KR102421831B1 - Vehicle and controlling method for the same - Google Patents

Abstract

The vehicle includes a GPS receiver for receiving GPS information, an obstacle detector for detecting obstacles around the vehicle and generating sensed data, and a controller for estimating the position of the obstacle in an absolute coordinate system based on the sensed data and GPS information.

Description

Vehicle and vehicle control method {VEHICLE AND CONTROLLING METHOD FOR THE SAME}

It relates to a vehicle and a vehicle control method.

Most vehicle accidents are caused by the driver's mistake. is likely to occur. In order to compensate for such driver's mistakes, vehicle obstacle detection devices such as a vehicle radar sensor, a lidar sensor, and a camera have been developed.

However, it is difficult to reliably detect the position of the obstacle in the conventional obstacle sensing device for a vehicle, and when the vehicle moves, such as when the vehicle performs various rotations such as a left turn, a right turn, or a U-turn, the position of the obstacle was inaccurately derived. .

The disclosed embodiment is to provide a vehicle and a vehicle control method for accurately determining the position of an obstacle around the vehicle.

As a technical means for achieving the above-described technical problem, a vehicle according to an aspect includes a GPS receiver for receiving GPS information; an obstacle detecting unit detecting an obstacle around the vehicle and generating detected data; and a controller for estimating the position of the obstacle on the absolute coordinate system based on the sensed data and the GPS information.

The controller may generate position coordinates on the absolute coordinate system of the vehicle based on the GPS information, and estimate the position of the obstacle on the absolute coordinate system based on the sensed data and the position coordinates of the vehicle.

The controller may generate absolute position coordinates of the obstacle and determine whether the obstacle moves based on a change in the absolute position coordinates of the obstacle over time.

The obstacle detecting unit may generate detected data a preset number of times at a preset time interval, and the controller may generate absolute position coordinates of a plurality of obstacles based on the detected data and GPS information generated by the number of times.

The GPS receiver may receive GPS information a number of times at a time interval, and the controller may generate absolute position coordinates of a plurality of obstacles based on the sensed data generated by the number of times and the GPS information received as many times as the number of times.

The controller may determine whether the obstacle moves based on a distance value between the absolute position coordinates of the plurality of obstacles.

The control unit sets representative position coordinates of the absolute position coordinates of the plurality of obstacles, measures a distance value between the representative position and the plurality of absolute position coordinates, respectively, and determines the number of distance values equal to or greater than a preset first reference value among the plurality of distance values and, based on the determination result of the number of distance values, it is possible to determine whether the obstacle moves.

If the number of distance values is equal to or greater than a preset second reference value, the controller may determine that the obstacle has moved, and if the number of distance values is less than the second reference value, it may determine that the obstacle is fixed.

The control unit generates absolute position coordinates of the obstacle, measures the amount of change between the absolute position coordinates of the obstacle at one measurement time and the absolute position coordinates of the obstacle at the next measurement time, and if the amount of change is greater than or equal to a preset reference change amount, the obstacle moves It can be determined that the obstacle has been fixed, and when the amount of change is less than the standard change amount, the obstacle is fixed.

The absolute coordinate system may include a (Universal Transverse Mercator Grid) coordinate system.

The obstacle detecting unit may include at least one of a radar sensor, a lidar sensor, and a camera.

A vehicle control method according to another aspect comprises the steps of receiving GPS information; detecting obstacles around the vehicle and generating detected data; and estimating the position of the obstacle on the absolute coordinate system based on the sensed data and the GPS information.

Estimating the position of the obstacle may include generating position coordinates in the absolute coordinate system of the vehicle based on GPS information, and estimating the position in the absolute coordinate system of the obstacle based on the sensed data and the position coordinates of the vehicle. have.

The estimating of the position of the obstacle includes generating absolute position coordinates of the obstacle, and the control method of the vehicle further includes determining whether the obstacle moves based on a change in the absolute position coordinates of the obstacle over time. can do.

The generating of the sensed data includes generating the sensed data a preset number of times at a preset time interval, and the estimating of the location of the obstacle may include: You can create absolute position coordinates.

The receiving of the GPS information includes receiving the GPS information a number of times at a time interval, and the estimating the position of the obstacle includes the detection data generated by the number of times and the GPS information received by the number of times of the plurality of obstacles. You can create absolute position coordinates.

The vehicle control method may further include determining whether the obstacle moves based on a distance value between the absolute position coordinates of the plurality of obstacles.

A vehicle control method includes: setting representative position coordinates of absolute position coordinates of a plurality of obstacles, and measuring distance values between the representative positions and the plurality of absolute position coordinates; determining the number of distance values equal to or greater than a preset first reference value among a plurality of distance values; and determining whether the obstacle moves based on a result of determining the number of distance values.

The step of determining whether the obstacle moves may include determining that the obstacle has moved if the number of distance values is greater than or equal to a preset second reference value, and determining that the obstacle is fixed if the number of distance values is less than the second reference value. can

The step of estimating the position of the obstacle includes generating absolute position coordinates of the obstacle, and the control method of the vehicle includes an amount of change between the absolute position coordinates of the obstacle at one measurement time and the absolute position coordinates of the obstacle at the next measurement time. and determining that the obstacle has moved if the change amount is greater than or equal to a preset reference change amount, and determining that the obstacle is fixed if the change amount is less than the reference change amount.

According to the above-described problem solving means, by estimating the absolute position of the obstacle on the absolute coordinate system based on the detection data of the obstacle detection unit and the GPS information of the vehicle, it is possible to accurately determine whether the obstacle is moving, and to eliminate the error in determining the position of the obstacle. can be reduced

1 is an external view of a vehicle according to an exemplary embodiment.
2 is a control block diagram of a vehicle according to an exemplary embodiment.
3 is a diagram illustrating the relative position of the obstacle relative to the vehicle as coordinates when the obstacle moves while the vehicle is fixed.
4 is a view showing the absolute position coordinates of the vehicle and the obstacle.
5 is a diagram illustrating the relative position of the obstacle relative to the vehicle as coordinates when both the vehicle and the obstacle move.
6 is another view showing the absolute position coordinates of the vehicle and the obstacle.
7 is an operation flowchart of a method for controlling a vehicle according to an exemplary embodiment.

Like reference numerals refer to like elements throughout. This specification does not describe all elements of the embodiments, and general content in the technical field to which the present invention pertains or content that overlaps between the embodiments is omitted. The term 'part, module, member, block' used in this specification may be implemented in software or hardware, and according to embodiments, a plurality of 'part, module, member, block' may be implemented as one element, or one It is also possible for a 'part, module, member, block' of to include a plurality of elements.

Throughout the specification, when a part "includes" a certain component, it means that other components may be further included, rather than excluding other components, unless otherwise stated.

Throughout the specification, when a member is said to be located "on" another member, this includes not only a case in which a member is in contact with another member but also a case in which another member exists between the two members.

Terms such as first, second, etc. are used to distinguish one component from another, and the component is not limited by the above-mentioned terms.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

Hereinafter, embodiments will be described with reference to the accompanying drawings.

1 is an external view of a vehicle according to an exemplary embodiment, and FIG. 2 is a control block diagram of a vehicle according to an exemplary embodiment.

Referring to FIG. 1 , a vehicle 100 according to an exemplary embodiment may include a detection device such as an obstacle detecting unit for detecting an obstacle at the front, side, or rear side, and a rain sensor detecting whether or not precipitation occurs and the amount of precipitation.

The obstacle detecting unit includes at least one of the radar sensor 110 , the lidar sensor 120 , and the camera 130 , and a plurality of each may be provided in the vehicle 100 as needed. In FIG. 1 , one radar sensor 110 , three lidar sensors 120 , and one camera 130 are provided on the front of the vehicle 100 , but the radar sensor 110 and the lidar sensor 120 are provided. The location and number are not limited thereto.

The radar sensor 110 irradiates an object with electromagnetic waves (eg, radio waves, microwaves, etc.) and receives the electromagnetic waves reflected from the object to detect the distance, direction, altitude, speed, etc. of the object. it means. The radar sensor 110 may include a radar antenna for transmitting electromagnetic waves or receiving electromagnetic waves reflected from an object.

The lidar sensor 120 irradiates an object with a laser having a shorter wavelength than electromagnetic waves (eg, infrared, visible light, etc.) It means a sensor that can detect the back. The lidar sensor 120 may include a light source for transmitting a laser and a receiver for receiving reflected light.

The camera 130 obtains an image of an object and provides image data to various components in the vehicle, such as a navigation device.

Referring to FIG. 2 , the output data of the radar sensor 110 , the lidar sensor 120 , and the camera 120 may be provided to the controller 120 that controls the components in the vehicle 100 .

The vehicle 100 includes an obstacle detecting unit 10 , a control unit 20 , and a GPS receiving unit 130 .

The obstacle sensing unit 10 generates sensing data for the control unit 20 to determine the position and speed of obstacles around the vehicle. The obstacle detecting unit 110 includes at least one of the above-described radar sensor 110, lidar sensor 120, and camera 130, but is not limited thereto, and generates detection data for detecting the position of the obstacle. It may include a variety of sensing devices.

Here, the obstacle includes an object outside the vehicle 100 detectable by the obstacle detecting unit 10 , a person existing outside the vehicle 100 , or another vehicle.

The controller 20 includes a processor 210 and a memory 220 in charge of overall control of the vehicle 100 .

The memory 220 may store programs and data for controlling components included in the vehicle 100 , and temporarily store control data issued while controlling components included in the vehicle 100 .

In addition, the memory 220 stores a program and data for determining the relative position and speed of the obstacle relative to the vehicle 100 based on the detected data of the obstacle detecting unit 10, and stores the position and speed of the obstacle. Data issued during judgment can be temporarily stored.

The memory 220 includes a non-volatile memory such as a read only memory and a flash memory for storing data for a long period of time, and a static random access memory (S-RAM) and D for temporarily storing data. -Volatile memory such as RAM (Dynamic Random Access Memory) may be included.

The processor 131 includes a microprocessor, a DSP, and the like, and may be provided as one or more chips.

The processor 210 may receive the detected data of the obstacle detecting unit 10 , and determine the relative position of the obstacle with respect to the vehicle 100 based on the detected data.

In addition, the processor 210 may receive GPS information from the GPS receiver 30 and determine the location of the vehicle 100 in the absolute coordinate system based on the received GPS information.

In order to accurately determine the location of the vehicle 100 , the processor 210 utilizes a dead reckoning technology, or maps data stored in the memory 220 and surrounding image data acquired through the camera 130 . Correction of the position of the vehicle 100 may be performed, such as matching.

Also, the processor 210 may determine the position of the obstacle in the absolute coordinate system based on the detected data of the obstacle detecting unit 10 and information on the position of the vehicle 100 in the absolute coordinate system.

Also, the processor 210 may determine whether the obstacle moves by determining the absolute position of the obstacle according to time in the absolute coordinate system.

Specifically, the processor 210 acquires the absolute position coordinates of the obstacle several times at a preset time interval, and when the absolute position coordinates of the obstacle are acquired a preset number of times, the representative position coordinates of the obstacle based on the obtained plurality of position coordinates to set The representative location coordinates may be, for example, center coordinates of a plurality of location coordinates.

Then, the processor 210 measures the distance values between the representative position coordinates and the plurality of position coordinates, respectively, and determines the number of distance values having a preset first reference value or more among the plurality of distance values. In addition, the processor 210 may determine that the obstacle has moved if the number of distance values is equal to or greater than a preset second reference value, and may determine that the obstacle is fixed if it is less than the second reference value.

Information on whether the obstacle is moved or fixed by the processor 210 may be stored in the memory 220 .

The processor 210 may include an arithmetic circuit that performs logical operations and arithmetic operations, and a memory circuit that stores the calculated data.

The GPS receiver 30 receives the GPS information transmitted by the GPS satellite, and transmits the GPS information to the controller 20 .

When the GPS receiver 30 transmits the GPS information to the controller 20, the processor 210 of the controller 20 transmits the time information contained in the GPS information transmitted by the GPS satellite and the GPS receiver 30 receives the GPS information. The distance between the satellite and the vehicle 100 may be calculated by comparing the time, and the current location of the vehicle 100 may be determined based on the calculated distance. In this case, the processor 210 may represent the current position of the vehicle 100 as position coordinates on an absolute coordinate system (hereinafter, referred to as “absolute position coordinates”).

On the other hand, a separate processor included in the GPS receiver 30 directly determines the current position of the vehicle 100 based on the GPS information, indicates the position of the vehicle 100 as absolute position coordinates, and sets the absolute position coordinates to the control unit ( 20), but for convenience of explanation, the controller 20 determines the location of the vehicle 100.

A method of determining the current location of the vehicle 100 based on the GPS information is a well-known technique, and thus a detailed description thereof will be omitted.

Hereinafter, a method in which the vehicle 100 determines the absolute position of the obstacle and determines whether the obstacle moves will be described in detail with reference to FIGS. 3 and 4 .

3 is a view showing the relative position of the obstacle with respect to the vehicle as coordinates when the obstacle moves while the vehicle is fixed, and FIG. 4 is a view showing the absolute position coordinates of the vehicle and the obstacle. And, FIG. 5 is a view showing the relative position of the obstacle with respect to the vehicle as coordinates when both the vehicle and the obstacle move, and FIG. 6 is another view showing the absolute position coordinates of the vehicle and the obstacle.

Referring to FIG. 3 , the obstacle detecting unit 10 of the vehicle 100 detects an obstacle ob in the vicinity of the vehicle 100 , and transmits detection data for the obstacle ob to the controller 20 . The obstacle sensing unit 10 may transmit sensing data to the control unit 20 in real time.

The controller 20 may determine the relative position of the obstacle ob with respect to the vehicle 100 based on the detected data of the obstacle detector 10 .

As shown in FIG. 3 , when the obstacle ob moves, the relative position of the obstacle ob with respect to the vehicle 100 changes with time, so the position of the obstacle ob generated by the controller 20 Coordinates can also change over time.

Referring to FIG. 4 , the controller 20 according to an embodiment may determine the position of the vehicle 100 on the absolute coordinate system A based on GPS information. Here, the absolute coordinate system A may be a Universal Transverse Mercator Grid (UTM) coordinate system.

In addition, the controller 20 controls the obstacle ob based on the relative position information of the obstacle ob with respect to the vehicle 100 generated based on the detection data of the obstacle detecting unit 10 and the absolute position coordinates of the vehicle 100 . ) to create absolute position coordinates.

When the obstacle ob does not move, the absolute position of the obstacle ob is constant regardless of the position of the vehicle 100 . Accordingly, the controller 20 can determine whether the obstacle ob moves according to a predetermined criterion regardless of whether the vehicle 100 moves.

The control unit 20 of the vehicle 100 according to an embodiment is based on information obtained from the obstacle detecting unit 10 and the GPS receiving unit 30 at regular time intervals (eg, 30 times per second). The absolute position coordinates of the plurality of vehicles 100 are generated, and the detection data of the plurality of absolute position coordinates of the vehicle 100 and the obstacle ob generated by the obstacle detection unit 10 the above-described number of times at the above-mentioned time interval. A plurality of absolute position coordinates of the obstacle ob according to time may be generated based on .

In addition, the controller 20 of the vehicle 100 according to an embodiment measures a distance value between a plurality of absolute position coordinates of the obstacle ob generated for each time period. Then, the control unit 20 determines the number of distance values equal to or greater than a preset first reference value among the plurality of distance values, and determines that the obstacle has moved if the number of distance values is equal to or greater than a preset second reference value, and is less than the second reference value In this case, it can be determined that the obstacle is fixed.

For example, the position coordinates of the obstacle ob obtained at time t are (0,1), the position coordinates of the obstacle ob obtained at time t+1 are (1,1), and the position coordinates of the obstacle ob obtained at time t+1 are (1,1), and t+2 If the position coordinates of the obstacle (ob) obtained in The control unit 20 controls i) a distance value 1, ii between the position coordinates (0,1) of the obstacle ob obtained at time t and the position coordinates (1,1) of the obstacle ob obtained at time t+1. ) A distance value of 1 between the position coordinates (1,1) of the obstacle ob obtained at time t+1 and the position coordinates (1,0) of the obstacle ob obtained at time t+2 may be measured, respectively. . And, if the first reference value is 0.5 and the second reference value is 2, the control unit 20 has two distance values of 0.5 or more among the plurality of distance values, and the number of distance values of 0.5 or more is more than the second reference value, so the obstacle It can be judged that it has moved.

In addition, the controller 20 of the vehicle 100 according to another embodiment measures a longitudinal distance value and a lateral distance value between a plurality of absolute position coordinates of the obstacle ob generated for each time period, respectively. And, the control unit 20 determines the number of cases in which the longitudinal distance value is equal to or greater than the preset 1a reference value or the lateral distance value is equal to or greater than the preset 1b reference value, and if the number of cases is equal to or greater than the preset second reference value, obstacles It may be determined that this has moved, and if it is less than the second reference value, it may be determined that the obstacle is fixed.

For example, the position coordinates of the obstacle ob obtained at time t are (0,1), the position coordinates of the obstacle ob obtained at time t+1 are (1,1), and the position coordinates of the obstacle ob obtained at time t+1 are (1,1), and t+2 If the position coordinates of the obstacle ob obtained at t are (1,0), the controller 20 controls i) the position coordinates of the obstacle ob obtained at time t (0,1) and the position coordinates of the obstacle ob obtained at time t+1. The lateral distance value 1 and the longitudinal distance value 0, ii) between the position coordinates (1,1) of the obstacle ob, the position coordinates (1,1) and t+2 of the obstacle ob obtained at time t+1 A lateral distance value of 0 and a longitudinal distance value of 1 between the position coordinates (1,0) of the obstacle ob acquired at the time point may be measured, respectively. In addition, the control unit 20 controls the first reference value and the first reference value of 0.5, respectively, and when the second reference value is 2, the lateral distance value is 0.5 or more (i) or when the longitudinal distance value is 0.5 or more (ii) ), since the number of ) is 2, it can be determined that the obstacle has moved.

In addition, the control unit 20 of the vehicle 100 according to another embodiment determines the absolute position coordinates of the obstacle ob at one measurement time point (time t) and the obstacle at the next measurement time point (time t+1). If the amount of change between the absolute position coordinates of ob) is measured and the amount of change is greater than or equal to a preset reference change amount, it may be determined that the obstacle ob has moved. Here, the change amount of the position may be a distance between the absolute position coordinates of the obstacle ob at time t and the absolute position coordinates of the obstacle ob at time t+1.

In this case, the control unit 20 of the vehicle 100 according to another embodiment determines that the amount of change between the absolute position coordinates of the obstacle ob at time t and the absolute position coordinates of the obstacle ob at time t+1 is the reference change amount. If less than, it may be determined that the obstacle ob is fixed.

Meanwhile, referring to FIG. 5 , even when the obstacle ob moves to the same position as shown in FIG. 3 , when the vehicle 100 also moves without being fixed, the relative of the obstacle ob to the vehicle 100 . Location may vary. Accordingly, when the controller 20 tracks the obstacle ob only with the detected data of the obstacle detector 110 , the controller 20 determines the absolute position of the obstacle ob and whether the obstacle ob is actually moving. difficult to judge

However, referring to FIG. 6 , the controller 20 of the vehicle 100 according to an exemplary embodiment generates the absolute position coordinates of the obstacle ob as described above, so that the absolute position of the obstacle ob is the same as in FIG. 4 . You can create coordinates. However, since not only the obstacle ob but also the vehicle 100 moves, the absolute position coordinates of the vehicle 100 may be generated differently from that shown in FIG. 4 .

In addition, the controller 20 can accurately determine whether the obstacle ob moves according to a predetermined criterion regardless of whether the vehicle 100 moves. As for the method of determining whether the obstacle ob moves, the above-described overlapping description will be omitted.

At least one component may be added or deleted according to the performance of the components of the vehicle 100 illustrated in FIG. 2 . In addition, it will be readily understood by those of ordinary skill in the art that the mutual positions of the components may be changed corresponding to the performance or structure of the system.

Meanwhile, some components illustrated in FIG. 2 may be software and/or hardware components such as Field Programmable Gate Array (FPGA) and Application Specific Integrated Circuit (ASIC).

Hereinafter, a method of controlling the vehicle 100 according to an exemplary embodiment will be described with reference to FIG. 7 . 7 is an operation flowchart of a method for controlling a vehicle according to an exemplary embodiment.

The vehicle according to an embodiment receives GPS information ( 1110 ), and estimates an absolute position of the vehicle based on the GPS information ( 1120 ). Estimating the absolute position of the vehicle may include generating the absolute position coordinates of the vehicle in a UTM coordinate system.

In addition, in estimating the absolute position of the vehicle, correction of the position of the vehicle is performed by using a dead reckoning technology or by matching pre-stored map data with the surrounding image data obtained through the camera 130. It may further include performing.

Next, the vehicle according to an embodiment detects the obstacle ( 1130 ), and converts the position of the obstacle into absolute coordinates based on the sensed data ( 1140 ). Converting the position of the obstacle into absolute coordinates estimates the relative position of the obstacle with respect to the vehicle based on the sensing data, and the absolute position coordinates of the obstacle in the UTM coordinate system based on the information on the relative position of the obstacle and the absolute position coordinates of the vehicle. may include creating

On the other hand, the vehicle generates absolute position coordinates of the vehicle based on the GPS information received a preset number of times at a preset time interval (1120), and generates the detected data of the obstacle received at a preset time interval a preset number of times ( 1130 ) Absolute position coordinates of a plurality of obstacles may be generated ( 1140 ).

Then, the vehicle measures the distance values between the plurality of absolute position coordinates of the obstacles generated for each time period ( 1150 ).

The vehicle determines the number of distance values equal to or greater than a preset first reference value among the plurality of distance values ( 1160 ), and if the number of distance values is greater than or equal to a preset second reference value (Yes in 1170 ), it is determined that the obstacle has moved and (1180), if the number of distance values is less than the second reference value (No in 1170), it may be determined that the obstacle is fixed (1190).

The disclosed embodiments may be implemented in the form of a recording medium storing instructions executable by a computer. Instructions may be stored in the form of program code, and when executed by a processor, may generate program modules to perform operations of the disclosed embodiments. The recording medium may be implemented as a computer-readable recording medium.

The computer-readable recording medium includes any type of recording medium in which instructions readable by the computer are stored. For example, there may be a read only memory (ROM), a random access memory (RAM), a magnetic tape, a magnetic disk, a flash memory, an optical data storage device, and the like.

The disclosed embodiments have been described with reference to the accompanying drawings as described above. Those of ordinary skill in the art to which the present invention pertains will understand that the present invention may be practiced in other forms than the disclosed embodiments without changing the technical spirit or essential features of the present invention. The disclosed embodiments are illustrative and should not be construed as limiting.

100: vehicle
10: obstacle detection unit
110: radar sensor
120: lidar sensor
130: camera
20: control unit
210: processor
220: memory
30: GPS receiver

Claims (20)

GPS receiver for receiving GPS information;
an obstacle detecting unit detecting an obstacle around the vehicle and generating detected data; and
A control unit for estimating the position of the obstacle on the absolute coordinate system based on the sensed data and the GPS information,
The obstacle detection unit,
generating the sensed data a preset number of times at a preset time interval,
The control unit is
Absolute position coordinates of a plurality of obstacles are generated based on the detected data generated by the number of times and the GPS information,
Each of the distance values between the plurality of absolute position coordinates of the obstacle generated for each time period is measured, the number of distance values equal to or greater than a preset first reference value among the plurality of distance values is determined, and based on the determination result of the number of distance values to determine whether the obstacle moves,
If the number of distance values is greater than or equal to a preset second reference value, it is determined that the obstacle has moved, and when the number of distance values is less than the second reference value, it is determined that the obstacle is fixed. The method of claim 1,
The control unit generates position coordinates on the absolute coordinate system of the vehicle based on the GPS information, and estimates the position of the obstacle on the absolute coordinate system based on the sensed data and the position coordinates of the vehicle. The method of claim 1,
The controller generates absolute position coordinates of the obstacle, and determines whether the obstacle moves based on a change in the absolute position coordinates of the obstacle over time. delete The method of claim 1,
The GPS receiver receives the GPS information as many times as the number of times at the time interval,
The control unit generates the absolute position coordinates of the plurality of obstacles based on the detected data generated the number of times and the GPS information received the number of times. The method of claim 1,
The control unit determines whether the obstacle moves or not based on mutual distance values of the absolute position coordinates of the plurality of obstacles.
delete delete The method of claim 1,
The control unit generates absolute position coordinates of the obstacle, measures the amount of change between the absolute position coordinates of the obstacle at one measurement time and the absolute position coordinates of the obstacle at the next measurement time, and if the amount of change is greater than or equal to a preset reference change amount A vehicle that determines that the obstacle has moved, and determines that the obstacle is fixed when the change amount is less than the reference change amount. The method of claim 1,
The absolute coordinate system is a vehicle including a (Universal Transverse Mercator Grid) coordinate system. The method of claim 1,
The obstacle detection unit includes at least one of a radar sensor, a lidar sensor, and a camera. receiving GPS information;
detecting obstacles around the vehicle and generating detected data;
estimating the position of the obstacle on the absolute coordinate system based on the sensed data and the GPS information;
measuring distance values between a plurality of absolute position coordinates of obstacles generated for each time period, respectively;
determining the number of distance values equal to or greater than a preset first reference value among a plurality of distance values; and
Comprising the step of determining whether to move the obstacle based on the determination result of the number of distance values,
The generating of the sensed data includes generating the sensed data a preset number of times at a preset time interval,
In the step of estimating the position of the obstacle, the absolute position coordinates of the plurality of obstacles are generated based on the detected data and the GPS information generated by the number of times,
In the step of determining whether the obstacle moves, if the number of distance values is greater than or equal to a preset second reference value, it is determined that the obstacle has moved, and if the number of distance values is less than the second reference value, it is determined that the obstacle is fixed. A control method of a vehicle comprising the step of determining. 13. The method of claim 12,
The estimating of the position of the obstacle may include generating position coordinates on the absolute coordinate system of the vehicle based on the GPS information, and the position of the obstacle on the absolute coordinate system based on the sensed data and the position coordinates of the vehicle. A vehicle control method comprising the step of estimating. 13. The method of claim 12,
The step of estimating the position of the obstacle includes generating absolute position coordinates of the obstacle,
The method of controlling the vehicle further includes determining whether the obstacle moves based on a change in the absolute position coordinates of the obstacle over time. delete 13. The method of claim 12,
Receiving the GPS information includes receiving the GPS information the number of times at the time interval,
The estimating of the position of the obstacle is a control method of a vehicle for generating absolute position coordinates of a plurality of obstacles based on the sensed data generated the number of times and the GPS information received the number of times. 13. The method of claim 12,
The method of controlling a vehicle further comprising the step of determining whether the obstacle moves based on a distance value between the absolute position coordinates of the plurality of obstacles.
delete delete 13. The method of claim 12,
The step of estimating the position of the obstacle includes generating absolute position coordinates of the obstacle,
The control method of the vehicle measures the amount of change between the absolute position coordinates of the obstacle at one measurement time and the absolute position coordinates of the obstacle at the next measurement time, and if the amount of change is greater than or equal to a preset reference change amount, it is determined that the obstacle has moved and determining that the obstacle is fixed when the change amount is less than the reference change amount.

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