KR102110582B1 - Device of following forward vehicle using visible light communication, and the method of thereof - Google Patents

Abstract

The present invention relates to an apparatus and a method for following a vehicle in front, and attempts to communicate with the vehicle in front of the vehicle by connecting to the vehicle in front of the vehicle. After measuring the inter-vehicle distance, adjust at least one of the throttle, brake, and steering wheel based on at least one of the inter-vehicle distance, front vehicle speed, calculated front vehicle angle, and vehicle travel distance, and input the brake input from the user. It is assumed that the operation is terminated by acquiring and acquiring a steering wheel adjustment input from a user.

Description

Front vehicle following device using visible light communication {Device of following forward vehicle using visible light communication, and the method of thereof}

The present invention relates to a front vehicle following device and a method thereof, and more particularly, to a front vehicle following device and method using visible light communication.

Recently, as the spread of lighting devices using light emitting diodes (LEDs) as a light source has been expanded, Visible Light Communication (VLC) technology capable of communicating with LED lighting devices has been introduced.

VLC technology is a communication technology that wirelessly transmits data to visible light wavelength bands that humans can perceive. VLC technology is distinguished from existing wired optical communication technology and infrared wireless communication technology in that it uses light in the visible light wavelength band. In addition, unlike radio frequency communication, VLC technology has the advantage of convenience and physical security that can be used freely without restrictions or permission in terms of frequency usage, and has a difference that the user can visually check the communication link.

In a VLC system using an LED light source, it is difficult to detect information about a phase of a transmission signal at a receiving end and a relatively simple configuration. At the transmitting end, an intensity modulation method of modulating electrical data "0" and "1" with a change in intensity of a visible light signal. Or, an on-off keying (OOK) modulation method is generally used. In addition, the transmitting end of a VLC system using an LED light source includes a coding block that maps data "0" and "1" to signal waveforms of "0" and "1" defined by the system as in the transmitting end of a general digital communication system. Depending on the system, coding methods such as Non-Return to Zero (NRZ), Return-to-Zero, and Manchester are mainly used.

However, in the prior art, it is assumed that only a plurality of LEDs are transmitted and received, and only a visible light wireless communication (VLC) function is performed, and various other functions are not performed.

An object of the present invention is to provide a vehicle following device and a method for following a vehicle in front of the vehicle by using the visible light communication system as well as inter-vehicle communication.

According to an aspect of the present invention, a front vehicle following device includes a communication unit that transmits and receives through a visible light communication with a front vehicle; An angle calculator configured to receive a vehicle speed ahead of the vehicle through the communication unit and to calculate a vehicle angle through the vehicle; A distance measuring unit measuring a distance between the front vehicle and the vehicle; And a control unit adjusting at least one of a throttle, a brake, and a steering wheel based on at least one of the inter-vehicle distance, the front vehicle speed, the front vehicle angle, and the moving distance of the vehicle.

According to another aspect of the present invention, a method of following a front vehicle includes attempting visible light communication with the front vehicle; When connected to the front vehicle, receiving the front vehicle speed through the visible light communication and calculating the front vehicle angle through the front vehicle; Measuring an inter-vehicle distance from the front vehicle; Adjusting at least one of a throttle, a brake and a steering wheel based on at least one of the inter-vehicle distance, the front vehicle speed, the calculated front vehicle angle and the moving distance of the vehicle; And obtaining the brake input from the user and ending the operation when the steering wheel adjustment input is obtained from the user.

According to the present invention, when attempting visible light communication with a front vehicle and connecting to the front vehicle, the vehicle speed of the front vehicle is received through the visible light communication, the angle of the front vehicle is calculated through this, and the distance between the front vehicles is measured, Adjust at least one of the throttle, brake and steering wheel based on at least one of the inter-vehicle distance, front vehicle speed, calculated front vehicle angle, and vehicle travel distance, and obtain a brake input from the user and a steering wheel adjustment input from the user If you do, the operation ends.

Therefore, the driver can stably drive the road without manipulating the steering wheel and can perform other actions than driving when driving, so that the driver feels tired with a similar driving environment when driving on long sections of roads such as a main road. Solved the problem.

In addition, the present invention has the effect of improving the vehicle performance by adding the function of the driving assistance system, and can expect a convenient role as a semi-automatic driving system.

In addition, in comparison with the smart cruise control, the smart cruise control requires a driver to adjust the steering wheel on a curved road, but the present invention recognizes a convenient effect in that it is automatically steered without requiring the driver to operate the steering wheel.

Subsequently, when interlocking with a drowsy driving monitoring system (for example, a pupil tracking device), steering is automatically performed when the driver's drowsiness is detected, thereby preventing an accident due to drowsy driving.

1 is a configuration diagram of a visible light wireless communication transmitter and receiver according to an embodiment of the prior art.
2 is a block diagram of a vehicle following device according to an embodiment of the present invention.
3 is a flowchart of a vehicle following method according to an embodiment of the present invention.
4 is a flowchart illustrating a process of calculating a vehicle angle in a vehicle following method according to an embodiment of the present invention.
5 is a view showing calculating a vehicle angle in a vehicle following method according to an embodiment of the present invention.

Advantages and features of the present invention, and methods for achieving them will be clarified with reference to embodiments described below in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms, and only the embodiments allow the disclosure of the present invention to be complete, and have ordinary knowledge in the art to which the present invention pertains. It is provided to fully inform the person of the scope of the invention, and the invention is defined by the scope of the claims. Meanwhile, the terminology used herein is for describing the embodiments and is not intended to limit the present invention. In the present specification, the singular form also includes the plural form unless otherwise specified in the phrase. As used herein, "comprises" and / or "comprising" refers to the components, steps, operations and / or elements mentioned above, the presence of one or more other components, steps, operations and / or elements. Or do not exclude additions.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

2 is a configuration diagram of a vehicle following device according to an embodiment of the present invention.

As shown in FIG. 2, the vehicle following device includes a communication unit 210, an angle calculation unit 220, a distance measurement unit 230, and a control unit 240.

The communication unit 210 transmits and receives data through visible light communication with the vehicle in front. Specifically, the communication unit 210 transmits and receives data through visible light communication emitted from the left rear lamp and the right rear lamp of the front vehicle.

The angle calculator 220 receives the vehicle speed in front of the vehicle through the communication unit 210 and calculates the vehicle angle through the vehicle. Specifically, the angle calculator 220 receives data from the left and right rear ramps of the front vehicle through a time stamp and calculates the front vehicle angle through the angle formed by the left and right rear ramps using the time delay accordingly. For example, the front vehicle angle may be 15 degrees.

Here, the vehicle speed reception of the front vehicle is received through visible light communication from the left and right rear lamps of the front vehicle. For example, the vehicle speed at the front may be 60 km / h.

The distance measuring unit 230 measures the distance between the vehicle in front and the vehicle. Specifically, the distance measuring unit 230 measures the inter-vehicle distance through at least one of an ultrasonic sensor, an infrared sensor, and a laser sensor. For example, the distance between the vehicle in front and the vehicle may be 20 m.

The control unit 240 adjusts at least one of the throttle, the brake, and the steering wheel based on at least one of the inter-vehicle distance, front vehicle speed, front vehicle angle, and vehicle travel distance. Specifically, the control unit 240 adjusts throttle and brake by transmitting the power train to the CAN train based on the calculation result. In addition, the control unit 240 adjusts the steering wheel direction by transmitting the steering wheel or MDPS (Motor Driving Power Steering) to the CAN bus based on the calculation result.

The control unit 240 obtains a brake input from the user and outputs a control signal to end the operation when the steering wheel adjustment input is obtained from the user. That is, when the user applies the brake and adjusts the steering wheel, it is no longer necessary to follow the vehicle in front of the vehicle, and driving from the user's intention starts from now on.

The control unit 240 calculates the steering wheel angle generated by the front vehicle at a corresponding point based on the inter-vehicle distance, the front vehicle speed, the front vehicle angle, and the moving distance of the vehicle, and calculates throttle and brake adjustment timing through the inter-vehicle distance.

3 is a flowchart of a vehicle following method according to an embodiment of the present invention.

As illustrated in FIG. 3, first, visible light communication is attempted with the vehicle in front (S310). Specifically, through the communication unit 210, attempts to communicate with the front vehicle visible light.

Next, it is checked whether it is connected to the vehicle in front (S320). Specifically, it is checked whether the vehicle is connected to the vehicle in front through the communication unit 210.

When the connection is confirmed, the vehicle speed of the vehicle in front is received through visible light communication, and the vehicle angle is calculated through this (S330). Specifically, the vehicle speed of the vehicle is received through the communication unit 210 and the vehicle angle of the vehicle is calculated through the angle calculator 220.

Subsequently, the distance between the vehicles in front of the vehicle is measured (S340). Specifically, the inter-vehicle distance is measured through at least one of an ultrasonic sensor, an infrared sensor, and a laser sensor.

At least one of a throttle, a brake, and a steering wheel is adjusted based on at least one of the inter-vehicle distance, the front vehicle speed, the calculated front vehicle angle, and the moving distance of the vehicle (S350). Specifically, at least one of the throttle, brake, and steering wheel is adjusted based on at least one of the inter-vehicle distance, the front vehicle speed, the calculated front vehicle angle, and the moving distance of the vehicle through the control unit 240.

Subsequently, it is checked whether a brake input is obtained from the user (S360).

Also, it is checked whether a steering wheel adjustment input is obtained from a user (S370).

When the user obtains the brake input and the steering wheel adjustment input, the operation ends. Specifically, when the user applies the brake and operates the steering wheel, the automatic driving by the vehicle following device is now terminated and the user manually drives.

Next, a method of calculating the front vehicle angle will be described in more detail.

-How to calculate the angle of the vehicle in front-

D: Distance from the vehicle in front obtained by the distance measuring means

L: Distance from the left rear lamp

R: Distance from the right rear lamp

Lt = x: Time of the signal received from the left ramp signal

Rt = x + a: Time of the signal received from the right ramp signal

c: Light speed (300,000 km / s)

a: Receiving time difference between the signal from the left rear lamp and the signal from the right rear lamp

O: The location of the distance from the host vehicle and D

4 is a flowchart illustrating a process of calculating a vehicle angle in a vehicle following method according to an embodiment of the present invention.

As shown in FIG. 4, first, the own clock time is received from the left rear lamp and the right rear lamp of the front vehicle (S331). Specifically, it is transmitted as a time stamp.

Next, the difference between the reception times of the signal stamped with the same timestamp is calculated by receiving the signals of the left and right rear lamps (S332). Specifically, the reception time difference a = Lt-Rt.

Subsequently, a circle having a predetermined distance as a radius based on the receiver is drawn (S333). Specifically, a certain distance is obtained by adding half of the distance (D) to the vehicle in front of the vehicle by multiplying the received time difference (a) and the speed of light (c). In other words, a constant distance = D + a × C / 2.

Subsequently, the contact point of the circle is found at a predetermined distance with a radius around the receiver of the host vehicle and a circle having a radius of half the expected vehicle width at the distance between the vehicles (S334).

Predict the position of the vehicle ahead (S335). For example, the vehicle shape is predicted in the form of A and B. Since Rt> Lt, it is difficult to form B, and therefore A.

가 된다. Finally, after obtaining the contact point and the center position with respect to the predicted position of the front vehicle and the receiver, the front vehicle angle is calculated (S336). For example, if the contact point of a circle with a certain distance around A and the receiver is (v1, w1) and the position of O is (v2, w2), the vehicle angle

Becomes.

Here, since O is assumed to be the center position of the front vehicle, the radius is D + a × C / 2.

5 is a view showing calculating a vehicle angle in a vehicle following method according to an embodiment of the present invention. As shown in FIG. 5, the shape of the vehicle is shown in the form of A, and the angle between the rear of A and the line segment in the horizontal direction is the front vehicle angle.

-Time stamp-

The time stamp is a string representing a specific time. It is designed for convenience when comparing two or more times or calculating periods, and is expressed in a consistent format. The act of recording actual information according to the timestamp format is called time stamping. In a file system, a timestamp also means the time when a stored file was created or changed.

2005-10-30 T 10:45 UTC

2007-11-09 T 11:20 UTC

Sat Jul 23 02:16:57 2005

According to the present invention, when attempting visible light communication with a front vehicle and connecting to the front vehicle, the vehicle speed of the front vehicle is received through the visible light communication, the angle of the front vehicle is calculated through this, and the distance between the front vehicles is measured, Adjust at least one of the throttle, brake and steering wheel based on at least one of the inter-vehicle distance, front vehicle speed, calculated front vehicle angle, and vehicle travel distance, and obtain a brake input from the user and a steering wheel adjustment input from the user If you do, the operation ends.

Therefore, the driver can stably drive the road without manipulating the steering wheel and can perform other actions than driving when driving, so that the driver feels tired with a similar driving environment when driving on long sections of roads such as a main road. Solved the problem.

In addition, the present invention has the effect of improving the vehicle performance by adding the function of the driving assistance system, and can expect a convenient role as a semi-automatic driving system.

In addition, in comparison with the smart cruise control, the smart cruise control requires a driver to adjust the steering wheel on a curved road, but the present invention recognizes a convenient effect in that it is automatically steered without requiring the driver to operate the steering wheel.

Subsequently, when interlocking with a drowsy driving monitoring system (for example, a pupil tracking device), steering is automatically performed when the driver's drowsiness is detected, thereby preventing an accident due to drowsy driving.

The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains, various modifications and variations are possible without departing from the essential characteristics of the present invention. Therefore, the embodiments expressed in the present invention are not intended to limit the technical spirit of the present invention, but to illustrate, and the scope of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical spirits equivalent to or within the equivalent ranges should be interpreted as being included in the scope of the present invention.

210: communication unit 220: angle calculation unit
230: distance measuring unit 240: control unit

Claims (10)

Communication unit for transmitting and receiving through the visible light communication with the vehicle ahead;
A distance measuring unit measuring a distance between the center position (O) of the front vehicle and the host vehicle;
The vehicle speed is received through the communication unit, and the time delay between the two data is detected through the time stamp included in each data received from the left and right rear lamps of the front vehicle, and the time delay is used to detect the time delay between the left and right sides. An angle calculating unit calculating an angle of the front vehicle through an angle formed by the right rear lamp; And
A control unit for adjusting at least one of a throttle, a brake, and a steering wheel based on at least one of the inter-vehicle distance, the front vehicle speed, the front vehicle angle, and the traveling distance of the host vehicle,
The angle calculation unit,
After receiving the own clock time from the left rear lamp and the right rear lamp of the front vehicle, after calculating the difference in reception time of the signal stamped with the same time stamp included in the signal of the left rear lamp and the right rear lamp,
Based on the receiver, the inter-vehicle distance (D) from the front vehicle is multiplied by the time difference (a) between the clock time of the left rear lamp and the clock time of the right rear lamp and the speed (c) of the light. Draw a circle with a radius of a certain distance, which is half the sum,
A circle about half the length of the expected vehicle width based on the center position (O) of the front vehicle for measuring the inter-vehicle distance (D) from the vehicle in front of the vehicle and a circle drawn at a certain distance around the receiver of the host vehicle. Front vehicle following device to find the contact point between.
The method of claim 1, wherein the control unit
Outputting a control signal to end the operation when a brake input is obtained from a user and a steering wheel adjustment input is obtained from the user
Front vehicle following device.
delete The method of claim 1, wherein the control unit
Based on the inter-vehicle distance, the front vehicle speed, the front vehicle angle, and the traveling distance of the host vehicle, the steering wheel angle generated by the front vehicle at the corresponding point is calculated, and the throttle and the brake adjustment point are calculated through the inter-vehicle distance. Counting
Front vehicle following device.
The method of claim 1, wherein the front vehicle speed is received through visible light communication from the left and right rear lamps of the front vehicle.
Front vehicle following device.
According to claim 1, The distance measuring unit
Measuring the inter-vehicle distance through at least one of an ultrasonic sensor, an infrared sensor, and a laser sensor
Front vehicle following device.
Attempting visible light communication with the vehicle in front;
Measuring a distance between the center position (O) of the front vehicle and the host vehicle;
When connected to the front vehicle, receiving the front vehicle speed through the visible light communication and calculating the front vehicle angle through the front vehicle;
Adjusting at least one of a throttle, a brake, and a steering wheel based on at least one of the inter-vehicle distance, the front vehicle speed, the calculated front vehicle angle, and the traveling distance of the host vehicle; And
And obtaining a brake input from a user and obtaining a steering wheel adjustment input from the user, ending the operation.
The step of calculating the front vehicle angle is
Receiving a self-clocking time from the left rear lamp and the right rear lamp of the front vehicle;
Receiving the signals of the left rear lamp and the right rear lamp and calculating a difference in reception time of the signal stamped with the same timestamp;
Based on the receiver, the inter-vehicle processing (D) with the front vehicle multiplied by the time difference (a) between the clock time of the left rear lamp and the clock time of the right rear lamp and the speed of light (c) Drawing a circle with a radius of a certain distance, which is half the sum;
Based on the center position (O) of the front vehicle for measuring the inter-vehicle distance (D) from the vehicle in front, the distance between the circle with a radius of half the expected vehicle width and the receiver of the host vehicle is a radius of a certain distance. Finding a contact point; A front vehicle following method comprising a.
delete delete The method of claim 7, wherein the step of measuring the inter-vehicle distance
Measuring the inter-vehicle distance through at least one of an ultrasonic sensor, an infrared sensor, and a laser sensor
In front vehicle following method.

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