KR102030109B1 - Apparatus and method for calculating distance and angle between vehicles - Google Patents

Abstract

An apparatus for calculating a distance and an angle according to an exemplary embodiment of the present invention may include a first pattern irradiated by a first light emitting module mounted on a preceding vehicle and a second light emitting module irradiated by a first pattern and spaced apart from the first pattern by a first interval. A pattern interval calculator configured to photograph two patterns as a photo or an image and calculate a second interval between the first pattern and the second pattern in the photographed image or the image; the second interval based on the first interval And the lookup table according to the second interval calculated by the lookup table storage unit and the pattern interval calculator which store an estimate of the distance to the preceding vehicle according to the second interval and an estimate of the angle forming the estimate of the distance. A distance from the storage unit for calculating the distance and the angle with the preceding vehicle by extracting an estimate of the distance with the preceding vehicle and an estimate of the angle forming the estimate of the distance. It comprises parts of the angle calculation.

Description

Difference distance and angle calculation device and method {APPARATUS AND METHOD FOR CALCULATING DISTANCE AND ANGLE BETWEEN VEHICLES}

The present invention relates to an apparatus and method for calculating a distance and an angle between vehicles. More specifically, the present invention relates to an apparatus and a method for calculating a distance and an angle with a preceding vehicle based on a picture or an image of the preceding vehicle taken by a trailing vehicle.

As the demand for autonomous vehicles capable of driving without driver manipulation increases, recent vehicles are equipped with sensing devices such as radars, lasers, lidars and stereo cameras for autonomous driving. Attempts have been made to automatically control steering and driving components, such as steering wheels, accelerators and brakes, based on the data received.

Although the weight of the whole vehicle is increased by these sensing devices, the sensing devices are very expensive in themselves, and as the sensing devices are installed, the price of the vehicle also increases, which is the loss of the vehicle manufacturers due to the decrease in vehicle sales. There is a problem that can only result in.

On the other hand, in the implementation of autonomous vehicles, and even more fully autonomous vehicles, the most important is the calculation of the distance and angle with the surrounding vehicles.If the distance and the angle with the surrounding vehicles are calculated incorrectly, accidents between vehicles will occur. Will lose confidence in autonomous vehicles.

Therefore, there is a need for a new method for realizing a safe autonomous vehicle by accurately calculating distances and angles with surrounding vehicles without using expensive sensing devices. The present invention relates to this.

Republic of Korea Patent Publication No. 10-2015-0115069 (2015.10.14)

The technical problem to be solved by the present invention is to provide an inter-vehicle distance and angle calculation device and method that can accurately calculate the distance and angle with surrounding vehicles without using expensive sensing devices to implement a safe autonomous vehicle. .

The technical problems of the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

In accordance with an aspect of the present invention, there is provided a device for calculating a distance and an angle between a first pattern and a second light emitting module irradiated by a first light emitting module mounted on a preceding vehicle. A pattern interval calculating unit configured to photograph a second pattern spaced apart from the first interval by a photo or an image, and calculate a second interval between the first pattern and the second pattern in the photographed photo or image, the first interval The second interval, the lookup table storage unit and the pattern interval calculation unit for storing the second interval, the estimate of the distance to the preceding vehicle according to the second interval and the estimate of the angle forming the estimate of the distance previously stored; The lookup table storage unit extracts an estimate of a distance from the preceding vehicle and an angle of an angle forming the estimate of the distance according to the interval, and the look-up table storage unit extracts the estimated distance from the preceding vehicle. It includes a distance and angle calculation unit for calculating the distance and angle of.

According to an embodiment, the first light emitting module may be mounted to a part of the left rear lamp of the preceding vehicle, and the second light emitting module may be mounted to a part of the right rear lamp of the preceding vehicle.

According to an embodiment, the first light emitting module may be created in the mirror of the left side mirror of the preceding vehicle, and the second light emitting module may be created in the mirror of the right side mirror of the preceding vehicle.

According to an embodiment, the first pattern and the second pattern may be infrared patterns, and the pattern interval calculator may further include an infrared camera that captures the first pattern and the second pattern.

According to an embodiment, the first pattern and the second pattern may be symmetrical to each other.

According to an embodiment of the present disclosure, the first pattern and the second pattern may be unique patterns according to vehicle types of the preceding vehicle.

According to an embodiment of the present disclosure, the distance and angle calculator may receive at least one of a navigation map data, a black box image, and a steering angle signal of a steering angle sensor through a V2X terminal of a user in the preceding vehicle. By using this, the calculated distance and angle with the preceding vehicle can be corrected.

According to an embodiment of the present disclosure, the pattern interval calculating unit may photograph the first pattern and the second pattern as a photo or an image at a predetermined time interval, and the first pattern and the first pattern within the photograph or image photographed at the predetermined time interval. When only one of the two patterns is to be identified, it may be determined that the preceding vehicle rotates in the direction in which the pattern to be identified is mounted.

According to an embodiment of the present disclosure, the pattern interval calculating unit photographs a center point of the preceding vehicle at a predetermined time interval as a photo or an image, and the distance and angle calculator is the center point in the photographed image or image. The curvature of the turning radius of the preceding vehicle may be calculated based on the movement trajectory of the vehicle, and the distance and angle with respect to the calculated preceding vehicle may be corrected using the same.

In accordance with an aspect of the present invention, there is provided a method of calculating a distance and an angle between a first pattern and a second light emitting module irradiated by a first light emitting module mounted on a preceding vehicle. Illuminating and photographing the first pattern and the second pattern spaced apart from the first interval in a photograph or image, and calculating a second interval between the first pattern and the second pattern in the photographed photo or image; and In the look-up table, the distance and angle calculation apparatus may store the second interval, an estimate of the distance to the preceding vehicle according to the second interval, and an angle to form the estimate of the distance, based on the first interval. The preceding vehicle is extracted by extracting an estimated value of the distance with the preceding vehicle according to the calculated second interval and an estimate of an angle forming the estimated value of the distance. Of a step of calculating the distance and angle.

According to the present invention as described above, it is possible to accurately calculate the distance and angle with the surrounding vehicles without using expensive sensing devices such as radar, laser, lidar, and stereo camera, so as to increase the price of autonomous vehicles There is an effect that can be stopped.

In addition, the distance and angle with the surrounding vehicle can be more accurately corrected through communication with the V2X terminal of the user who rides in the surrounding vehicle, so that a safe autonomous vehicle can be realized.

Effects of the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those skilled in the art from the following description.

1 is a diagram illustrating a configuration of an apparatus for calculating a distance and an angle according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating a rear portion of a preceding vehicle that runs in front of a vehicle including an apparatus for calculating a distance and an angle according to an embodiment of the present disclosure.
3 is a diagram illustrating another embodiment of a preceding vehicle in which a first light emitting module and a second light emitting module are mounted.
4 is a view illustrating a state in which a first pattern and a second pattern are irradiated from the rear portion of the preceding vehicle illustrated in FIG. 2.
5 is a diagram illustrating a photograph of a rear surface of a preceding vehicle photographed by the pattern interval calculator.
6 is a diagram illustrating an exemplary lookup table.
FIG. 7 is a diagram illustrating a vehicle including a vehicle distance and angle calculator according to an embodiment of the present invention running directly behind a preceding vehicle.
8 is a diagram illustrating a photograph taken by the pattern interval calculating unit at a predetermined time interval.
9 is a flowchart illustrating exemplary steps of a method for calculating a distance and an angle between vehicles according to another exemplary embodiment of the present invention.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings. Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but can be implemented in various forms, and only the embodiments are intended to complete the disclosure of the present invention, and the general knowledge in the art to which the present invention pertains. It is provided to fully convey the scope of the invention to those skilled in the art, and the present invention is defined only by the scope of the claims. Like reference numerals refer to like elements throughout.

Unless otherwise defined, all terms (including technical and scientific terms) used in the present specification may be used in a sense that can be commonly understood by those skilled in the art.

In addition, terms that are defined in a commonly used dictionary are not ideally or excessively interpreted unless they are specifically defined clearly. The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase.

As used herein, “comprises” and / or “comprising” refers to a component, step, operation and / or element that is mentioned in the presence of one or more other components, steps, operations and / or elements. Or does not exclude additions.

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

1 is a view showing the configuration of the vehicle distance and angle calculation apparatus 100 according to an embodiment of the present invention, Figure 2 includes a vehicle distance and angle calculation apparatus 100 according to an embodiment of the present invention The rear part of the preceding vehicle 200 which runs in front of the vehicle 5 is shown.

Device for calculating the distance and angle 100 according to an embodiment of the present invention includes a pattern interval calculation unit 10, the look-up table storage unit 20 and the distance and angle calculation unit 30, and other Of course, it can include all the additional configuration required to achieve the purpose.

The pattern interval calculator 10 irradiates the first pattern 215 and the second light emitting module 222 irradiated by the first light emitting module 212 mounted on the preceding vehicle 200, and the first pattern 215. The second pattern 225 spaced apart from the first interval is photographed or photographed, and a second interval between the first pattern 215 and the second pattern 225 is calculated in the photographed image or image.

The pattern interval calculator 10 may photograph a first pattern 215 and a second pattern 225 irradiated from the preceding vehicle 200, and may include a camera (not shown). The unit 10 may be implemented as a camera (not shown) and a processor (not shown) that analyzes a photo or an image and performs a calculation.

On the other hand, the pattern interval calculation unit 10, more specifically, the camera (not shown) is opposite the room mirror or the front of the vehicle 5 including the vehicle distance and angle calculation apparatus 100 according to an embodiment of the present invention It may be desirable to be installed at an easy position for photographing the preceding vehicle 100 such as outside the grille.

Referring to FIG. 2, the rear part of the preceding vehicle 200 can be identified. The first light emitting module 212 is mounted to a part of the left rear lamp 210, and the second light emitting module 222 is a right rear lamp. It may be mounted to a portion of 220. In this case, the first light emitting module 212 may be any one of a plurality of light emitting modules included in the left rear lamp 210, and the second light emitting module 222 may include the right rear lamp 220. It means any one of a plurality of light emitting modules including. That is, the first light emitting module 212 and the second light emitting module 222 are not exposed to the outside of the rear lamp, in which case the rear lamp serves as a kind of cover.

FIG. 3 is a view illustrating another embodiment of the preceding vehicle 200 in which the first light emitting module 212 and the second light emitting module 222 are mounted. The first light emitting module 212 may include a left side mirror 211. ) And the second light emitting module 222 may be mounted on the mirror of the right side mirror 221. In this case, the pattern interval calculating unit 10 may recognize the first pattern 215 and the second pattern 225 by photographing the side mirrors of the preceding vehicle 200, and the side mirrors may be disposed at the left and right sides of the vehicle body. Since it protrudes to the right, it will not be a problem even when shooting from the rear of the preceding vehicle 200.

On the other hand, the mirror unit of the side mirror serves as a mirror for illuminating a vehicle running behind the bar, when exposing the first light emitting module 212 and the second light emitting module 222 to the outside of the mirror unit to cover the driver's view. There is a possibility. In this case, if the mirror part of the side mirror is formed of a material that can be projected through the pattern irradiated by the first light emitting module 212 and the second light emitting module 222, the driver's view may be obscured. For example, one of the functions of a recently commercialized vehicle may be a method such as displaying a warning light on the side mirror surface when the vehicle approaches the blind spot.

The first pattern 215 irradiated by the first light emitting module 212 and the second pattern 225 irradiated by the second light emitting module 222 may be implemented in an infrared pattern. Infrared rays are light rays of wavelengths that are indistinguishable to the driver's eyes, and thus the first pattern 215 and the second pattern 225 are obstructed to the driver's field of vision, whether irradiated from the rear lamp of the preceding vehicle 200 or from the side mirror. Because there is no safety problem that can be. In this case, the camera included in the pattern interval calculator 10 should be an infrared camera (not shown) capable of capturing an infrared pattern.

Hereinafter, the first pattern 215 and the second pattern 225 will be described in more detail.

FIG. 4 is a diagram illustrating a state in which the first pattern 215 and the second pattern 225 are irradiated from the rear portion of the preceding vehicle 200 illustrated in FIG. 2. According to FIG. 4, the first pattern 215 and the second pattern 225 are illustrated as cross-shaped patterns that are symmetrical to each other, but the first pattern 215 and the second pattern 225 may not be symmetrical. Of course, it can be implemented in a pattern of various shapes such as triangle, square and circle as well as the cross shape. Furthermore, if the shapes of the first pattern 215 and the second pattern 225 are implemented in a unique pattern according to the vehicle model of the preceding vehicle 200, even aesthetic elements may be obtained. For example, when the model of the preceding vehicle 200 is "Sonata", the shapes of the first pattern 215 and the second pattern 225 are "S", and the model 200 of the preceding vehicle is "Granger". In this case, the shapes of the first pattern 215 and the second pattern 225 may be implemented as “G”.

Meanwhile, in FIG. 4, the distance between the center of the cross-shaped first pattern 215 and the center of the second pattern 225 is represented by 100 cm, where 100 cm corresponds to the aforementioned first spacing. The first distance means the actual distance between the first pattern 215 and the second pattern 225 in the preceding vehicle 100.

The criterion for setting the first spacing will be different depending on the shape of the first pattern 215 and the second pattern 225, but the first spacing is based on the center of the first pattern 215 and the second pattern 225. Preferably, the first pattern 215 and the second pattern 225 are not necessarily symmetrical but may be implemented in a symmetrical shape that is easy to set the first interval.

FIG. 5 is a diagram illustrating a photograph of a rear portion of the preceding vehicle 200 taken by the pattern interval calculating unit 10. The appearance of the rear part of the preceding vehicle 200 shown in FIG. 5 is the same as that shown in FIG. 4, but the difference is that FIG. 5 is a picture taken on the basis of a pixel. Some of the left and right spaces of the 200 are included in the picture, and the specific gravity of the left and right spaces of the preceding vehicle 200 in the picture will be higher as the preceding vehicle 200 is farther away, and becomes lower as it is closer. will be. This is the same as the principle of photography.

The pattern interval calculating unit 10 calculates a second interval between the first pattern 215 and the second pattern 225 in the photographed picture or image, and uses the number of pixels in calculating the second interval. In detail, the pattern interval calculator 10 primarily recognizes the first pattern 215 and the second pattern 225 in the picture or image, and forms a second interval according to a preset second interval setting criterion. Count the number of pixels. Here, the second spacing setting criterion is generally an interval between the center of the first pattern 215 and the second pattern 225 which is the same as the first spacing setting described above, and the number of pixels counted is the preceding vehicle 200. ) Will be smaller the farther it is, and the higher it gets closer. This is also the same as the principle of photography.

If the number of pixels forming the second interval is counted, the second interval is calculated by multiplying the length of one pixel by the number of counted pixels, and the length of one pixel may vary depending on the resolution, but in general, 1 The pixel is about 0.026458333 cm. On the other hand, since the pixels are square shaped, the length of one pixel will be about 0.026458333 cm regardless of the length in the horizontal direction or the length in the vertical direction.

Although the pixels forming the second interval are not illustrated in FIG. 5 due to difficulty in the representation of the drawing, the second interval is illustrated as 86 mm, and the pattern interval calculator 10 counts approximately 32500 pixels. Can be.

Returning to the description of FIG. 1 again.

The lookup table storage unit 20 stores the second interval, an estimate of the distance to the preceding vehicle 200 according to the second interval, and an angle of the angle forming the estimate of the distance based on the first interval.

An example lookup table is shown in FIG. 6, so that one row will be described.

Referring to the row indicated by the thick square box in FIG. 6, the first interval is described as "100 cm" in the leftmost column, which is the first pattern 215 and the second pattern 225 in the actual preceding vehicle 200. The interval between them is 100 cm, which is different depending on the shape of the first pattern 215 and the second pattern 225 and the vehicle model of the preceding vehicle 200. So in this case the lookup table will also be different.

The second column from the left is described as center point comparison, which means that the pattern spacing calculating unit 10 has a first pattern with respect to the center at the first spacing between the first pattern 215 and the second pattern 225. 215 and the second pattern 225 have been photographed, and are generally described as "match".

The third column from the left is the second interval, which is the length of the second interval calculated by the pattern interval calculator 10 described above in the photographed image or the image.

The fourth and fifth columns from the left are estimates of the distance from the preceding vehicle 200 and the angles forming the estimates of the distance, which are described differently according to the second interval. Here, the estimate of the distance from the preceding vehicle 200 and the angle forming the estimate of the distance are the same as a kind of experiment result, and as shown in FIG. 6, when the angle estimate is 90 °, the pattern interval calculator When the direction of (10) and the center of the first interval between the first pattern 215 and the second pattern 225 are exactly the same, more specifically, as shown in Figure 7 according to an embodiment of the present invention The case where the vehicle 5 including the inter-vehicle distance and angle calculating device 100 is driving immediately behind the preceding vehicle 200 will be described.

On the other hand, in the above description of the count of the number of pixels forming the second interval, the number of pixels counted will be smaller as the preceding vehicle 200 is farther away, and becomes higher as it is closer, the second interval is also the number of pixels. It can be expected that the preceding vehicle 200 will be smaller in proportion to, and higher in proximity. As can be seen in FIG. 6, the second interval becomes smaller as it descends from the top row of the lookup table to the bottom row, and thus the estimate of the distance to the preceding vehicle 200 becomes long.

Returning to the description of FIG. 1 again.

The distance and angle calculator 30 is an angle for forming an estimate of the distance to the preceding vehicle 200 and an estimate of the distance in the lookup table storage unit 20 according to the second interval calculated by the pattern interval calculator 10. The estimates of are taken to calculate the distance and angle with the preceding vehicle 200.

For example, when the second interval calculated by the pattern interval calculator 10 is 86 mm, the distance and angle calculator 30 searches for a row having a second interval of 86 mm in the lookup table shown in FIG. 6. Then, as an estimate of the distance with the preceding vehicle 200, an estimate of an angle forming 150 cm and an estimate of the distance is extracted as 90 °.

So far, the apparatus for calculating the distance and the angle 100 according to an embodiment of the present invention has been described. For convenience of description, the pattern interval calculator 10, the lookup table storage 20, and the distance and angle calculator 30 are set and described as separate independent configurations, but all of them perform separate functions in one processor. It can also be implemented.

Meanwhile, the distance and angle with the preceding vehicle 200 finally calculated by the inter-vehicle distance and angle calculating device 100 are steering and driving such as a steering wheel (not shown), an accelerator (not shown) and a brake (not shown). The parts can be delivered directly to or without an ECU (not shown) to implement autonomous driving.

Furthermore, the autonomous vehicle can be implemented by correcting the distance and angle with the preceding vehicle 200 extracted by the distance and angle calculating unit 30. The distance and angle calculating unit 30 is the preceding vehicle 200. Receives at least one of the navigation map data, the black box image and the steering angle sensor of the steering angle sensor through the V2X terminal (not shown) of the user who boarded the vehicle, and using the same, the distance from the preceding vehicle And angles may be corrected. For example, when the navigation map data is received, GPS data included in the navigation map data may be received together, and the distance and angle with the preceding vehicle 200 may be corrected based on the real-time current position of the preceding vehicle 200. In addition, when receiving a black box image, data about the speed of the preceding vehicle 200 included therein may be received together with the distance from the preceding vehicle 200 based on the real-time speed of the preceding vehicle 200. The angle may be corrected, and when the steering angle signal of the steering angle sensor is received, the angle with the preceding vehicle 200 may be corrected based on the real-time turning radius of the preceding vehicle 200.

On the other hand, when the preceding vehicle 200 makes a left turn or a right turn on a curved road, when going straight, there is a somewhat difficult side to accurately calculate the distance and angle of the preceding vehicle 200. This is because the steering angle signal of the steering angle sensor of the preceding vehicle 200 is changed in real time, and for this purpose, the user uses the V2X terminal (not shown) of the user who boards the preceding vehicle 200. However, in some cases, the user who boards the preceding vehicle 200 does not have a V2X terminal (not shown) or a communication problem may occur. In such a case, a distance and angle calculating device between vehicles according to an embodiment of the present invention ( 100) It must be solved by itself.

In this case, the pattern interval calculating unit 10 captures the first pattern 215 and the second pattern 225 as photographs or images at predetermined time intervals, and the first pattern in the photographs or images photographed at predetermined time intervals. When only one of 215 and the second pattern 225 is identified, it may be determined that the preceding vehicle 200 rotates in the direction in which the pattern to be identified is mounted.

This can be seen in Figure 8, Figure 8 is a view showing a picture taken by the pattern interval calculation unit 10 at a predetermined time interval. When the photographs from the photographs I to IV are sequentially checked, both the first pattern 215 and the second pattern 225 are photographed, and only the second pattern 225 is photographed from photograph III. In this case, the preceding vehicle 200 may be regarded as being rotated in the direction of the right rear lamp 220 on which the second pattern 225 is mounted, that is, the right vehicle, according to the exemplary embodiment of the present invention. Since the vehicle 5 including the inter-vehicle distance and angle calculator 100 is making a right turn, the left rear lamp 210 equipped with the first pattern 225 is out of the photographing viewing angle of the pattern interval calculator 10. Because.

Furthermore, the pattern interval calculator 10 photographs the center point of the preceding vehicle 200 at a predetermined time interval as a photograph or an image, and the distance and angle calculator 30 moves the movement point of the center point in the photographed image or image. The curvature of the turning radius of the preceding vehicle 200 may be calculated based on the calculation, and the distance and angle with respect to the preceding vehicle 200 calculated using the same may be corrected.

So far, the method for correcting the distance and angle between the vehicle distance and angle calculator 100 and the calculated vehicle 200 according to an embodiment of the present invention has been described. According to the present invention, it is possible to accurately calculate the distance and angle with the preceding vehicle 200 without using expensive sensing devices such as radar, laser, lidar and stereo camera, thereby preventing the price increase of the autonomous vehicle. The distance and angle with the surrounding vehicle can be more accurately corrected through communication with the V2X terminal (not shown) of the user who boarded the preceding vehicle 200, thereby implementing a safe autonomous vehicle.

Meanwhile, the inter-vehicle distance and angle calculation apparatus 100 according to an embodiment of the present invention may be implemented by the inter-vehicle distance and angle calculation method including all the same technical features. A description with reference to FIG. 9 is as follows.

9 is a flowchart illustrating exemplary steps of a method for calculating a distance and an angle between vehicles according to another exemplary embodiment of the present invention.

This corresponds to the preferred flow chart in achieving the object of the present invention, of course, some steps may be added or deleted as necessary.

First, the first pattern 215 and the second light emitting module 222 irradiated by the first light emitting module 212 mounted on the preceding vehicle 200 irradiate the distance and angle calculating device 100 to the first vehicle 200. The second pattern 225 spaced apart from the pattern 215 and the first interval is photographed or photographed, and the second interval between the first pattern 215 and the second pattern 225 is measured in the photographed image or image. It calculates (S910).

Subsequently, the distance between the vehicle and the angle calculating apparatus 100 are stored in advance with respect to the second interval based on the first interval, an estimate of the distance to the preceding vehicle 200 according to the second interval, and an angle forming the estimate of the distance. The distance and angle with the preceding vehicle 200 are calculated by extracting an estimate of the distance with the preceding vehicle 200 and the angle forming the estimate of the distance according to the second interval calculated in step S910 in the lookup table ( S920).

Although not described in detail in order to avoid duplication, all technical features of the apparatus for calculating the distance and angle 100 according to an embodiment of the present invention described above may be equally applied to the method for calculating the distance and angle between the same. Therefore, the same effect can be derived.

Although the embodiments of the present invention have been described above with reference to the accompanying drawings, those skilled in the art to which the present invention pertains may implement the present invention in other specific forms without changing the technical spirit or essential features thereof. I can understand that. Therefore, it should be understood that the embodiments described above are exemplary in all respects and not restrictive.

100: inter-vehicle distance and angle calculation device
5: Vehicle including inter-vehicle distance and angle calculation device (following vehicle)
10: pattern interval calculation unit
20: lookup table storage unit
30: distance and angle calculation unit
200: leading vehicle
210: left rear lamp
211: left side mirror
212: first light emitting module
215: first pattern
220: right rear lamp
221: right side mirror
222: second light emitting module
225: second pattern

Claims (10)

The first pattern irradiated by the first light emitting module mounted on the preceding vehicle and the second light emitting module irradiate and photograph the second pattern spaced apart from the first pattern by a photo or an image, and the photographed photo or image A pattern interval calculator configured to calculate a second interval between the first pattern and the second pattern within the apparatus;
A look-up table storage unit in which the second interval, an estimate of the distance to the preceding vehicle according to the second interval, and an estimate of an angle forming the estimate of the distance are previously stored based on the first interval; And
According to the second interval calculated by the pattern interval calculating unit, the lookup table storage unit extracts an estimate of a distance from the preceding vehicle and an angle forming an estimate of the distance, thereby extracting a distance and an angle from the preceding vehicle. A distance and angle calculator for calculating;
In the inter-vehicle distance and angle calculation apparatus comprising:
The distance and angle calculation unit,
Receives one or more of the navigation map data and the black box image of the preceding vehicle through the V2X terminal of the user in the preceding vehicle, corrects the calculated distance from the preceding vehicle, and receives a steering angle signal of the steering angle sensor. To correct the angle with the calculated preceding vehicle,
Inter-vehicle distance and angle calculation device. The method of claim 1,
The first light emitting module,
Mounted to a part of the left rear lamp of the preceding vehicle,
The second light emitting module,
Mounted on a part of the right rear lamp of the preceding vehicle,
Inter-vehicle distance and angle calculation device. The method of claim 1,
The first light emitting module,
Is created in the mirror portion of the left side mirror of the preceding vehicle,
The second light emitting module,
Created in the mirror portion of the right side mirror of the preceding vehicle,
Inter-vehicle distance and angle calculation device. The method of claim 1,
The first pattern and the second pattern,
Infrared pattern,
The pattern interval calculation unit,
An infrared camera photographing the first pattern and the second pattern;
Further comprising,
Inter-vehicle distance and angle calculation device. The method of claim 1,
The first pattern and the second pattern,
Symmetrical to each other,
Inter-vehicle distance and angle calculation device. The method of claim 1,
The first pattern and the second pattern,
It is a unique pattern according to the vehicle model of the preceding vehicle,
Inter-vehicle distance and angle calculation device. delete The method of claim 1,
The pattern interval calculation unit,
Taking the first pattern and the second pattern in a photo or video at regular time intervals,
When only one of the first pattern and the second pattern is identified in the photograph or image taken at the predetermined time interval, it is determined that the preceding vehicle rotates in the direction in which the pattern to be identified is mounted.
Inter-vehicle distance and angle calculation device. The method of claim 8,
The pattern interval calculation unit,
Taking a center point (Center Point) of the preceding vehicle at a predetermined time interval as a picture or an image,
The distance and angle calculation unit,
Calculating a curvature of a turning radius of the preceding vehicle based on the movement trajectory of the center point in the photographed picture or image, and correcting the distance and angle with the calculated preceding vehicle by using the same;
Inter-vehicle distance and angle calculation device. The distance and angle calculating device for the vehicle is radiated by the first pattern and the second light emitting module irradiated by the first light emitting module mounted on the preceding vehicle, and photographs the second pattern spaced apart from the first pattern by a photo or an image. Calculating a second interval between the first pattern and the second pattern in the photographed picture or image; And
A look-up table in which the inter-vehicle distance and angle calculation device previously stored an estimate of the second interval, an estimate of the distance to the preceding vehicle according to the second interval, and an angle forming the estimate of the distance, based on the first interval; Calculating a distance and an angle with the preceding vehicle by extracting an estimated value of the distance with the preceding vehicle and an estimate of an angle forming the estimated value of the distance according to the second interval;
In the inter-vehicle distance and angle calculation method comprising:
After calculating the distance and angle with the preceding vehicle,
The inter-vehicle distance and angle calculating device receives one or more of the navigation map data and the black box image of the preceding vehicle through the V2X terminal of the user who boards the preceding vehicle, corrects the calculated distance from the preceding vehicle, and steering Receiving a steering angle signal of an angle sensor and correcting the calculated angle with the preceding vehicle;
Inter-vehicle distance and angle calculation method further comprising.

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