KR101806029B1 - System and method for detecting position of vehicle using gps and uwb - Google Patents

Abstract

Disclosed is a positioning system and method for sensing the position of a vehicle by combining GPS and UWB technology. A positioning method for detecting the position of a vehicle by combining GPS and UWB technology is a method for detecting position information of a mobile terminal determined based on UWB communication in a plurality of base stations disposed in the vicinity of a road, ; And acquiring lane information on the high-precision map using the location information of the mobile terminal determined based on the UWB communication.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning system and method for detecting a position of a vehicle by combining GPS and UWB technology,

The following embodiments relate to technologies for reducing infrastructure costs for positioning systems that can be applied to high-speed environments such as vehicles by combining GPS and UWB (Ultra Wideband) technology.

Autonomous driving is a key technology for smart car implementation, and it is an automobile technology that automatically detects the situation of the road without the driver controlling the brakes, the steering wheel, and the accelerator pedal. For autonomous driving, it is very important to know the exact position of the car. At present, the position of the vehicle is positioned based on the GPS information.

However, the GPS-based positioning technique has not reached within the minimum positioning error range required by the autonomous travel of about 30 cm since the accuracy of the GPS-based positioning technique has an average error of 2 to 5 m. Especially, in areas such as Jihwa Tunnel, there exist shaded areas where satellite communication is difficult and positioning is impossible. Therefore, autonomous positioning technology is currently being studied by using expensive sensors such as DGPS and LiDAR to supplement positioning through precision mapping and data fusion. However, there is a difficulty in commercialization of autonomous driving service because realistic high-priced sensor is required.

Autonomous vehicle service, V2X service is based on precise location. At present, the actual GPS-based positioning method has a precision problem (average error: 2 to 5 m), and in order to provide practical service, the accuracy in the GPS-based positioning should be less than 30 cm in average error.

There are complementary methods using sensors such as DGPS, Camera, LiDAR, and Rader as a universal method to reduce GPS positioning error. However, it is difficult to commercialize the sensor because it is a cost problem because it is necessary to use a very expensive equipment and a limit point that it can not recognize shadow areas (tunnels, underground parking lots) and blind spots.

Korean Patent No. 10-1231534 describes a technique for positioning a vehicle using DGPS to reduce GPS positioning errors.

Embodiments describe a positioning system and method for detecting the position of a vehicle by combining GPS and UWB technology, and more specifically, by combining GPS and UWB (Ultra Wideband) technology, high-precision positioning at low cost in a high- Provide a possible technology.

Embodiments can obtain lane information and vehicle position information obtained through communication between one or two UWB APs and a tag (TAG) mounted on a vehicle on a high-precision map, and thereby, by using GPS and UWB, The present invention also provides a positioning system and method for detecting the position of a vehicle by combining the safe and reliable GPS and UWB technology applicable to the GPS reception shadow areas such as underground and tunnel.

A positioning method for detecting the position of a vehicle by combining GPS and UWB technology according to an embodiment is a method for determining a position of a vehicle based on UWB communication in a plurality of base stations disposed around the road as the mobile terminal moves into a UWB positioning interval Receiving location information of a mobile terminal; And acquiring lane information on the high-precision map using the location information of the mobile terminal determined based on the UWB communication.

The position information of the mobile terminal determined based on the UWB communication is detected by detecting the UWB tag (TAG) mounted on the mobile terminal from two base stations located around the road corresponding to the UWB positioning interval, Wherein the UWB positioning interval is determined based on a UWB communication range of a circle or a sphere having a calculated distance as a radius, wherein the UWB position positioning interval includes a plurality of The UWB tag (TAG) mounted on the mobile terminal can be recognized through the UWB communication.

Determining a current location of the mobile terminal in motion based on GPS information; And correcting the current position of the mobile terminal on the high-precision map using the current position of the mobile terminal based on the GPS information, based on the position information of the mobile terminal determined based on the UWB communication.

The step of correcting the current position of the mobile terminal on the high-precision map using the current position of the mobile terminal based on the GPS information, based on the position information of the mobile terminal determined based on the UWB communication, The current position of the mobile terminal can be corrected on the high-precision map by selecting one of the intersections of two circles having the distance from each of the two base stations to the mobile terminal as a radius.

Further comprising the step of transmitting lane information of the mobile terminal or the corrected current position of the mobile terminal using V2V (Vehicle to Vehicle) communication to the neighboring terminal before entering the UWB positioning interval, The terminal detects the UWB tag mounted on the mobile terminal and calculates the distance between the mobile terminal and the neighboring terminal, and calculates the distance, the GPS information of the neighboring terminal and the lane information of the mobile terminal, The current position of the neighboring terminal can be corrected by utilizing the information of the high-precision map based on the current position of the neighboring terminal.

The step of receiving location information of a mobile terminal determined based on UWB communication at a plurality of base stations disposed in the vicinity of the road includes receiving travel information of the vehicle detected by a GPS module and an IMU (Inertia Measurement Unit) A slot to be used in UWB communication with the base station can be reserved in advance.

The step of acquiring the lane information on the high-precision map using the location information of the mobile terminal determined based on the UWB communication includes the steps of: (Dead Reckoning) or RTK (Real Time Kinematic) algorithm based on the GPS information received after passing the UWB positioning interval and the acceleration information of the mobile terminal, The position information of the mobile terminal can be corrected.

A positioning method for detecting the position of a vehicle by combining GPS and UWB technology according to another embodiment is a method for determining a position of a vehicle based on UWB communication in a single base station disposed in the vicinity of the road as a mobile terminal moves into a UWB positioning interval Receiving location information of a mobile terminal; And determining the current position of the mobile terminal on the high-precision map using the position information of the mobile terminal determined based on the UWB communication, wherein the position information of the mobile terminal, which is determined based on the UWB communication, There is a plurality of antennas in the one base station disposed in the vicinity of the road corresponding to the interval to detect the angle of the signal generated in the UWB tag (TAG), and the signal intensity of the UWB tag (TAG) Calculates the angle of the road with the mobile terminal having the UWB tag (TAG), calculates the distance from the base station to the mobile terminal using the time information of the UWB tag (TAG), and calculates the calculated distance as the radius And the UWB position measurement period is determined based on a UWB communication range of a circle or a globe on the road where the GPS information does not reach The plurality of base stations can indicate an area in which the UWB tag (TAG) mounted on the mobile terminal can be recognized through the UWB communication.

Determining a current location of the mobile terminal in motion based on GPS information; And correcting the current position of the mobile terminal based on the UWB communication with the current position of the mobile terminal on the high-precision map using the position information of the mobile terminal based on the GPS information.

A positioning system that detects the position of a vehicle by combining GPS and UWB technology according to another embodiment is a system that detects a position of a vehicle based on the UWB communication in a plurality of base stations disposed in the vicinity of the road as the mobile terminal moves into the UWB positioning interval A UWB position information receiver for receiving position information of the determined mobile terminal; And a lane information determining unit for obtaining lane information of the mobile terminal on the high-precision map using the location information of the mobile terminal determined based on the UWB communication.

The position information of the mobile terminal determined based on the UWB communication is detected by detecting the UWB tag (TAG) mounted on the mobile terminal from two base stations located around the road corresponding to the UWB positioning interval, Wherein the UWB positioning interval is determined based on a UWB communication range of a circle or a sphere having a calculated distance as a radius, wherein the UWB position positioning interval includes a plurality of The UWB tag (TAG) mounted on the mobile terminal can be recognized through the UWB communication.

A GPS position determination unit for determining a current position of the mobile terminal in operation based on GPS information; And a position correcting unit for correcting the current position of the mobile terminal on the high-precision map using the position information of the mobile terminal based on the GPS information, based on the position information of the mobile terminal determined based on the UWB communication.

The position correcting unit may select one of the two intersection points having the radius from the two base stations to the mobile terminal through the GPS position information including the error, The position can be corrected.

Further comprising an information transmitter for transmitting a current position of the mobile terminal corrected using V2V (Vehicle to Vehicle) communication to a neighboring terminal before entering the UWB positioning interval, wherein the neighboring terminal comprises: The mobile terminal calculates the distance between the mobile terminal and the neighboring terminal by sensing the UWB tag and calculates the current position of the neighboring terminal based on the calculated distance, the GPS information of the neighboring terminal and the corrected position of the mobile terminal, Can be corrected.

The base station may include a UWB reader for sensing a UWB tag mounted on the mobile terminal and a UWB positioning module for calculating position information of the mobile terminal based on information sensed by the UWB reader.

According to embodiments, by obtaining lane information and vehicle position information obtained through communication between one or two UWB APs and a tag (TAG) mounted on a vehicle in a high-precision map, errors of existing positional positioning using GPS and UWB It is possible to provide a positioning system and method for detecting the position of a vehicle by reducing the range to 30 cm or less and combining the safe and reliable GPS and UWB technology applicable to the GPS reception shadow areas such as underground and tunnel.

According to the embodiments, when the vehicle, which is a mobile terminal, enters a UWB positioning interval by combining GPS and UWB communication, position information determined based on UWB communication with respect to the current position of the mobile terminal, So that autonomous travel can be performed.

According to the embodiments, the position information of the neighboring vehicle that has not entered the UWB positioning interval based on the corrected position information in the vehicle entering the UWB positioning interval using the UWB communication between the vehicles is transmitted through the V2V communication and the high- It is possible to carry out the autonomous running by correcting it.

1 is a view for explaining a positioning system for detecting the position of a vehicle using UWB technology.
2 is a view for explaining a positioning system for detecting a position of a vehicle by combining GPS and UWB technology according to an embodiment.
3 is a diagram for explaining an operation of determining a position of a mobile terminal in a UWB positioning interval by combining GPS and UWB technology according to an embodiment.
4 is a diagram illustrating an example of determining a location of a mobile terminal using two UWB AP infrastructures according to an exemplary embodiment of the present invention.
5 is a diagram illustrating an example of determining a location of a mobile terminal using one UWB AP infrastructure according to another embodiment.
6 is a flowchart illustrating a positioning method for detecting the position of a vehicle by combining GPS and UWB technology according to an embodiment.
7 is a block diagram illustrating an internal configuration diagram of a positioning system for detecting the position of a vehicle by combining GPS and UWB technology according to an embodiment.
8 is a flowchart illustrating a positioning method for detecting the position of a vehicle by combining GPS and UWB technology according to another embodiment.

Hereinafter, embodiments will be described with reference to the accompanying drawings. However, the embodiments described may be modified in various other forms, and the scope of the present invention is not limited by the embodiments described below. In addition, various embodiments are provided to more fully describe the present invention to those skilled in the art. The shape and size of elements in the drawings may be exaggerated for clarity.

The following embodiments relate to a positioning technique for autonomous navigation of a vehicle. In particular, the UWB is applied to a GPS so as to correct an error of a GPS positioning and enable autonomous travel in a shadow area, And to a technique for providing the same.

In this specification, a mobile terminal refers to a vehicle traveling on a road, a parking lot, etc., and a shaded area can indicate an area where GPS information transmitted from a satellite does not reach the vehicle. For example, the shaded area may represent a tunnel on the road, an underground parking lot, or the like.

In this specification, the UWB positioning interval indicates an area in which UWB communication is possible between a base station and a mobile station, and may be formed in a certain section on a road on which the mobile station is traveling, or in a shadow area. For example, base stations providing UWB communication in a shadow area or a section on a road may be arranged at regular intervals (e.g., 150 m, 200 m, etc.) to form a UWB positioning interval.

UWB (Ultra Wideband) Ultra Precision Positioning technology consumes less than 7 times less power than Zigbee, which is a low power short range wireless communication technology, and less than 3 times less than when receiving, It is not a privilege, but a technique that uses successive short pulses. In Korea, 3.1 to 4.8 GHz is assigned as a low band and 7.2 to 10.2 GHz as a high band. As described above, the UWB communication can precisely divide the radio wave information per unit time using the optical bandwidth of 500 MHz or more, so that it does not cause radio wave interference caused by other communication services using the existing frequency band. And, as the UWB communication does not use the carrier wave but the communication is performed in the baseband, the structure of the transceiver can be simplified. In addition, the spectral power density is low, which improves security, data transmission characteristics, and provides a higher resolution by more precise measurement of distance.

1 is a view for explaining a positioning system for detecting the position of a vehicle using UWB technology.

Referring to FIG. 1, a positioning system for detecting the position of a vehicle using UWB technology includes at least three UWBs (hereinafter, referred to as " UWB tags ") for calculating the position of a UWB tag An access point (AP) (or base station) 21, 22, 23 is required.

More specifically, the positioning system for detecting the position of the vehicle using the UWB technology calculates the position of the UWB tag (TAG) mounted on the moving mobile terminal 10 from three APs (21, 22, 23) A circle having the radii (d ₁ , d ₂ , d ₃ ) as distances (relative distances) to the mobile terminal 10 is formed and the position of the mobile terminal 10 is sensed through the intersections of the three circles .

UWB (Ultra Wideband) is one of the technologies that is gaining attention as indoor positioning technology. It has accuracy within 10 ~ 20cm and it is possible to make high precision positioning at a distance of 290m at low cost.

However, when positioning based on UWB communication, at least three APs are required to calculate the position of the UWB tag (TAG) within the UWB positioning range. Therefore, technology is required to reduce infrastructure costs.

On the other hand, Wi-Fi and Bluetooth technologies, which are wireless communication technologies used in conventional positioning, suffer from problems such as excessive power consumption, large errors in positioning, interference of radio waves, It is difficult to introduce a high-precision location positioning service.

For example, the positioning error of Wi-Fi technology is 3 ~ 5m on average, which shows an error range of 10 times or more the error range (within 30cm) required by the vehicular communication service and the Wi-Fi using the congested 2.4GHz bandwidth Wi-Fi, Bluetooth, and Zigbee have high interference from other services using the same frequency. In addition, since the above-described techniques require a narrow AP interval, a large amount of installation and maintenance costs are required to cover a wide range of communication.

2 is a view for explaining a positioning system for detecting a position of a vehicle by combining GPS and UWB technology according to an embodiment.

FIG. 2A is a diagram for explaining an operation of a positioning system for detecting the position of a vehicle by combining GPS and UWB technology according to an embodiment. Referring to FIG. 2A, a positioning system that detects the position of a vehicle by combining GPS and UWB technology according to an embodiment determines a current position of a mobile station based on a GPS positioning for a mobile station located outside a UWB positioning interval And UWB positioning is performed with respect to the mobile terminal that has entered the UWB positioning interval to determine the current position of the mobile terminal.

At this time, even when the mobile terminal enters the UWB positioning interval, the mobile terminal can determine the current position of the mobile terminal based on the GPS information. Accordingly, the current position determined based on the GPS information is corrected to the current position determined based on the UWB positioning, so that the positioning error of the mobile terminal can be reduced.

Also, when a mobile terminal is traveling in a shadow area such as a tunnel, an underground parking lot, or the like, or a blind spot in which GPS information does not reach, a UWB positioning interval is established in the shadow area or a blind spot, The current position can be determined.

FIG. 2B is a diagram illustrating an overall configuration of a positioning system that detects the position of a vehicle by combining GPS and UWB technology according to an embodiment.

Referring to FIG. 2B, the mobile terminal 210 and the neighboring terminal 220 can receive GPS information from a satellite as a vehicle, and can determine their current position based on GPS information. For example, the GPS information may include position coordinate information including latitude and longitude.

When the mobile terminal 210 starts traveling, it determines the current position of the mobile terminal based on the GPS information. When the mobile terminal 210 enters the UWB positioning interval while driving, the mobile terminal 210 determines, based on the position information of the mobile terminal, Can be corrected. At this time, the mobile terminal 210 can receive the location information of the mobile terminal located on the UWB basis from the base station 230 using V2I (Vehicle to Infrastructure) communication. Then, the mobile terminal can correct the current position of the mobile terminal based on the received location information of the mobile terminal.

The neighboring terminal 220 may be a terminal running around the mobile terminal, for example, a vehicle that has not yet entered the UWB positioning interval. The neighboring terminal 220 can receive the GPS information from the satellite and determine the current location of the neighboring terminal. The neighboring terminal 220 can receive the location information of the calibrated mobile terminal 210 using the V2V (Vehicle to Vehicle) communication from the mobile terminal 210 that has entered the UWB positioning period and has its position corrected . Then, the neighboring terminal 220 can correct the current position of the neighboring terminal determined by the GPS information based on the corrected position information of the mobile terminal 210. [

3 is a diagram for explaining an operation of determining a position of a mobile terminal in a UWB positioning interval by combining GPS and UWB technology according to an embodiment.

Referring to FIG. 3, the mobile terminal 302 running on the road can determine the current position of the mobile terminal 302 based on the GPS information received from the satellite 340. When the mobile terminal 302 continues to travel and enters the UWB positioning interval 320, the mobile terminal 302 transmits at least one of the plurality of base stations 311, 312, 313, and 314 disposed in the UWB positioning interval 320 The current position of the mobile terminal 302 can be corrected based on the position information determined by the base station 304. [

The plurality of base stations 311, 312, 313, and 314 disposed in the UWB positioning interval 320 include a UWB tag (TAG) installed in the mobile terminal 302, UWB reader that detects tags, and a Location Control (LCT) that collects information detected by UWB readers. The plurality of base stations 311, 312, 313 and 314 can detect the UWB tag of the mobile terminal 302 until the mobile terminal enters and passes through the UWB positioning interval 320. Here, the base stations may be arranged around the road corresponding to the UWB positioning interval at predetermined fixed intervals (e.g., 150 m, 200 m, etc.). At this time, a UWB communication module may be installed in the mobile terminal 302 and each base station to detect the UWB tag of the mobile terminal 302, and each base station may detect the UWB tag of the mobile terminal 302 and the UWB reader (LCT) that collects the information that has been received. That is, when each UWB communication session with the mobile terminal 302 is established through the UWB communication module, each base station can detect the UWB tag using the UWB reader through the established communication session. The base stations can detect the UWB tag of the mobile terminal 302 and calculate the relative distance between each base station and the mobile terminal 302 based on the received UWB signal. Based on the relative distance, Can be determined.

At least one of the plurality of base stations 311, 312, 313, and 314 determines the location information of the mobile terminal, and the reference base station determines the location of the mobile terminal based on the Vehicle to Infrastructure (V2I) And may transmit the determined location information to the mobile terminal 302 through communication. For example, a base station that has first received the UWB signal from the mobile terminal 302 among the plurality of base stations 311, 312, 313, and 314 or that is closest in distance to the mobile terminal 302 may be a base station have. The mobile terminal 302 can still receive the GPS information from the satellite 340 in the UWB positioning section 320 as well.

The mobile terminal 302 can correct the current position based on the GPS information based on the position information received from the reference base station. For example, the mobile terminal 302 can correct the current position by changing the current position located based on the GPS information to the received position information.

On the other hand, the neighboring terminal 301 detects the UWB tag mounted on the mobile terminal 302 that has entered the UWB positioning interval 320 and corrected the current position, and determines the relative distance of the neighboring terminal 301 from the mobile terminal 302 Can be calculated.

The neighboring terminal 301 can receive the corrected current location of the mobile terminal from the mobile terminal 302 via V2V communication. Then, the neighboring terminal 301 can correct the current position of the mobile terminal based on the corrected current position and the calculated relative distance. For example, the neighboring terminal 301 changes the point corresponding to the current position of the neighboring terminal determined based on the GPS information on the high-precision map to the point corresponding to the corrected position based on the corrected current position and relative distance of the mobile terminal The current position of the neighboring terminal can be corrected.

Also, when the mobile terminal 304 is traveling in a shadow area such as a tunnel, an underground parking lot, or the like and a dead zone 330 in which GPS information does not reach, the UWB positioning section is installed in the shadow area or the dead zone 330 The current position of the mobile terminal 304 can be determined based on the UWB positioning.

Then, the current position of the mobile terminal can be determined based on the GPS position for the mobile terminal 301 located outside the UWB positioning interval 310.

4 is a diagram illustrating an example of determining a location of a mobile terminal using two UWB AP infrastructures according to an exemplary embodiment of the present invention.

Referring to FIG. 4, when a mobile terminal 401 equipped with a UWB tag (TAG) is traveling on a road, relative distances d1 and d2 with respect to two base stations (UWB AP) 411 and 412 are calculated through UWB communication . At this time, a circle (or a circle) having d1 and d2 as radii becomes the UWB communication range, and it can be calculated through which lane of the road on the high-precision map the mobile terminal 401 exists.

In order to realize an autonomous vehicle, lane information alone is possible. However, the position of the current mobile terminal 401 can be determined on the high-precision map by selecting one of the intersections of the two circles using the GPS information through the satellite 420 including the error of 2 to 5 m. That is, the traveling mobile terminal 401 forms two circles having the radius from the two base stations 411 and 412 as the radius, and the circle of the mobile terminal 401 measured by the GPS information among the intersections of the two circles The current position of the mobile terminal 401 on the high-precision map can be determined by selecting the intersection point belonging to the GPS error range.

It is also possible to select one of the two intersection points of the two circles through the DR that can be obtained based on the IMU and the mobile terminal information from the past accurate position measured by the UWB communication base.

Thus, lane information of a vehicle equipped with a UWB tag (TAG) can be obtained using two base stations (UWB APs) in a 2D environment, and lane information of a vehicle equipped with a UWB tag (TAG) using two base stations and GPS information The position information of the vehicle can be obtained.

Meanwhile, a base station (UWB AP) for measuring one height information in the 3D environment can be added. In this case, it is possible to acquire lane information of a vehicle equipped with a UWB tag (TAG) through three base stations (UWB AP) , The location information of the vehicle equipped with the UWB tag (TAG) can be obtained using the three base stations and the GPS information. In the case of a high-precision map, height information can be expressed, for example, when a vehicle is located on a highway.

5 is a diagram illustrating an example of determining a location of a mobile terminal using one UWB AP infrastructure according to another embodiment.

Referring to FIG. 5, in one UWB AP 511, there are a plurality of antennas for detecting an angle of a signal generated in a UWB tag (TAG). The UWB tag (TAG) and the road angle can be calculated by comparing the signal intensities of the UWB tags (TAG) detected by the respective antennas. The UWB AP infrastructure can calculate the angle of the UWB tag (TAG) using the time information of the UWB tag (TAG) Can be calculated. At this time, the UWB tag (TAG) may be configured in the mobile terminal 501. The angle between the UWB tag (TAG) and the road side may be an angle with the mobile terminal 501 to form a road transition.

Based on the relative distance between the angle information and the UWB tag (TAG), a specific point can be obtained from a circle (or a circle) corresponding to the communication radius of the base station 511, The exact position can be calculated.

The GPS information including the error received by the mobile terminal 501 through the satellite 520 can quickly identify the point in the entire high-precision map and can verify the result obtained by the UWB communication.

6 is a flowchart illustrating a positioning method for detecting the position of a vehicle by combining GPS and UWB technology according to an embodiment.

Referring to FIG. 6, a positioning method for detecting the position of a vehicle by combining GPS and UWB technology according to an embodiment is a method in which a plurality of base stations disposed around a road enters a UWB A step (620) of receiving (620) position information of a mobile terminal determined based on communication, and acquiring lane information of the mobile terminal on the high-precision map using the position information of the mobile terminal determined based on the UWB communication 630).

A positioning method for detecting the position of a vehicle by combining GPS and UWB technology according to an embodiment includes determining (610) a current position of the mobile terminal in operation based on GPS information (610), and based on the UWB communication And a step (640) of correcting the determined current position of the mobile terminal on the high-precision map using the current position of the mobile terminal based on the GPS information.

The location information of the mobile terminal determined based on the UWB communication is detected by the UWB tag (TAG) mounted on the mobile terminal at two base stations located around the road corresponding to the UWB positioning interval, To the mobile terminal, and may be determined based on a UWB communication range of a circle or a circle having the calculated distance as a radius.

According to the embodiments, when the vehicle, which is a mobile terminal, enters a UWB positioning interval by combining GPS and UWB communication, position information determined based on UWB communication with respect to the current position of the mobile terminal, So that autonomous travel can be performed.

A positioning method for detecting the position of a vehicle by combining GPS and UWB technology according to one embodiment will be described in more detail with reference to an embodiment.

A positioning method for detecting the position of a vehicle by combining GPS and UWB technology according to one embodiment can be more specifically described using a positioning system that detects the position of the vehicle by combining GPS and UWB technology according to one embodiment have.

6 is a flow chart for explaining an operation of providing autonomous travel by correcting the current position of the mobile terminal by combining GPS and UWB according to an embodiment, FIG. 2 is a block diagram illustrating an internal configuration of a positioning system for detecting a position of a vehicle by combining GPS and UWB technology according to an embodiment of the present invention;

7, a positioning system 700 for sensing the position of a vehicle by combining GPS and UWB technology according to one embodiment may include a UWB position information receiving unit 702 and a lane information determining unit 703 . The positioning system 700 for sensing the position of the vehicle by combining the GPS and UWB technologies according to the embodiment may further include a GPS positioning unit 701 and a position correcting unit 704. [ In addition, the positioning system 700 for detecting the position of the vehicle by combining GPS and UWB technology according to other embodiments may further include an information transmitter (not shown).

6 includes the GPS positioning unit 701, the UWB position information receiving unit 702, the lane information determining unit 703, and the position correcting unit 704 in FIG. 7, Lt; / RTI > Although only one base station 710 is shown in FIG. 7, it is possible that a plurality of base stations can receive a UWB signal by tagging the UWB tag detected in the mobile station. 6 and 7, the UWB position information receiving unit 702 receives the UWB signal from the reference base station through the UWB transmission / reception module, UWB tag, and V2I communication for performing UWB communication when transmitting the UWB signal to the base station 710 through UWB tagging And a Vehicle to everything (V2X) communication module for receiving location information. The base stations include a UWB transmission / reception module for UWB communication, a UWB positioning module for determining location information of the mobile terminal based on UWB positioning, and a V2X (Vehicle to everything) module for providing location information determined by the mobile terminal through V2I communication. And a communication module.

In operation 620, the UWB location information receiver 702 can receive the location information of the mobile terminal determined based on the UWB communication at a plurality of base stations disposed in the vicinity of the road as the mobile terminal moves into the UWB positioning interval .

Here, the location information of the mobile terminal determined based on the UWB communication detects the UWB tag (TAG) mounted on the mobile terminal from two base stations disposed around the road corresponding to the UWB positioning interval, The distance to the mobile terminal can be calculated, and it can be determined based on the UWB communication range of a circle or a circle having the calculated distance as a radius.

The UWB position location interval may indicate a region in which a plurality of base stations disposed in a shaded area on the road where GPS information does not reach can recognize a UWB tag (TAG) mounted on the mobile terminal through UWB communication.

The UWB position information receiving unit 702 can receive the position information of the mobile station positioned based on the UWB communication in the reference base station from the reference base station through the V2I communication when the mobile station continues to travel and enters the UWB positioning interval.

For example, when the mobile terminal continuously travels and enters the UWB positioning interval, the plurality of base stations located in the UWB positioning interval can sense the UWB tag mounted on the mobile terminal. For example, the plurality of base stations can receive the UWB signal from the mobile terminal by sensing the UWB tag of the mobile terminal. Then, the base station that has first received the UWB signal from the mobile station among the plurality of base stations may be determined as the reference base station.

The reference base station can determine the position of the mobile terminal based on the time at which each base station receives the UWB signal of the mobile terminal. For example, the location of the mobile terminal can be determined based on Time of Arrival (TOA) and Time Difference of Arrival (TDOA).

TOA, the location information of the mobile terminal is calculated based on the arrival time of the UWB signal of the mobile terminal received by the reference base station and the arrival time of the UWB signal received by the remaining two or more neighboring base stations located in the UWB positioning interval Can be determined. For example, a circle having a radius corresponding to a signal arrival time value centered at each base station can be virtually created. Then, if there are three base stations, three circles can be generated, and the base station can determine the intersection of the three circles as the location information of the mobile terminal. At this time, time synchronization may be performed between a plurality of base stations and mobile terminals.

When TDOA is used, several hyperbolas can be generated based on the arrival time of the UWB signal received at the reference base station and the arrival time difference of the UWB signal at the neighboring base station, and the intersection of the generated hyperbolas is the position Can be determined. For example, when receiving a UWB signal from a neighboring base station after receiving a UWB signal from a reference base station, the reference base station can calculate a difference between the time when the UWB signal was received at the neighboring base station based on the time at which the UWB signal was received at the reference base station have. The difference is a TDOA measurement value. If there are two or more measured values, the reference base station can calculate the distance between the reference base station and the mobile terminal using the two or more measured values. At this time, two distances can be calculated, and the reference base station can determine the location information of the mobile terminal using any one of the generated two distances. Here, a process of selecting one of the two distances as a distance parameter corresponding to the location information of the mobile terminal may be used.

In this case, when three or more TDOA measurement values are generated, the reference base station can determine the location information of the mobile terminal by calculating the distance between the mobile terminal and the reference base station at a time using three or more TDOA measurement values.

In addition, the location information of the mobile terminal may be determined based on the direction in which the UWB signal of the mobile terminal is received from each base station. For example, based on the AOA (Angle of Arrival), the direction angle of the UWB signal transmitted from the mobile terminal at two or more base stations is calculated by measuring the arrival angle of the uplink signal using the array antenna . The reference base station can determine the position information of the mobile terminal based on two or more direction angles. The reference base station may determine the location information of the mobile terminal based on the strength of the signal received from the UWB signal of the mobile terminal. That is, the location information of the mobile terminal may be determined based on RSS (Received Signal Strength).

If the location information of the mobile terminal is determined in various manners based on the UWB signal of the mobile terminal received from the plurality of base stations, the base station can transmit the determined location information to the mobile terminal through V2I communication through the neighboring RSU have. Accordingly, the mobile terminal can receive the location information of the mobile terminal determined based on the UWB positioning from the reference base station. For example, the base station may include an RSU (Road Side Unit) as a LAP (Location Access Point), or may have an RSU separately from a base station. At this time, if the RSU exists separately, the base station is arranged around the RSU, and the location information can be transmitted to the mobile terminal through the V2I communication through the RSU.

In step 630, the lane information determining unit 703 can obtain lane information on the high-precision map using the location information of the mobile terminal determined based on the UWB communication.

On the other hand, in step 610, the GPS positioning unit 701 can receive the GPS information of the mobile terminal from the satellite. At this time, when the mobile terminal is before entering the UWB positioning interval, the GPS position determination unit 701 can determine the current position of the mobile terminal based on the GPS information.

In step 640, the position correcting unit 704 can correct the current position of the mobile terminal on the high-precision map using the current position of the mobile terminal based on the GPS information, based on the position information of the mobile terminal determined based on the UWB communication.

 More specifically, the position correcting unit 704 selects one of the intersections of two circles having the radius from each of the two base stations to the mobile terminal through the GPS position information including the error, The current position of the mobile terminal can be corrected on the map. At this time, the intersection points included in the GPS error range can be selected by the GPS position information among the intersections of the two circles.

When the mobile terminal moves out of the UWB positioning interval, the position adjuster 704 updates the position information of the mobile station corrected in the UWB positioning interval, the GPS information received after passing the UWB positioning interval, (DRK) or Real Time Kinematic (RTK) algorithm and high-precision map information, the position information of the mobile station can be continuously corrected. Here, the DR algorithm is a technique for measuring a relative position of a mobile terminal in a certain direction using a vehicle speed sensor and a gyro sensor. The RTK algorithm uses a carrier error correction value of a reference point having a precise position, It is a technology that enables us to obtain observations at a high precision level.

For example, the position correcting unit 704 can calculate the distance traveled by the mobile terminal by applying the acceleration information based on the position information of the mobile station corrected in the UWB positioning interval. Then, the position correcting unit 704 corrects the position of the mobile terminal based on the position according to the GPS information, the position according to the position information of the corrected mobile terminal, and the calculated moving distance on the high- The current position can be corrected. For example, the position correcting unit 704 changes the current position determined according to the GPS information to a position moved from the position corresponding to the position information of the corrected mobile terminal to the calculated moving distance, Can be corrected.

On the other hand, in step 620, the UWB position information receiving unit 702 receives the UWB position information based on the traveling information of the mobile terminal detected by the GPS module and the IMU (Inertia Measurement Unit) sensor mounted on the mobile terminal, A slot to be allocated may be allocated in advance. Then, the UWB positioning can be performed using the reserved slot directly without a separate process of allocating the slot for UWB communication when the mobile terminal enters the UWB positioning interval. Here, the running information may include GPS information, running speed information, running direction information, running acceleration information, and the like. As described above, since the slot to be used in the UWB communication is allocated in advance before the mobile terminal enters the UWB positioning interval, the position information of the mobile station can be determined based on the UWB positioning even if the mobile terminal running at high speed enters the UWB positioning interval have.

Meanwhile, the information transmitter can transmit the lane information on the mobile terminal or the corrected current position of the mobile terminal using V2V (Vehicle to Vehicle) communication to the neighboring terminal before entering the UWB positioning interval.

Herein, the neighboring terminal detects the UWB tag mounted on the mobile terminal and calculates the distance between the mobile terminal and the neighboring terminal, and calculates the distance, the GPS information of the neighboring terminal, and the lane information on which the mobile terminal exists, The current position of the neighboring terminal can be corrected by utilizing the information of the high-precision map based on the current position of the terminal.

When the mobile terminal enters the UWB positioning interval, the current position of the mobile station can be corrected on the basis of the UWB positioning, but the neighboring mobile terminal that is before the UWB positioning interval or before the UWB communication range is still in the GPS information GPS error may exist due to the determination of the current location of the neighboring terminal. Accordingly, in the case of a neighboring terminal located outside the UWB communication range, the current position of the neighboring terminal can be corrected based on the corrected current position in the mobile terminal located in the UWB positioning interval through the V2V communication, The detailed operation for correcting will be described below.

As described above with reference to FIG. 4, when a mobile terminal equipped with a UWB tag (TAG) is traveling on the road, a positioning method for detecting the position of the vehicle by combining the GPS and the UWB technology according to one embodiment, (UWB AP) are calculated through UWB communication. At this time, a circle (or a circle) having d1 and d2 as radii becomes a UWB communication range, and it can be calculated through which lane of the road on the high-precision map the mobile terminal exists.

In order to realize an autonomous vehicle, lane information alone is possible. However, the position of the current mobile terminal can be determined on the high-precision map by selecting one of the intersections of the two circles using the GPS information including the error of 2 to 5 m. In other words, a traveling mobile terminal forms two circles having a distance from two base stations as a radius, and selects an intersection belonging to the GPS error range of the mobile terminal measured by the GPS information among the intersections of the two circles, The current location of the mobile terminal can be determined.

According to embodiments, by obtaining lane information and vehicle position information obtained through communication between one or two UWB APs and a tag (TAG) mounted on a vehicle in a high-precision map, errors of existing positional positioning using GPS and UWB It is possible to reduce the range to within 30cm, and to the shade area of GPS reception such as underground and tunnel.

According to the embodiments, when the vehicle, which is a mobile terminal, enters the UWB positioning interval by combining GPS and UWB communication, the current position of the mobile terminal, which is determined based on the GPS information before entry, V2I communication, and can perform self-running.

According to the embodiments, the position information of the neighboring vehicle that has not entered the UWB positioning interval based on the corrected position information in the vehicle entering the UWB positioning interval using the UWB communication between the vehicles is referred to as V2V communication and high- So that the autonomous running can be performed.

8 is a flowchart illustrating a positioning method for detecting the position of a vehicle by combining GPS and UWB technology according to another embodiment. The positioning method for sensing the position of the vehicle by combining the GPS and the UWB technology according to another embodiment is the same as the positioning method for detecting the position of the vehicle by combining the GPS and UWB technology according to the embodiment described in FIG. I will avoid and briefly explain.

Referring to FIG. 8, in a positioning method for detecting the position of a vehicle by combining GPS and UWB technology according to another embodiment, as a mobile terminal moves into a UWB positioning interval, a UWB (820) of receiving the location information of the mobile terminal determined based on the communication, and determining (820) a current location of the mobile terminal on the high-precision map using the location information of the mobile terminal determined based on the UWB communication, . ≪ / RTI >

The location information of the mobile terminal determined based on the UWB communication is transmitted to the one base station located around the road corresponding to the UWB positioning interval by a plurality of antennas And calculates the angle of the road with the mobile terminal configured by the UWB tag (TAG) by comparing the signal intensities of the UWB tags (TAG) detected by the respective antennas, and calculates the angle of the road using the time information of the UWB tag The distance from the base station to the mobile terminal, and can be determined based on a UWB communication range of a circle or a circle having the calculated distance as a radius.

The UWB position location interval may indicate a region in which a plurality of base stations disposed in a shaded area on the road where GPS information does not reach can recognize a UWB tag (TAG) mounted on the mobile terminal through UWB communication.

Determining a current position of the mobile terminal on the basis of the GPS information, and determining a current position of the mobile terminal based on the UWB communication on a high-precision map using the position information of the mobile terminal based on the GPS information And correcting the current position of the mobile terminal.

As described above with reference to FIG. 5, the positioning method for detecting the position of the vehicle by combining the GPS and the UWB technology according to the other embodiments is such that the angle of the signal generated in the UWB tag (TAG) And the angle of the road side can be calculated by comparing the signal intensity of the UWB tag (TAG) detected by each antenna, and the time information of the UWB tag (TAG) can be calculated The UWB AP infrastructure can calculate the relative distance to the UWB tag (TAG).

Based on the relative distance between the angle information and the UWB tag (TAG), a specific point can be obtained from a circle (or a circle) corresponding to the communication radius of the base station, and the accurate position of the mobile terminal can be calculated by merging with the high- .

The GPS information including the error received from the mobile terminal can quickly identify the point in the entire high-precision map and can verify the result obtained by the UWB communication.

In one embodiment, the operation of correcting the current position of the neighboring terminal based on the current position of the mobile terminal corrected in the UWB positioning interval will be described.

The neighboring terminal may include a UWB position information receiving unit, a relative distance calculating unit, and a position correcting unit. The UWB position information receiving unit includes a UWB transmission / reception module for performing UWB communication when UWB signal is transmitted to the base station through UWB tagging, and a V2X (Vehicle to everything) for receiving the corrected position from the mobile terminal through V2V communication. And a communication module.

In this case, the mobile terminal is divided into the UWB positioning interval and the neighboring terminal if it is located outside the UWB positioning interval. However, the mobile terminal and the neighboring terminal are substantially the same, Alternatively, the mobile terminal may include the following configuration.

The UWB position information receiving unit may detect a UWB tag mounted on at least one mobile terminal running in front of the neighboring terminal. At this time, the UWB position information receiver can detect the UWB tag of the mobile terminal by performing UWB communication with the mobile terminal through the UWB transmission / reception module mounted on the neighboring terminal.

Here, the mobile terminal may be a terminal that has entered the UWB positioning interval and has its current position corrected, or does not enter the UWB positioning interval, but receives the corrected position information from the mobile terminal that has entered the UWB positioning interval, And may correspond to the calibrated terminal. Here, it is assumed that the mobile terminal enters the UWB positioning interval and the current position is corrected.

At this time, the neighboring terminal located outside the UWB positioning interval of the UWB position information receiver can receive the GPS information of the neighboring terminal from the satellite, and the current position of the neighboring terminal can be determined based on the received GPS information. Here, the GPS information may include coordinate information including latitude and longitude.

The relative distance calculator may calculate the relative distance of the neighboring terminal from the mobile terminal based on the received UWB signal as it detects the UWB tag of the mobile terminal. For example, the relative distance calculator may calculate the relative distance based on information such as the strength of the UWB signal of the mobile terminal and the time of receiving the UWB signal of the mobile terminal based on TOA, TDOA, RSS, AOA, In addition, the relative distance calculation unit may calculate the relative distance of the neighboring terminal by further using the acceleration information, the velocity information, and the direction information of the neighboring terminal detected by the IMU sensor mounted on the neighboring terminal.

The UWB position information receiving unit can receive the corrected position of the mobile terminal from the mobile terminal through the V2V communication. For example, when the mobile terminal enters the UWB positioning interval, the UWB position information receiver can receive the corrected position of the mobile terminal based on the UWB positioning.

The position correction unit may correct the current position of the neighboring terminal on the high-precision map based on the corrected current position of the mobile station and the calculated relative distance. For example, the position correcting unit may correct the position shifted by the relative distance from the corrected current position of the mobile terminal to the current position of the neighboring terminal. That is, the current location of the neighboring terminal determined based on the GPS positioning can be corrected to the location of the neighboring terminal calculated based on the corrected current location of the mobile terminal.

At this time, as the number of mobile terminals located before the neighboring terminal increases, the accuracy of the current position of the compensated neighboring terminal can be increased. For example, when there are a plurality of mobile terminals (for example, three), the relative distances between the three mobile terminals and the neighboring terminals can be calculated, and the calculated three relative distances Three radii can be generated. Then, the position correction unit may correct the point where the generated three circles meet, that is, the intersection point, to the current position of the neighboring terminal.

And, when the neighboring terminal enters the UWB positioning interval, the current position of the neighboring terminal can be precisely corrected based on the UWB positioning. Since the operation of correcting the current position based on the UWB positioning has been described in detail with reference to FIG. 6 and FIG. 7, redundant description will be omitted.

As described above, the positioning system and method for detecting the position of the vehicle not only can reduce the GPS error by correcting the current position of the mobile terminal by combining the GPS and the UWB positioning, It is possible to provide the positioning of the mobile terminal easily in a blind spot so that autonomous travel can be continuously performed.

Particularly, according to embodiments, lane information obtained through communication between two UWB APs and a tag (TAG) mounted on a vehicle on a high-precision map can be obtained, and two UWB APs and a tag ) And the GPS information to obtain the accurate vehicle position. Furthermore, the position of the vehicle can be calculated through communication between one UWB AP and a tag (TAG) mounted on the vehicle in a high-precision map.

In addition, by using GPS and UWB to reduce the error range of existing positioning to within 30cm, it is possible to develop safe and reliable positioning technology that is easy to install and expand and applicable to GPS reception shadow areas such as underground and tunnel.

And it can accelerate the adoption of autonomous driving service with autonomous driving, secured patents based on vehicles and infrastructure, and positioning technology with reliable quality and competitive price as a technology utilizing UWB which is cheaper than other high precision positioning technology.

Furthermore, it is possible to develop more complex autonomous driving service through linkage with precision map, and to prevent traffic congestion and to develop reliable vehicle safety service such as vehicle fluidity as communication between vehicle and infrastructure.

The UWB-based positioning engine can be packaged so that it can secure an ecosystem for positioning-related service development by selling SDKs for indoor positioning industry, vehicle-related service developers, and navigation companies. And it can reduce the infrastructure cost of UWB.

The apparatus described above may be implemented as a hardware component, a software component, and / or a combination of hardware components and software components. For example, the apparatus and components described in the embodiments may be implemented within a computer system, such as, for example, a processor, controller, arithmetic logic unit (ALU), digital signal processor, microcomputer, field programmable array (FPA) A programmable logic unit (PLU), a microprocessor, or any other device capable of executing and responding to instructions. The processing device may execute an operating system (OS) and one or more software applications running on the operating system. The processing device may also access, store, manipulate, process, and generate data in response to execution of the software. For ease of understanding, the processing apparatus may be described as being used singly, but those skilled in the art will recognize that the processing apparatus may have a plurality of processing elements and / As shown in FIG. For example, the processing apparatus may comprise a plurality of processors or one processor and one controller. Other processing configurations are also possible, such as a parallel processor.

The software may include a computer program, code, instructions, or a combination of one or more of the foregoing, and may be configured to configure the processing device to operate as desired or to process it collectively or collectively Device can be commanded. The software and / or data may be in the form of any type of machine, component, physical device, virtual equipment, computer storage media, or device , Or may be permanently or temporarily embodied in a transmitted signal wave. The software may be distributed over a networked computer system and stored or executed in a distributed manner. The software and data may be stored on one or more computer readable recording media.

The method according to an embodiment may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions to be recorded on the medium may be those specially designed and configured for the embodiments or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the embodiments, and vice versa.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. For example, it is to be understood that the techniques described may be performed in a different order than the described methods, and / or that components of the described systems, structures, devices, circuits, Lt; / RTI > or equivalents, even if it is replaced or replaced.

Therefore, other implementations, other embodiments, and equivalents to the claims are also within the scope of the following claims.

Claims (15)

Determining a current location of a mobile terminal in motion based on GPS information;
Receiving position information of a mobile terminal determined based on UWB communication at a plurality of base stations disposed in the vicinity of a road as the mobile terminal moves into a UWB (Ultra Wideband) positioning interval;
Obtaining lane information on the high-precision map using the location information of the mobile terminal based on the UWB communication; And
Correcting the current position of the mobile terminal on the high-precision map using the current position of the mobile terminal based on the GPS information, based on the position information of the mobile terminal determined based on the UWB communication;
Lt; / RTI >
In the UWB communication,
Communication is performed in the baseband without using a carrier wave, using continuous short pulses,
The location information of the mobile terminal, which is determined based on the UWB communication,
The two base stations located around the road corresponding to the UWB positioning interval sense the UWB tag (TAG) mounted on the mobile terminal, calculate the distance from each of the two base stations to the mobile terminal, The radius is determined based on the UWB communication range of a circle or a sphere,
The UWB positioning interval may include:
A plurality of base stations arranged in a shaded area on the road where GPS information does not reach indicate areas in which UWB tags (TAG) mounted on the mobile terminal can be recognized through UWB communication
And the position of the vehicle is detected. delete delete The method according to claim 1,
The step of correcting the current position of the mobile terminal on the high-precision map using the current position of the mobile terminal based on the GPS information, the position information of the mobile terminal determined based on the UWB communication,
Selecting one point of intersection of two circles having a radius from each of the two base stations to the mobile terminal through the GPS position information including the error and correcting the current position of the mobile terminal on the high precision map
And the position of the vehicle is detected. The method according to claim 1,
Transmitting the lane information in which the mobile terminal exists or the corrected current location of the mobile terminal using V2V (Vehicle to Vehicle) communication to the neighboring terminal before entering the UWB positioning interval
Further comprising:
The neighboring terminal,
The distance between the mobile terminal and the neighboring terminal is detected by sensing the UWB tag mounted on the mobile terminal, and the calculated distance, GPS information of the neighboring terminal, and lane information of the mobile terminal, To correct the current position of the neighboring terminal by using the information of the high-precision map based on
And the position of the vehicle is detected. The method according to claim 1,
Wherein the step of receiving location information of a mobile terminal determined based on UWB communication in a plurality of base stations disposed around the road includes:
Reserving a slot to be used in UWB communication with the base station based on the traveling information of the vehicle sensed by a GPS module and an IMU (Inertia Measurement Unit) sensor mounted on the mobile terminal
And the position of the vehicle is detected. The method according to claim 1,
The step of acquiring the lane information on the high-precision map using the location information of the mobile terminal, which is determined based on the UWB communication,
As the mobile terminal passes the UWB positioning interval, three pieces of information, i.e., the position information of the mobile station corrected in the UWB positioning interval, the GPS information received after passing through the UWB positioning interval, and the acceleration information of the mobile station, (Dead Reckoning) and correcting the location information of the mobile terminal by using a high precision map or by using RTK (Real Time Kinematic) algorithm and high precision map information
And the position of the vehicle is detected. Determining a current location of a mobile terminal in motion based on GPS information;
Receiving location information of a mobile terminal determined based on UWB communication at a base station disposed in the vicinity of the road as the mobile terminal in operation enters an UWB (Ultra Wideband) positioning interval;
Determining a current position of the mobile terminal on a high-precision map using position information of the mobile terminal determined based on the UWB communication; And
Correcting the current position of the mobile terminal determined based on the UWB communication with the current position of the mobile terminal on the high-precision map using the position information of the mobile terminal based on the GPS information
Lt; / RTI >
In the UWB communication,
Communication is performed in the baseband without using a carrier wave, using continuous short pulses,
The location information of the mobile terminal, which is determined based on the UWB communication,
A plurality of antennas exist in the one base station disposed around the road corresponding to the UWB positioning interval to detect the angle of the signal generated in the UWB tag (TAG), and the number of antennas of the UWB tag Calculates the angle of the road with the mobile terminal having the UWB tag (TAG) by comparing the signal strengths, calculates the distance from the base station to the mobile terminal using the time information of the UWB tag (TAG) Lt; RTI ID = 0.0 > UWB < / RTI > communication range of a circle or a sphere,
The UWB positioning interval may include:
A plurality of base stations arranged in a shaded area on the road where GPS information does not reach indicate areas in which UWB tags (TAG) mounted on the mobile terminal can be recognized through UWB communication
And the position of the vehicle is detected. delete A GPS position determination unit for determining a current position of the mobile terminal on the basis of the GPS information;
A UWB position information receiving unit for receiving position information of a mobile terminal determined based on UWB communication in a plurality of base stations disposed in the vicinity of the road as the mobile terminal in motion enters an UWB (Ultra Wideband) positioning interval;
A lane information determining unit for obtaining lane information of the mobile terminal on the high-precision map using the location information of the mobile terminal determined based on the UWB communication; And
And a position correcting unit for correcting the current position of the mobile terminal on the high-precision map using the position information of the mobile terminal based on the GPS information, based on the position information of the mobile terminal determined based on the UWB communication,
Lt; / RTI >
In the UWB communication,
Communication is performed in the baseband without using a carrier wave, using continuous short pulses,
The location information of the mobile terminal, which is determined based on the UWB communication,
The two base stations located around the road corresponding to the UWB positioning interval sense the UWB tag (TAG) mounted on the mobile terminal, calculate the distance from each of the two base stations to the mobile terminal, The radius is determined based on the UWB communication range of a circle or a sphere,
The UWB positioning interval may include:
A plurality of base stations arranged in a shaded area on the road where GPS information does not reach indicate areas in which UWB tags (TAG) mounted on the mobile terminal can be recognized through UWB communication
Wherein the positioning system senses the position of the vehicle. delete delete 11. The method of claim 10,
Wherein the position correcting unit comprises:
Selecting one point of intersection of two circles having a radius from each of the two base stations to the mobile terminal through the GPS position information including the error and correcting the current position of the mobile terminal on the high precision map
Wherein the positioning system senses the position of the vehicle. 11. The method of claim 10,
Further comprising an information transmitter for transmitting the corrected current position of the mobile terminal using V2V (Vehicle to Vehicle) communication to a neighboring terminal before entering the UWB positioning interval,
The neighboring terminal,
The distance between the mobile terminal and the neighboring terminal is detected by sensing the UWB tag mounted on the mobile terminal, and the information of the high-precision map is utilized based on the calculated distance, the GPS information of the neighboring terminal, Correcting the current position of the neighboring terminal
Wherein the positioning system senses the position of the vehicle. 11. The method of claim 10,
The base station comprises:
A UWB reader for detecting a UWB tag mounted on the mobile terminal and a UWB positioning module for calculating position information of the mobile terminal based on the information detected by the UWB reader
Wherein the positioning system senses the position of the vehicle.

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