KR100776860B1 - 경로 예측 시스템 및 방법 - Google Patents
경로 예측 시스템 및 방법 Download PDFInfo
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- G05D1/02—Control of position or course in two dimensions
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- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
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- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
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- G—PHYSICS
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- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
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- G05D1/02—Control of position or course in two dimensions
- G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
- G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
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Abstract
Description
Claims (20)
- 도로의 차선을 따라 이동하는 차량의 예측 경로(predicted path)에서 물체를 감지하기 위한 시스템으로서,상기 차량 전방의 시야 내의 물체에 대한 범위, 각도 및 속도 데이터를 제공하기 위한 전방 감시 센서;상기 차량에 대한 속도 및 요-레이트(yaw-rate) 데이터를 제공하기 위한 측정 시스템; 및상기 전방 감시 센서 및 상기 측정 시스템에 응답하여, 상기 속도 및 요-레이트에 기초하여 상기 차량의 추정 경로(estimated path)를 계산하고, 상기 물체들 각각에 대한 추정 경로를 계산하며, 상기 차량의 예측 경로로부터 각각의 물체들의 가로측 거리를 결정하고, 각각의 물체가 상기 차량의 도로 차선 안쪽에 있는지 또는 바깥쪽에 있는지를 구분하기 위한 처리 시스템을 포함하며;상기 차량의 예측 경로는 상기 차량의 추정 경로와 상기 물체들의 추정 경로를 상관시키고(correlating), 상기 물체들의 경로들을 가중 평균치로써 퓨징(fusing)함으로써 발생되는물체 감지 시스템.
- 제 1항에 있어서,상기 전방 감시 센서는 레이더 시스템을 포함하는 것을 특징으로 하는 물체 감지 시스템.
- 제 1항에 있어서,상기 요-레이트 측정 시스템은 자이로컴퍼스(gyrocompass)를 포함하는 것을 특징으로 하는 물체 감지 시스템.
- 차량 전방 시야 내의 물체들에 대한 범위, 각도, 및 속도 데이터를 제공하기 위한 전방 감시 센서, 상기 차량에 대한 속도 및 요-레이트 데이터를 제공하기 위한 측정 시스템, 및 상기 전방 감시 센서와 상기 측정 시스템에 응답하는 처리 시스템을 포함하는 차량용 시스템에서, 도로의 차선을 따라 이동하는 동안 상기 차량의 예측 경로에서 물체들을 감지하기 위한 방법으로서,a. 상기 차량의 속도 및 요-레이트 데이터에 기초하여 상기 차량의 추정 경로를 계산하는 단계;b. 상기 물체들 각각에 대한 추정 경로들을 계산하는 단계;c. 상기 차량의 예측 경로로부터 각각의 물체의 가로측 거리를 결정하는 단계; 및d. 각각의 물체가 상기 차량의 도로 차선 안쪽에 있는지 또는 바깥쪽에 있는지를 구분하는 단계를 포함하며;상기 차량의 예측 경로는 상기 차량의 추정 경로와 상기 물체들의 추정 경로를 상관시키고(correlating), 상기 물체들의 경로들을 가중 평균치로써 퓨징함으로써 발생되는물체 감지 방법.
- 제 4항에 있어서,상기 방법은 초당 10 내지 20회 반복되는 것을 특징으로 하는 물체 감지 방법.
- 차량 전방의 시야 내의 타겟들에 대한 범위, 각도 및 속도 데이터를 제공하기 위한 전방 감시 레이더 시스템, 상기 차량에 대한 속도 및 요-레이트 데이터를 제공하기 위한 측정 시스템, 및 상기 전방 감시 레이더 시스템과 상기 측정 시스템에 응답하는 처리 시스템을 포함하는 호스트 차량용 시스템에서, 도로의 차선을 따라 이동하는 동안 상기 호스트 차량의 예측 경로에서 타겟들을 감지하기 위한 방법으로서,a. 상기 전방 감시 레이더 시스템과 상기 측정 시스템으로부터 데이터 입력들을 수집하고, 상기 입력들로부터 가속도 및 가로측 속도 타겟 데이터를 유도해내는 단계;b. 상기 속도 및 요-레이트 데이터로부터 호스트 차량 경로 추정값을 계산하는 단계;c. 상기 호스트 차량 경로 추정값을 사용하여 타겟 위치 히스토리들을 전파(propagate)하는 단계;d. 세로측 및 가로측 타겟 위치 상태 벡터들을 사용하여 타겟 위치들을 전방으로 전파(propagate)하는 단계;e. 상기 호스트 차량 및 타겟 위치 벡터들에 대한 다항식 곡선 맞춤(polynomial curve fit)을 계산하는 단계;f. 상기 호스트 차량과 타겟 경로를 상관시킨 후, 타겟 경로들을 가중 평균값으로써 퓨징(fusing)함으로써 상기 예측 경로를 발생시키는 단계;g. 타겟 교차 범위 위치들을 상기 예측 경로와 비교하고, 상기 호스트 차량의 도로 차선에 대해 상기 타겟들이 차선 안쪽에 있는지 또는 차선 바깥쪽에 있는지를 구분하는 단계;h. 상기 전방 감시 레이더 시스템으로부터 업데이트 데이터를 수신하는 단계; 및i. 상기 단계 a 내지 h를 연속적으로 반복하는 단계를 포함하는 타겟들 감지 방법.
- 제 6항에 있어서, 상기 호스트 차량의 경로 추정값을 계산하는 상기 단계는,곡률 파라미터들을 추적하여 범위내에서 호스트 위치 벡터를 전방으로 전파하기 위하여 2-상태 칼만(Kalman) 필터를 적용하는 단계를 포함하는 것을 특징으로 하는 타겟들 감지 방법.
- 제 6항에 있어서, 상기 타겟 위치 히스토리들을 전파(propagate)하는 단계는,상기 호스트 차량의 세로측 축에 대한 타겟의 이전 위치를 계산하는 단계;히스토리 포인트들의 벡터를 필링(filling)하는 단계; 및세로측값이 0 이하로 떨어질 때의 포인트들을 버리는 단계를 포함하는 것을 특징으로 하는 타겟들 감지 방법.
- 제 6항에 있어서, 상기 호스트 차량 벡터에 대한 다항식 곡선 맞춤을 계산하는 단계는,상기 타겟 히스토리 데이터 및 상기 호스트 차량 곡률 데이터에 2차 다항식 곡선 맞춤을 적용하는 단계를 포함하는 것을 특징으로 하는 타겟들 감지 방법.
- 제 9항에 있어서, 상기 다항식 곡선은 x = c0 + c1ㆍy + c2ㆍy2 의 형식을 가지며,상기 x는 가로측 방향이고, y는 세로측 방향이며, c0, c1 및 c2는 각각 교차 범위 차원에서 곡선의 형태를 규정하는 0차, 1차, 및 2차 다항식 계수들인 것을 특징으로 하는 타겟들 감지 방법.
- 제 6항에 있어서, 상기 타겟 위치 벡터에 대한 다항식 곡선 맞춤을 계산하는 상기 단계는,세로측 및 가로측 차원에서 타겟 위치 및 속도 추정값들로부터 전방으로 데이터를 전파(propagate)하는 단계를 포함하는 것을 특징으로 하는 타겟들 감지 방법.
- 제 11항에 있어서, 상기 다항식 곡선은x = c0 + c1ㆍy + c2ㆍy2 의 형식을 가지며,상기 x는 가로측 방향이고, y는 세로측 방향이며, 상기 c0, c1 및 c2는 각각 교차 범위 차원에서 곡선의 형태를 규정하는 0차, 1차, 및 2차 다항식 계수들인 것을 특징으로 하는 타겟들 감지 방법.
- 제 6항에 있어서, 상기 예측 경로를 발생시키는 상기 단계는,상기 호스트 차량에 의한 도로의 차선 변경을 테스트하는 단계를 포함하는 것을 특징으로 하는 타겟들 감지 방법.
- 제 13항에 있어서, 상기 예측 경로를 발생시키는 단계는,상기 호스트 차량의 필터링되지 않은 요-레이트 측정값을 상기 호스트 차량 속도의 2배가 곱해진 이전의 업데이트 경로 헤딩 계수와 비교하는 단계를 포함하는 것을 특징으로 하는 타겟들 감지 방법.
- 제 14항에 있어서, 상기 호스트 차량에 의한 도로 차선 변경은,적분된 요-레이트가 타겟 헤딩 계수와 동일한지 반대인지를 알기위해 상기 적분된 요-레이트를 각각의 상기 타겟 헤딩 계수와 비교하는 단계;타겟의 대다수가 호스트 차량의 반대 방향으로 이동하는지를 확인하는 단계; 및상기 반대 방향의 움직임이 상기 전방 감시 레이더 시스템으로부터의 2개의 연속 데이터 업데이트에서 발생했음을 관찰하는 단계에 의해 확인되는 것을 특징으로 하는 타겟들 감지 방법.
- 제 6항에 있어서, 상기 예측 경로를 발생시키는 상기 단계는,디폴트 타겟 퓨전 가중치들을 계산하는 단계를 포함하는 것을 특징으로 하는 타겟들 감지 방법.
- 제 16항에 있어서,상기 디폴트 타겟 퓨전 가중치들은 상기 호스트 차량과 상기 타겟의 현재 위치 사이 범위에 대한 하나의 값, 및 상기 타겟을 벗어나 상기 전방 감시 레이더 시스템의 범위의 마지막 값으로 단순 감소시키는 값들에 할당되는 것을 특징으로 하는 타겟들 감지 방법.
- 제 6항에 있어서, 상기 타겟 교차 범위 위치들을 상기 예측 경로와 비교하는 상기 단계는,차선 안쪽임을 결정하기 위해, 타겟 위치들을 예측 경로의 1/2 도로 차선 폭 안쪽 범위와 비교하는 단계를 포함하는 것을 특징으로 하는 타겟들 감지 방법.
- 제 6항에 있어서, 상기 호스트 차량과 타겟 경로를 서로 상관시킨 후 타겟 경로들을 가중 평균값으로써 퓨징(fusing)함으로써 상기 예측 경로를 발생시키는 단계는,범위 내에서 가장 먼 타겟이 예측 경로로부터 벗어날 때 대체 경로 가정(hypothesis)을 설정하는 프로세스를 더 포함하고, 상기 대체 경로 가정은 예측 경로를 계속 따르는 것을 특징으로 하는 타겟들 감지 방법.
- 제 12항에 있어서, 상기 호스트 차량과 타겟 경로를 서로 상관시킨 후 타겟 경로들을 가중 평균값으로써 퓨징(fusing)함으로써 예측 경로를 발생시키는 단계는,허용된 대체 경로 가정의 분석에 따라 퓨전 가중치들을 조정하는 단계; 또는 대체 경로 가정이 거부되고 단일 타겟만이 존재한다면 호스트 차량 유도 경로를 사용하는 단계; 또는 하나 이상의 타겟이 존재할 때, 거부된 대체 경로 가정의 분석에 따라 퓨전 가중치를 조정하는 단계; 또는 대체 경로 가정이 존재하지 않을 때, 디폴트 범위-기반 퓨전 가중치들을 적용하는 단계;타겟 경로들의 가중 평균값을 계산하는 단계; 및상기 다항식의 계수들을 추출하는 단계를 포함하는 특징으로 하는 타겟들 감지 방법.
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Also Published As
Publication number | Publication date |
---|---|
EP1315980B1 (en) | 2006-10-04 |
WO2002021156A3 (en) | 2002-07-18 |
JP2004508627A (ja) | 2004-03-18 |
DE60123640T2 (de) | 2007-08-16 |
EP1315980A2 (en) | 2003-06-04 |
WO2002021156A2 (en) | 2002-03-14 |
US20020049539A1 (en) | 2002-04-25 |
US6675094B2 (en) | 2004-01-06 |
AU2001291299A1 (en) | 2002-03-22 |
DE60123640D1 (de) | 2006-11-16 |
KR20030036764A (ko) | 2003-05-09 |
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