KR102316221B1 - System for vehicle position compensation and method for vehicle position compensation using the same - Google Patents

Abstract

The present invention relates to a vehicle position correction system and a vehicle position correction method using the same, and in particular, a vehicle position correction that receives the directional angle of the corresponding vehicle from a vehicle with high satellite reliability and corrects the directional angle of the own vehicle located in a shaded area or Urban Canyon It relates to a system and a vehicle position correction method using the same. The present invention includes a direction angle reliability confirmation unit for checking the direction angle reliability of the own vehicle, a vehicle sensing unit for detecting a vehicle in front of the own vehicle, and broadcasting the direction angle information of the own vehicle when the direction angle reliability of the own vehicle is higher than a reference, , a direction angle information transceiver for receiving direction angle information broadcast by a vehicle sensed in front of the own vehicle when the direction angle reliability of the own vehicle is lower than the reference, and the direction angle information received by the direction angle information transmission and reception unit based on the To provide a vehicle position correction system including a direction angle correction unit for correcting the direction angle of the host vehicle and a method using the same. In addition, according to the present invention, it is possible to improve the accuracy of the moving direction of the own vehicle even in an area where a GPS signal is not received by correcting the direction angle of the own vehicle with the direction angle of the front vehicle traveling on open land.

Description

Vehicle position correction system and vehicle position correction method using the same

The present invention relates to a vehicle position correction system and a vehicle position correction method using the same, and in particular, a vehicle position correction that receives the directional angle of the corresponding vehicle from a vehicle with high satellite reliability and corrects the directional angle of the own vehicle located in a shaded area or Urban Canyon It relates to a system and a vehicle position correction method using the same.

In general, a global positioning system (GPS) refers to a satellite navigation system that receives a GPS signal from a GPS satellite and calculates a user's current location. Such GPS is frequently used in real life through electronic devices and the like, and is particularly applied to vehicles and used for navigation.

However, due to the characteristics of GPS signals transmitted from satellites, although GPS signals are received well in open areas, GPS signals cannot be properly received in shaded areas such as tunnels or in Urban Canyons. Therefore, it is not possible to properly display its location in a shaded area or Urban Canyon. For example, in the case of navigation, the direction angle of the own vehicle estimated by the navigation is different from the actual heading angle of the own vehicle's travel, so that the navigation indicates that the own vehicle is moving in a direction different from the actual driving direction. In addition, if the own vehicle properly receives the GPS signal at the point where the open area appears after passing through the shaded area or Urban Canyon, the location of the vehicle displayed on the navigation is changed to the actual location, causing inconvenience to the driver. have.

Korean Patent Publication No. 10-2008-0076247 (published on August 20, 2008)

An object of the present invention is to provide a vehicle position correction system capable of accurately estimating the driving path of the own vehicle even in an area where a GPS signal is weak or does not reach, and a vehicle position correction method using the same.

In order to achieve the above object, the present invention provides a direction angle reliability check unit for checking the direction angle reliability of the own vehicle, a vehicle sensing unit for detecting a vehicle in front of the own vehicle, and if the direction angle reliability of the own vehicle is higher than a reference, the own vehicle A direction angle information transceiver for broadcasting direction angle information of the host vehicle, and receiving direction angle information broadcast by a vehicle sensed in front of the host vehicle when the direction angle reliability of the own vehicle is lower than a reference, and the direction angle information transmission and reception Provided is a vehicle position correction system including a direction angle correcting unit for correcting the direction angle of the host vehicle based on the additionally received direction angle information.

The direction angle reliability check unit includes a satellite signal reliability check module that determines that the location of the host vehicle is in an open area when the carrier noise of the GPS signal received by the host vehicle is 44 or more.

The direction angle reliability check unit, the carrier noise is less than 44, the position dilution of precision (PDOP) of the GPS signal is more than 20, the horizontal dilution of precision (HDOP) is more than 15, and a own vehicle position determination module that determines that the location of the own vehicle is a shaded area when a vertical dilution of precision (VDOP) exceeds 13.

The vehicle position determination module has a carrier noise of less than 44, a Position dilution of precision (PDOP) of 20 or less, a Horizontal Dilution of Precision (HDOP) of 15 or less, and a vertical If the vertical dilution of precision (VDOP) is 13 or less, it is determined that the location of the own vehicle is Urban Canyon.

The vehicle detection unit may include a lane detection module for detecting a lane in the image obtained from the front of the own vehicle, a region of interest designating module for designating an area inside the lane as a region of interest, and a vehicle in front by detecting a vehicle ahead in the region of interest. It includes a front vehicle detection module that checks the vehicle number of the vehicle.

The direction angle information includes a vehicle number and a direction angle of the own vehicle, and the direction angle correcting unit compares the vehicle number of the own vehicle included in the direction angle information with the vehicle number of the front vehicle identified in the front vehicle detection module. When the vehicle number comparison module and the vehicle number of the front vehicle checked in the front vehicle detection module match, the direction angle correction module for correcting the direction angle of the own vehicle by averaging the direction angle included in the direction angle information and the direction angle of the own vehicle includes

In addition, the present invention includes the steps of: a direction angle reliability confirmation unit confirming the direction angle reliability of the own vehicle; detecting a vehicle in front of the own vehicle by a vehicle sensing unit; Broadcasting the direction angle information of the own vehicle, and if the direction angle reliability of the own vehicle is lower than the reference, receiving the direction angle information broadcast by the vehicle sensed in front of the own vehicle, and the direction angle information transceiver receives There is provided a vehicle position correction method comprising the step of correcting, by a direction angle correcting unit, the direction angle of the host vehicle based on direction angle information.

In the step of the direction angle reliability check unit confirming the direction angle reliability of the own vehicle, if the carrier noise of the GPS signal received by the own vehicle is 44 or higher, the satellite signal reliability check module determines that the location of the own vehicle is an open area including the steps of

In the step of the direction angle reliability confirmation unit confirming the direction angle reliability of the own vehicle, the carrier noise is less than 44, the position dilution of precision (PDOP) of the GPS signal exceeds 20, and the horizontal position accuracy decrease rate (Horizontal) and when the Dilution of Precision (HDOP) exceeds 15 and the vertical dilution of precision (VDOP) exceeds 13, determining, by the own vehicle location determination module, that the location of the own vehicle is a shaded area.

In addition, the step of the direction angle reliability confirmation unit confirming the direction angle reliability of the own vehicle, the carrier noise is less than 44, the position dilution of precision (PDOP) of the GPS signal is 20 or less, the horizontal position accuracy decrease rate When the (Horizontal Dilution of Precision, HDOP) is 15 or less, and the Vertical Dilution of Precision (VDOP) is 13 or less, the own vehicle location determination module determines that the location of the own vehicle is Urban Canyon (Urban Canyon) includes

The step of detecting the vehicle in front of the own vehicle by the vehicle detecting unit includes: detecting a lane by a lane detection module in an image obtained from the front of the own vehicle; and detecting a vehicle in front within the region of interest, and checking the vehicle number of the vehicle in front by a front vehicle detection module.

The direction angle information includes a vehicle number and a direction angle of the own vehicle, and the step of correcting the direction angle of the own vehicle by the direction angle correcting unit based on the direction angle information received by the direction angle information transceiver includes: Comparing, by a vehicle number comparison module, the vehicle number of the included own vehicle and the vehicle number of the front vehicle checked in the front vehicle detection module, and the vehicle number of the front vehicle checked in the front vehicle detection module matches the direction, and correcting, by each correction module, the direction angle of the host vehicle by averaging the direction angle included in the direction angle information and the direction angle of the host vehicle.

The present invention can improve the accuracy of the moving direction of the own vehicle even in an area where GPS signals are not received by correcting the heading angle of the own vehicle with the heading angle of the front vehicle traveling on open land.

1 is a conceptual diagram of a vehicle position correction system according to a first embodiment of the present invention;
2 is a conceptual diagram for explaining a vehicle position correction system according to the first embodiment of the present invention.
3 is a conceptual diagram of a vehicle position correction system according to a second embodiment of the present invention;
4 is a flowchart of a vehicle position correction method according to the present invention.

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

The present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms, and only these embodiments allow the disclosure of the present invention to be complete, and the scope of the invention to those of ordinary skill in the art completely It is provided to inform you. Like numbers in the drawings refer to like elements.

1 is a conceptual diagram of a vehicle position correction system according to a first embodiment of the present invention, and FIG. 2 is a conceptual diagram for explaining a vehicle position correction system according to a first embodiment of the present invention.

As shown in FIG. 1 , the vehicle position correction system according to the first embodiment of the present invention includes a direction angle reliability check unit 100 that checks the direction angle reliability of the own vehicle, and a vehicle detection unit that detects vehicles in front and behind. The unit 200, the direction angle information transceiver 300 for transmitting direction angle information of the own vehicle or receiving direction angle information from the detected vehicle according to the direction angle reliability, and the direction angle of the own vehicle based on the received direction angle information and a direction angle correction unit 400 for correcting .

The direction angle reliability check unit 100 checks the direction angle reliability based on the current location of the host vehicle. Here, the direction angle reliability check unit 100 according to the present invention checks the satellite reliability of the own vehicle and determines whether the current vehicle is located in the shadow section or in Urban Canyon. To this end, the direction angle reliability check unit 100 includes a satellite signal reliability check module 110 and a host vehicle position determination module 120 .

The satellite signal reliability check module 110 may receive a GPS signal transmitted from a satellite from the GPS module, and check the satellite reliability based on carrier noise generated according to the received sensitivity. Here, in the present invention, when the carrier noise is 44 or more, it is determined that the GPS signal is reliable, and when the carrier noise is less than 44, it is determined that the GSP signal is not reliable.

The own vehicle position determination module 120 determines the location of the own vehicle based on the satellite reliability confirmed by the satellite signal reliability confirmation module 110 . This determines whether the location of the own vehicle is an open area, a shaded area, or an urban canyon according to the carrier noise of the GPS signal.

Table 1 shows the location (driving environment) of the vehicle according to the main parameters of the GPS signal of the vehicle location correction system according to the first embodiment of the present invention.

driving environment main parameters open land C/N (Carrier Noise) ≥44 Urban Canyon Areas other than shaded areas and open areas shaded area mode E (Estimated DR) current mode 2(2D) PDOP >20 HDOP >15 VDOP >13 GPS Quality 6 number of satellites used <3 (pcs)

Referring to Table 1, the own vehicle location determination module 120 determines the location of the own vehicle as an open land if the carrier wave noise of the GPS signal received from the own vehicle is 44 or more, and if it is less than 44, the location of the own vehicle as a shaded area or an urban canyon judge Here, when the carrier noise is less than 44, the Position Dilution of Precision (PDOP) of the GPS signal received from the own vehicle exceeds 20, the Horizontal Dilution of Precision (HDOP) exceeds 15, and the vertical position If the vertical dilution of precision (VDOP) exceeds 13, it is determined that the location of the own vehicle is a shaded area.

The vehicle sensing unit 200 detects a vehicle located in the rear of the own vehicle in order to broadcast the direction angle of the own vehicle or detects a vehicle located in the front of the own vehicle in order to receive the direction angle. To this end, the vehicle detection unit 200 includes a lane detection module 210 , a region of interest designation module 220 , and a front vehicle detection module 230 .

The lane detection module 210 detects a lane in which the own vehicle is currently driving. This uses a camera module provided in the own vehicle, and processes the image obtained from the camera module to detect the lane in which the own vehicle is traveling. In addition, the lane detection module 210 detects one lane on the left and right from the center of the image acquired by the camera module, that is, a total of two lanes in the image. Here, the present embodiment includes a front camera module in which the camera module acquires a front image of the own vehicle.

The region of interest designation module 220 designates the region of interest based on the two lanes detected by the lane detection module 210 . Here, the region of interest is the detected two lane regions, and the forward vehicle detection module 230 to be described later detects a vehicle only within the region of interest.

The forward vehicle detection module 230 detects a vehicle ahead within the region of interest designated by the region of interest designation module 220 . In this case, the detection of the vehicle in front may be performed by recognizing a license plate existing in the region of interest. In addition, when the license plate is recognized in the region of interest, the front vehicle detection module 230 stores the license plate information of the recognized license plate.

The direction angle information transceiver 300 transmits direction angle information of the own vehicle or receives broadcast direction angle information. To this end, the direction angle transceiver includes a direction angle information transmission module 310 for transmitting direction angle information of the own vehicle, and a direction angle information receiving module 320 for receiving the broadcast direction angle information of the other vehicle.

The direction angle information transmission module 310 broadcasts direction angle information of the host vehicle. Here, the direction angle information includes the vehicle number of the own vehicle, the vehicle direction angle of the own vehicle, and carrier wave noise information. That is, through the direction angle information, the rear vehicle can know which vehicle's direction angle it has received is.

The direction angle information receiving module 320 receives the direction angle information broadcast by the direction angle transmitting module of the vehicle in front. In addition, the received direction angle information is transmitted to the direction angle corrector 400 .

The direction angle correction unit 400 corrects the direction angle of the host vehicle based on the direction angle included in the received direction angle information. At this time, the direction angle correcting unit 400 corrects the direction angle of the own vehicle with the average value of the direction angle of the front vehicle and the own vehicle direction angle. and a calibration module 420 .

The vehicle number comparison module 410 compares whether the vehicle number of the front vehicle detected by the front vehicle detection module 230 is the same as the vehicle number information included in the direction angle information received from the direction angle information receiving module 320 . .

The direction angle correction module 420 includes the vehicle number of the front vehicle detected by the front vehicle detection module 230 in the vehicle number comparison module 410 and the direction angle information received from the direction angle information receiving module 320 . If it is determined that the vehicle number information is the same, the direction angle of the host vehicle is corrected based on the direction angle included in the received direction angle information. Here, the direction angle correction module 420 is the received direction when the carrier wave noise of the GPS signal received from the satellite is less than 44 and the carrier wave noise of the GPS signal included in the direction angle information received from the vehicle in front is 44 or higher. It is determined that the directional angle of the front vehicle included in each piece of information has high reliability, and the directional angle of the host vehicle is corrected using the directional angle received from the front vehicle. Of course, if the direction angle information transmission module 310 broadcasts the direction angle information only when the carrier wave noise of the GPS signal received by the own vehicle is 44 or more, the direction angle information correction module provides a GPS signal included in the received direction angle information. It is not necessary to determine the carrier noise of the GPS signal, and furthermore, the information on the carrier wave noise of the GPS signal may not be included in the direction angle information.

As described above, the present embodiment can improve the accuracy of the moving direction of the own vehicle even in an area where a GPS signal is not received by correcting the direction angle of the own vehicle with the direction angle of the front vehicle traveling on open land. That is, as shown in FIG. 2 , unless the road is straight in an area such as a tunnel where GPS signals are not properly received, the vehicle may be displayed in the navigation as if it is traveling in a different direction from the actual driving route. However, in the present embodiment, since the direction angle of the own vehicle is corrected (②) using the direction angle of the vehicle in front driving on the open ground, the traveling direction of the own vehicle can be accurately estimated even in a shaded area or an urban canyon. In addition, when the present invention is applied to navigation, it is possible to prevent the position of the own vehicle from being expressed differently from the actual position at the time of passing through a shaded area such as a tunnel or an urban canyon and then corrected by the GPS signal. .

Next, a vehicle position correction system according to a second embodiment of the present invention will be described with reference to the drawings. Among the content to be described below, content overlapping with the description of the vehicle position correcting system according to the first embodiment of the present invention described above will be omitted or briefly described.

3 is a conceptual diagram of a vehicle position correction system according to a second embodiment of the present invention.

As shown in FIG. 3 , the vehicle position correction system according to the second embodiment of the present invention includes a direction angle reliability check unit 100 for checking the direction angle reliability of the own vehicle, and vehicle detection for detecting vehicles in front and behind. The unit 200, the direction angle information transceiver 300 for transmitting direction angle information of the own vehicle or receiving direction angle information from the detected vehicle according to the direction angle reliability, and the direction angle of the own vehicle based on the received direction angle information and a direction angle correction unit 400 for correcting . Here, since the direction angle reliability check unit 100 , the direction angle information transmission/receiver 300 , and the direction angle corrector 400 are the same as those of the first embodiment of the present invention described above, a description thereof will be omitted.

As in the first embodiment of the present invention described above, the vehicle sensing unit 200 detects a vehicle located in the rear of the own vehicle in order to broadcast the direction angle of the own vehicle or detects a vehicle located in front of the own vehicle in order to receive the direction angle detect The present embodiment further includes a motion determination module 240 for determining the motion of the vehicle in front.

The motion determination module 240 determines whether the vehicle in front is changing lanes or is driving based on the movement of the vehicle in front based on the lane detected by the lane detection module 210 . For example, when a vehicle in front blocks one of two detected lanes, it is determined that the vehicle in front is changing lanes. Also, in this case, since the directional angle of the front vehicle cannot be said to be highly reliable, the directional angle of the host vehicle is not corrected with the directional angle of the front vehicle or the directional angle of the front vehicle is corrected and used to correct the directional angle of the host vehicle. For example, correcting the heading angle of the vehicle in front may be divided by 2 so that only half of the heading angle of the vehicle in front is applied, and this may be averaged with the heading angle of the host vehicle to correct the heading angle of the host vehicle.

Meanwhile, according to the present invention, the direction angle information may include both direction angles, that is, the direction angle of the host vehicle and the direction angle of the vehicle in front. In this case, if the vehicle in front of the host vehicle is changing lanes, the heading angle of the host vehicle may be corrected based on the heading angle of the front vehicle included in the received heading angle information.

In addition, in the present invention, the camera module may include both a front camera module and a rear camera module. In this case, the vehicle number of the rear vehicle may be included in the direction angle information and broadcast. Through this, the rear vehicle receives the direction angle information broadcast by the front vehicle, and compares the vehicle number included in the direction angle information with the vehicle number of the own vehicle to accurately check whether the received direction angle information is broadcast from the front vehicle. can

In addition, the present invention may correct the heading angle of the own vehicle based on the heading angle information of the front vehicle even when the vehicle in front is an urban canyon rather than an open land when the own vehicle is driving in a tunnel. That is, when the own vehicle enters the urban canyon rather than the open land after driving through the tunnel, there may be no vehicle driving in the open area in front of the vehicle, but only the vehicle driving in the urban canyon. In this case, even if the carrier noise is less than 44, the Position Dilution of Precision (PDOP) of the GPS signal received from the own vehicle is 20 or less, the Horizontal Dilution of Precision (HDOP) is 15 or less, and the vertical position When the vertical dilution of precision (VDOP) is 13 or less, it is determined that the vehicle in front is driving the Urban Canyon, and the heading angle of the own vehicle may be corrected based on the heading angle information of the vehicle in front. In addition, for this purpose, even if the carrier wave noise is less than 44, the vehicle in front must also broadcast the direction angle information of the own vehicle while driving in Urban Canyon.

Hereinafter, a vehicle position correction method according to the present invention will be described with reference to the drawings. Among the contents to be described later, the contents overlapping with the description of the vehicle position correction system according to the present invention will be omitted or briefly described.

4 is a flowchart of a vehicle position correction method according to the present invention.

As shown in FIG. 3, the vehicle position correction method according to the present invention includes the steps of confirming the reliability of the direction angle (S1), detecting the vehicle ahead (S2), transmitting and receiving direction angle information (S3), and correcting the direction angle (S4).

In the step S1 of confirming the direction angle reliability, the direction angle reliability check unit checks the direction angle reliability of the own vehicle based on the current location of the own vehicle. In addition, the step (S1) of checking the direction angle reliability includes the step of checking the satellite reliability and the step of determining the location of the host vehicle.

In the step of checking the satellite reliability, the satellite signal reliability checking module checks the satellite reliability of the own vehicle based on the carrier noise generated by the GPS module of the own vehicle according to the received sensitivity of the GPS signal received from the satellite.

In the step of determining the location of the own vehicle, the location determination module of the own vehicle determines the location of the own vehicle based on the satellite reliability of the own vehicle confirmed in the step of confirming the satellite reliability. As described above, it is possible to determine whether the location of the own vehicle is an open area, a shaded area, or an urban canyon according to the carrier noise.

In the step of detecting the vehicle in front (S2), the front vehicle detection unit detects the vehicle in front with the image obtained by the camera module of the own vehicle. To this end, the step of detecting the vehicle in front (S2) includes detecting a lane, designating a region of interest, and detecting a vehicle ahead in the region of interest.

In the step of detecting the lane, the lane detection module detects the lane in the front image of the own vehicle obtained from the camera module.

In the step of designating the region of interest, the region of interest designating module designates the two lanes detected in the step of detecting the lane as the boundary and the inside of the two lanes as the region of interest.

In the step of detecting the vehicle ahead in the region of interest, the vehicle in front detects the vehicle in front within the region of interest specified in the step of designating the region of interest. At this time, the vehicle number of the vehicle in front is also detected.

In the step S3 of transmitting and receiving the direction angle information, the direction angle information of the host vehicle is broadcast or the direction angle information of the front vehicle is received. Accordingly, the step (S3) of transmitting and receiving the direction angle information includes a step of transmitting the direction angle information (S3-1) and a step of receiving the direction angle information (S3-2).

In the step S3-1 of transmitting the direction angle information, if it is determined that the reliability of the host vehicle is high in the step S1 of checking the direction angle reliability, the direction angle information transmission module broadcasts the direction angle information of the host vehicle.

In the step S3-2 of receiving the direction angle information, when it is determined that the reliability of the host vehicle is low in the step S1 of checking the direction angle reliability, the direction angle information receiving module receives the direction angle information from the vehicle in front.

In the step S4 of correcting the heading angle, the heading angle of the host vehicle is corrected based on the heading angle information of the front vehicle received in step S3-2 of receiving the heading angle information. The step of correcting the direction angle (S4) includes comparing the vehicle number and correcting the direction angle of the host vehicle.

In the step of comparing the vehicle number, the vehicle number of the front vehicle included in the direction angle information received in the step S3-2 of receiving the direction angle information and the vehicle number of the front vehicle detected in the step of detecting the front vehicle within the region of interest Compare vehicle numbers.

In the step of correcting the direction angle of the own vehicle, when the vehicle number of the front vehicle detected in the step of detecting the front vehicle within the region of interest in the step of comparing the vehicle number is the same, the own vehicle based on the direction angle information received from the front vehicle correct the direction angle of

Although the above has been described with reference to the drawings and embodiments, it will be understood by those skilled in the art that various modifications and variations of the present invention can be made within the scope of the following claims.

100: direction angle reliability check unit 110: satellite signal reliability check module
120: own vehicle position determination module 200: vehicle detection unit
210: lane detection module 220: region of interest designation module
230: front vehicle detection module 240: motion determination module
300: direction angle information transceiver 310: direction angle information transmission module
320: direction angle information receiving module 400: direction angle correction unit
410: vehicle number comparison module 420: direction angle correction module

Claims (12)

A direction angle reliability check unit for confirming the direction angle reliability of the host vehicle;
a vehicle detection unit for detecting a vehicle in front of the own vehicle;
When the direction angle reliability of the own vehicle is higher than the reference, the direction angle information of the own vehicle is broadcast, and when the direction angle reliability of the own vehicle is lower than the reference, the direction angle information broadcast by the vehicle sensed in front of the own vehicle is received. a direction angle information transceiver; and
and a direction angle correction unit for correcting the direction angle of the host vehicle based on the direction angle information received by the direction angle information transceiver;
The direction angle reliability check unit,
The carrier noise of the GPS signal received by the host is less than 44,
The position dilution of precision (PDOP) of the GPS signal received by the host exceeds 20, the horizontal dilution of precision (HDOP) exceeds 15, and the vertical position accuracy degradation rate (Vertical Dilution of Precision, VDOP) exceeds 13, the vehicle position correction system comprising a vehicle position determination module that determines that the location of the own vehicle is a shaded area. According to claim 1,
The direction angle reliability check unit,
and a satellite signal reliability checking module for determining that the location of the own vehicle is an open area when the carrier noise of the GPS signal received by the own vehicle is 44 or higher. delete According to claim 1,
The own vehicle location determination module,
the carrier noise is less than 44;
Position dilution of precision (PDOP) of the GPS signal is 20 or less, Horizontal Dilution of Precision (HDOP) is 15 or less, and Vertical Dilution of Precision (VDOP) is 13 If the following, the vehicle position correction system for determining that the location of the own vehicle is an Urban Canyon (Urban Canyon). 5. The method of claim 4,
The vehicle detection unit,
a lane detection module for detecting a lane in the image obtained from the front of the own vehicle;
a region of interest designating module for designating the region inside the lane as a region of interest; and
and a front vehicle detection module configured to detect a vehicle in front within the region of interest and confirm the vehicle number of the vehicle in front. 6. The method of claim 5,
The direction angle information includes a vehicle number and a direction angle of the own vehicle,
The direction angle correction unit includes a vehicle number comparison module that compares the vehicle number of the own vehicle included in the direction angle information with the vehicle number of the front vehicle identified in the front vehicle detection module;
Vehicle position correction including a direction angle correction module for correcting the direction angle of the own vehicle by averaging the direction angle included in the direction angle information and the direction angle of the own vehicle when the vehicle number of the vehicle in front identified by the front vehicle detection module matches system. A step of confirming the direction angle reliability confirmation unit of the own vehicle's direction angle reliability;
detecting a vehicle in front of the own vehicle by a vehicle sensing unit;
If the direction angle reliability of the own vehicle is higher than the reference, the direction angle information transceiver broadcasts the direction angle information of the own vehicle. receiving each piece of information; and
and correcting, by a direction angle correction unit, the direction angle of the host vehicle based on the direction angle information received by the direction angle information transceiver;
The step of the direction angle reliability confirmation unit confirming the direction angle reliability of the own vehicle,
The carrier noise of the GPS signal received by the host is less than 44, the position dilution of precision (PDOP) of the GPS signal received by the host is more than 20, and the horizontal dilution of precision (HDOP) The vehicle position correction method comprising the step of determining, by the own vehicle position determination module, that the location of the own vehicle is a shaded area when this exceeds 15 and a vertical dilution of precision (VDOP) exceeds 13. 8. The method of claim 7,
The step of the direction angle reliability confirmation unit confirming the direction angle reliability of the own vehicle,
and determining, by a satellite signal reliability checking module, that the location of the own vehicle is an open area when the carrier noise of the GPS signal received by the own vehicle is 44 or higher. delete 8. The method of claim 7,
The step of the direction angle reliability confirmation unit confirming the direction angle reliability of the own vehicle,
The carrier noise is less than 44, the position dilution of precision (PDOP) of the GPS signal is 20 or less, the horizontal dilution of precision (HDOP) is 15 or less, and the vertical position accuracy degradation rate (Vertical) When the Dilution of Precision (VDOP) is 13 or less, the vehicle position correction method comprising the step of determining, by the own vehicle position determination module, that the position of the own vehicle is Urban Canyon. 11. The method of claim 10,
The step of detecting a vehicle in front of the own vehicle by a vehicle sensing unit,
detecting, by a lane detection module, a lane in the image obtained from the front of the own vehicle;
designating, by a region of interest designation module, the region inside the lane as a region of interest; and
and detecting the vehicle in front within the region of interest, and confirming the vehicle number of the vehicle in front by the vehicle detection module. 12. The method of claim 11,
The direction angle information includes a vehicle number and a direction angle of the own vehicle,
The step of correcting, by the direction angle correction unit, the direction angle of the host vehicle based on the direction angle information received by the direction angle information transmitting and receiving unit,
comparing, by a vehicle number comparison module, the vehicle number of the own vehicle included in the direction angle information and the vehicle number of the front vehicle identified in the front vehicle detection module;
When the vehicle number of the vehicle in front identified by the front vehicle detection module matches, the direction angle correction module corrects the direction angle of the own vehicle by averaging the direction angle included in the direction angle information and the direction angle of the host vehicle; How to correct the position.

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