION INFORMATION GENERATED BY PRESENT AUTONOMOUS VEHICLE, AND TESTING METHOD AND TESTING DEVICE USING THE SAME}

摘要

PROBLEM TO BE SOLVED: To provide a learning method, a testing method, a learning device, and a testing device capable of mutually sharing a space detection result using CNN by V2V technology. SOLUTION: The learning method includes a step in which a learning device has a concatenation network 210 to generate one or more pair feature vectors, and a learning device has a discrimination network 220 to apply an FC operation to the pair feature vectors. , A step of generating a discriminant vector and a box regression vector, and the learning device has a loss unit 230 to generate an integrated loss by referring to the discriminant vector, the box regression vector, and the GT corresponding thereto, and use the integrated loss. And performing at least some of the parameters included in the DNN by performing back propagation. [Selection diagram] Figure 2