KR102145012B1 - Apparatus and method for detecting approach vehicle - Google Patents

Abstract

According to one embodiment of the present invention, provided is a vehicle approach detection method, which comprises the steps of: receiving host vehicle location coordinates and relative vehicle location coordinates; generating movement path coordinates connecting the host vehicle location coordinates; calculating a heading angle of a host vehicle; generating a host vehicle axis perpendicular to the heading angle; generating predicted path coordinates from the host vehicle axis to the relative vehicle location coordinates based on the movement path coordinates; and generating the predicted location coordinates where the predicted path coordinates and the host vehicle axis meet.

Description

Vehicle approach detection device and vehicle approach detection method {APPARATUS AND METHOD FOR DETECTING APPROACH VEHICLE}

The present invention relates to a vehicle approach detection device and a vehicle approach detection method.

In order to pass the intersection, the driver must enter while monitoring vehicles entering from different directions frequently to prevent collision with other vehicles. However, when the driver directly checks the road situation, it is impossible to cope with all directions because it is impossible to check the situation in the front or the opposite direction while checking the situation in the other direction.

To this end, a system has recently been introduced to recognize a situation in a different direction within an intersection using a sensor or a radar, and notify the driver.

However, when the surrounding situation is detected using a sensor or a radar, an error may occur depending on changes in the surrounding environment such as weather or road conditions, and there is a problem in that an error may occur in the result calculated.

An object of the present invention is to provide a vehicle approach detection device and a vehicle approach detection method capable of detecting the approach of a vehicle by identifying a location and a predicted path of an approaching vehicle using a vehicle-to-vehicle communication technology.

A vehicle approach detection method according to an embodiment of the present invention includes: receiving a host vehicle position coordinate and a relative vehicle position coordinate; Generating movement path coordinates connecting host vehicle location coordinates; Calculating a heading angle of the host vehicle; Generating a host vehicle axis perpendicular to the heading angle; Generating predicted path coordinates from the host vehicle axis to the relative vehicle position coordinates based on the movement path coordinates; And generating the predicted position coordinates where the predicted route coordinates and the host vehicle axis meet.

A vehicle approach detection method according to an embodiment of the present invention includes: calculating a predicted distance from the predicted position coordinates to the relative vehicle position coordinates according to the predicted path coordinates; Comparing the predicted distance with a preset sensing distance to determine whether the opposite vehicle is approaching; And when the predicted distance is less than or equal to the sensing distance, outputting a vehicle approach signal.

A vehicle approach detection method according to an embodiment of the present invention includes: generating a centripetal center based on curvature information of a moving path coordinate; Receiving the relative vehicle angular velocity information and the relative vehicle velocity information from the counterpart vehicle, and calculating a radius between the relative vehicle position coordinate and the centripetal center from the counter vehicle angular velocity information and the relative vehicle velocity information; And generating, on the host vehicle axis, the predicted position coordinates separated by a radius from the centripetal center.

A vehicle approach detection method according to an embodiment of the present invention includes the steps of: generating a sensing position coordinate that is moved by a sensing distance along a predicted path coordinate from the predicted position coordinate; Generating a vehicle detection axis passing through the detection position coordinates and a centripetal center; Calculating a critical angle between the vehicle detection axis and the host vehicle axis; Generating the relative vehicle position coordinates and the relative vehicle axis passing through the center; Calculating a relative angle between a counter vehicle axis and a host vehicle axis; Comparing the relative angle and the critical angle to determine whether the opposite vehicle approaches; And outputting a vehicle approach signal when the relative angle is less than or equal to the threshold angle.

In an embodiment of the present invention, the sensing distance is set in consideration of the size of the host vehicle and the size of the relative vehicle.

In one embodiment of the present invention, the sensing distance includes: a first area adjacent to a driver's seat of the host vehicle; And a second area adjacent to the passenger seat of the host vehicle, and the second area is set to be relatively larger than the first area.

In an embodiment of the present invention, when a counterpart vehicle enters within a predetermined distance based on the host vehicle, communication between the host vehicle and the counterpart vehicle is possible.

A vehicle approach detection apparatus according to an embodiment of the present invention includes: a receiver configured to receive a host vehicle position coordinate and a relative vehicle position coordinate; A generator for generating movement path coordinates by connecting host vehicle location coordinates; And a calculation unit that calculates a heading angle of the host vehicle, wherein the generation unit generates a host vehicle axis perpendicular to the heading angle, and generates predicted path coordinates from the host vehicle axis to the relative vehicle position coordinates based on the movement path coordinates. , Generate predicted position coordinates where the predicted path coordinates and the host vehicle axis meet.

A vehicle approach detection apparatus according to an embodiment of the present invention includes: a determination unit that compares a predicted distance calculated by a calculation unit with a preset detection distance to determine whether or not a counterpart vehicle is approaching; And an output unit that outputs a vehicle approach signal when the predicted distance is less than or equal to the sensing distance, wherein the predicted distance is a distance from the predicted position coordinates to the relative vehicle position coordinates along the predicted path coordinates.

In one embodiment of the present invention, a computer program is provided which is combined with a computer which is hardware and stored in a recording medium readable by a computer so that the method of claim 1 can be performed.

The vehicle approach detection device and the vehicle approach detection method according to an embodiment of the present invention have an effect of detecting the approach of the vehicle by identifying the location and the predicted path of the approaching vehicle using a vehicle-to-vehicle communication technology.

1 is a schematic diagram showing a relationship between a host vehicle, a counterpart vehicle, and an information providing infrastructure in a vehicle approach detection method according to an embodiment of the present invention.
2 is a block diagram illustrating a vehicle approach detection apparatus according to an embodiment of the present invention.
3 is a block diagram illustrating a vehicle approach detection apparatus according to an embodiment of the present invention.
4 is a diagram illustrating a method of detecting an approach of a vehicle on a straight road according to an embodiment of the present invention.
5 is a flowchart illustrating a method of detecting the approach of a vehicle on a straight road according to an embodiment of the present invention.
6 is a diagram illustrating a method of detecting an approach of a vehicle on a curved road according to an embodiment of the present invention.
7 is a flowchart illustrating a method of generating predicted position coordinates on a curved road according to an embodiment of the present invention.
8 is a flowchart illustrating a method of determining an approach of a vehicle through comparison of a critical angle and a relative angle on a curved road according to an embodiment of the present invention.

In the present invention, various modifications may be made and various forms may be applied, and specific embodiments will be illustrated in the drawings and described in detail in the text. However, this is not intended to limit the present invention to a specific form disclosed, it should be understood to include all changes, equivalents, and substitutes included in the spirit and scope of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to elements of each drawing, it should be noted that the same elements are assigned the same numerals as possible even if they are indicated on different drawings. In addition, in describing the present invention, when it is determined that a detailed description of a related known configuration or function may obscure the subject matter of the present invention, a detailed description thereof will be omitted.

The vehicle approach detection device according to an embodiment of the present invention detects a vehicle approaching from the rear using a communication technology based on V2X (Vehicle to Everything), and informs the driver, thereby preventing collisions between vehicles in the blind spot. Can be prevented.

1 is a schematic diagram showing a relationship between a host vehicle, a counterpart vehicle, and an information providing infrastructure in a vehicle approach detection method according to an embodiment of the present invention.

Referring to FIG. 1, the host vehicle 10 and the counterpart vehicle 20 may be provided to enable mutual wireless communication through an infrastructure.

The host vehicle 10 refers to a vehicle equipped with the vehicle approach detection device of the present invention. The host vehicle 10 may be a variety of vehicle types such as a passenger vehicle, a truck, a bus, and a two-wheel vehicle, and there is no limitation on the vehicle type.

The counter vehicle 20 refers to a vehicle driving adjacent to the host vehicle 10. In this case, being adjacent to the host vehicle 10 means that it is geographically close to the host vehicle 10, and further, it means that the host vehicle 10 is on a road connected to the road on which it is traveling. For example, the counterpart vehicle 20 may be a vehicle that has the same driving direction as the host vehicle 10 and travels in the same lane as the driving lane of the host vehicle 10 or a neighboring lane. If the host vehicle 10 is traveling on an overpass, the vehicle traveling under the overpass is not recognized as a counterpart vehicle 20 even though it is geographically close to the host vehicle 10 because it is not on the connected road. May not.

The information provision infrastructure 30 may mean an external server that provides at least one of traffic information, location information, and geographic information. In particular, the information providing infrastructure 30 may include a V2I infrastructure including a Global Navigation Satellite System (GNSS) infrastructure that calculates and transmits location coordinates, a base station that relays traffic information, and a navigation server that transmits map data. .

The host vehicle 10, the counterpart vehicle 20, and the information providing infrastructure 30 communicate with each other in data. Data communication between the host vehicle 10, the counterpart vehicle 20, and the information providing infrastructure 30 is WAVE (Wireless Access for Vehicular Environment) technology for V2X (Vehicle to everything) communication, Cellular technology (5G communication technology, LTE Communication technology, 3GPP technology, etc.).

Here, the V2X communication refers to a communication method capable of performing wireless communication with a server (V2I: Vehicle to Infra), another vehicle (V2V: Vehicle to Vehicle), or a pedestrian (V2P: Vehicle to Pedestrian). In the present invention, in particular, a vehicle-to-vehicle communication method of V2V (Vehicle to Vehicle) is performed, and the distance and operation state between the host vehicle 10 and the counterpart vehicle 20 are performed using a packet message periodically received between vehicles. Can be seen.

Meanwhile, a hardware module and a software stack to which a standard standard technology is applied are included in the V2X communication system so that packet messages between vehicles or between vehicles and infrastructure can be transmitted and received within a short time in a radio wave environment in which vehicles move at high speed. For example, the WAVE communication technology standardized by the IEEE of the United States can transmit and receive packet messages between vehicles or between vehicles and infrastructure within a short time of less than 100msec up to 1km in a radio wave environment in which vehicles move at high speed. The V2X communication system to which the WAVE communication technology is applied may include a V2X communication module, a GPS module, a memory and a processor.

In the above, the relationship between the host vehicle and the counterpart vehicle was briefly examined. Hereinafter, a configuration in a host vehicle for performing a vehicle approach detection method will be described in more detail.

2 is a block diagram illustrating a vehicle approach detection apparatus according to an embodiment of the present invention.

3 is a block diagram illustrating a vehicle approach detection apparatus according to an embodiment of the present invention.

2 and 3, the host vehicle includes a vehicle approach detection device 11. The vehicle approach detection device 11 may include the same configuration as the receiving unit 100, the generating unit 200, the calculating unit 300, the determining unit 400, and the output unit 500.

The receiving unit 100 may include a coordinate receiving unit 110, a geographic information receiving unit 120, and a vehicle information receiving unit 130.

The coordinate receiver 110 receives the host vehicle location coordinates and the counterpart vehicle 20 location coordinates from the GNSS infrastructure of the information providing infrastructure 30 through the above-described V2X communication. The V2X communication may be provided in a V2X manner in which the host vehicle and the counterpart vehicle 20 can communicate with each other when the counterpart vehicle 20 enters within a predetermined distance based on the host vehicle. The received host vehicle location coordinates may be stored in a separate database, and may be used to generate movement path coordinates to be described later.

The geographic information receiving unit 120 receives geographic information such as the topography and the height of the ground from the V2I infrastructure. The geographic information may include intersection information, road information, and the like, and may be continuously updated according to map data received from the information providing infrastructure 30.

Accordingly, since the coordinates of the vehicle position received by the coordinate receiving unit 110 can be analyzed based on the map data, there is an effect of generating coordinates more accurately in consideration of geographic information when generating coordinates in the coordinate generator to be described later. .

The vehicle information receiving unit 130 receives vehicle information from the counterpart vehicle 20. The vehicle information may include at least one of a location coordinate of a vehicle, a moving route, a speed, an angular velocity, a driving direction, a destination information, a lane change intention, and a vehicle size.

Such vehicle information may be provided in the form of a Basic Safety Message (BSM) provided in the SAE J2735 standard, and may be provided in various forms.

As the receiving unit 100 includes the detailed configurations described above, there is an advantage in that it is possible to comprehensively review geographic information and topographic information by receiving map data, rather than simply receiving a coordinate position on a two-dimensional plane. In addition, since vehicle information can be transmitted and received between vehicles, it is possible to generate accurate movement path coordinates using the vehicle speed and angular speed.

The generation unit 200 may include a coordinate generation unit 210 and an axis generation unit 220.

The coordinate generator 210 generates path coordinates based on the location coordinates of the host vehicle and the partner vehicle 20. For example, by connecting the host vehicle location coordinates to generate movement path coordinates, based on the movement path coordinates, predicted path coordinates from the host vehicle axis to the relative vehicle 20 location coordinates are generated. In addition, the coordinate generator 210 generates predicted position coordinates where the predicted route coordinates meet with the host vehicle axis, and generates a centripet based on curvature information of the moving route coordinates.

The axis generation unit 220 easily generates the coordinates in the coordinate generation unit 210, and the distance calculation unit 310 and the angle calculation unit 320 to be described later easily calculate a distance and an angle. It functions to generate. For example, it generates a host vehicle axis perpendicular to the heading angle calculated from the calculation unit 300 to be described later, and also performs a function of generating a counter vehicle axis and a vehicle detection axis.

The calculation unit 300 may include a distance calculation unit 310 and an angle calculation unit 320.

The distance calculating unit 310 performs a function of calculating a distance between coordinates and an angle between an arbitrary set virtual axis. For example, it is possible to calculate a predicted distance from the predicted position coordinates to the relative vehicle position coordinates along the predicted path coordinates. In addition, the distance calculating unit 310 performs a function of calculating a radius, which is a distance from the centripet to the opponent vehicle 20.

The angle calculation unit 320 calculates a heading angle of the host vehicle required to detect vehicle approach. In addition, the critical angle at the centripetal center generated based on the respective road conditions is calculated, and the relative angle between the axis of the partner vehicle and the axis of the host vehicle is calculated.

Accordingly, since it is possible to calculate a customized critical angle according to each road situation, it is possible to use it for roads having various shapes, and thus there is an advantage in a wide application range.

The determination unit 400 may include a distance determination unit 410 and an angle determination unit 420.

The distance determining unit 410 compares the predicted distance calculated by the distance calculating unit 310 with a preset sensing distance to determine whether or not the other vehicle 20 approaches. In particular, when the predicted distance on a straight road becomes less than or equal to the preset sensing distance, it is determined that the counterpart vehicle 20 has entered the sensing distance.

The angle determination unit 420 compares the relative angle calculated by the angle calculation unit 320 and the critical angle to determine whether or not the opposite vehicle 20 approaches. In particular, when the relative angle on the curved road becomes less than or equal to the critical angle, it is determined that the opposite vehicle 20 has entered the sensing distance.

The output unit 500 outputs a vehicle approach signal based on the determination of the determination unit 400. The vehicle approach signal may be provided as an audio signal such as a horn, a lighting or blinking signal of a light, and in addition, an alarm may be provided to a user using various codes such as sound, light, color, and shape.

Accordingly, when the counterpart vehicle 20 enters the blind spot of the host vehicle, it is possible to easily determine whether or not the counterpart vehicle 20 is approached, thereby preventing a collision between vehicles.

In the above, the configuration of the vehicle approach detection device has been described. Hereinafter, a method of setting the above-described sensing distance will be described in detail.

In an embodiment of the present invention, the sensing distance may be set in consideration of the size of the host vehicle and the size of the counterpart vehicle 20.

The preset detection distance is set in consideration of the average size of the counterpart vehicle 20, and after the GPS coordinate transmitter attached to the counterpart vehicle 20 enters the detection distance, the user can grasp the approach of the vehicle. In this case, assuming that the size of the counterpart vehicle 20 is very large, a situation in which the GPS coordinate transmitter does not reach the detection distance may occur even though the front end of the counterpart vehicle 20 has already entered the detection distance. Therefore, the vehicle approach detection signal is transmitted to the user relatively late, and there is a fear of an accident such as a collision between vehicles.

To solve this problem, the vehicle information may be provided to further include information on the size of the vehicle and the length from the GPS coordinate transmitter to the front end. As length information or information on the longest length from the GPS coordinate transmitter to the front end of the vehicle is provided to transmit and receive between vehicles, the sensing distance may be set as short as the corresponding length.

Accordingly, since the sensing distance is customized in consideration of the size of the counterpart vehicle 20, there is an effect of detecting the approach of the counterpart vehicle 20 at an appropriate timing regardless of the size of the vehicle.

In addition, in an embodiment of the present invention, the sensing distance includes a first area adjacent to the driver's seat of the host vehicle, and a second area adjacent to the passenger seat of the host vehicle, and the second area is relatively larger than the first area. Can be set large.

For example, when the driver's seat is provided on the left side of the vehicle interior space, by setting the second area adjacent to the right side to be larger, the counterpart vehicle 20 entering the blind spot of the second area can be set to be detected earlier. have. The setting value of the second area may be provided to be changeable by a user.

Accordingly, there is an effect of being able to easily detect a vehicle entering the blind spot area of the passenger seat having a relatively high risk of an accident. The first region and the second region of the sensing distance of the present invention described above may be provided so as to be individually changed according to the user's setting.

Hereinafter, a vehicle approach detection method using the vehicle approach detection device described above will be described.

Hereinafter, in the process of describing each step, contents overlapping with those described with reference to FIGS. 1 to 3 will be omitted or simply described, and for better understanding of the description, reference is made to FIGS. 1 to 3 together. In addition, unless otherwise noted, it is assumed that the subject of performing each step described below is the vehicle approach detection device shown in FIGS. 1 to 3.

4 is a diagram illustrating a method of detecting an approach of a vehicle on a straight road according to an embodiment of the present invention.

5 is a flowchart illustrating a method of detecting an approach of a vehicle on a straight road according to an embodiment of the present invention.

Referring to FIGS. 4 and 5, first, the coordinate receiving unit 110 receives the host vehicle location coordinate P1 and the relative vehicle location coordinate P2 (S100).

Thereafter, a step of generating, by the coordinate generation unit 210, a movement path coordinate by connecting a plurality of host vehicle position coordinates P1 that the host vehicle has passed in the past (S200).

Thereafter, the step of calculating the heading angle of the host vehicle by the angle calculation unit 320 is performed (S300).

Thereafter, the step of generating the host vehicle axis X1 perpendicular to the heading angle by the axis generating unit 220 is performed (S400).

Thereafter, the step of generating the predicted path coordinates from the host vehicle axis X1 to the host vehicle position coordinates P2 is performed by the coordinate generator 210 based on the movement path coordinates (S500).

Thereafter, the step of generating the predicted position coordinates P3 where the predicted path coordinates and the host vehicle axis X1 meet are performed by the coordinate generator 210 (S600).

Thereafter, the step of calculating, by the distance calculating unit 310, a predicted distance S2 from the predicted position coordinates P3 to the relative vehicle position coordinates P2 according to the predicted path coordinates (S700).

Thereafter, the distance determination unit 410 compares the predicted distance S2 and the preset sensing distance S1 to determine whether the other vehicle approaches (S800).

Thereafter, when the predicted distance S2 becomes less than or equal to the detection distance S1, the output unit 500 outputs a vehicle approach signal (S900).

The vehicle approach detection method described above can be particularly easily applied on a straight road, and the following vehicle approach detection method can be performed on a curved road.

6 is a diagram illustrating a method of detecting an approach of a vehicle on a curved road according to an embodiment of the present invention.

7 is a flowchart illustrating a method of generating predicted position coordinates P3 on a curved road according to an embodiment of the present invention.

Referring to FIGS. 6 and 7, first, the coordinate generator 210 receives the host vehicle location coordinates P1 and generates movement path coordinates through it. Thereafter, the angle calculation unit 320 calculates the heading angle of the host vehicle, and the coordinate generation unit 210 generates the host vehicle axis X1. The above steps are performed in the same way as the method of detecting vehicle approach on a straight road (S100 to S400).

Thereafter, the step of generating the centripetal center C based on the curvature information of the coordinates of the moving path is performed by the coordinate generator 210 (S610).

Thereafter, the vehicle information receiving unit 130 receives the relative vehicle angular velocity information and the relative vehicle velocity information from the counterpart vehicle, and the distance calculating unit 310 includes the host vehicle position coordinate P2 from the counter vehicle angular velocity information and the relative vehicle velocity information. The step of calculating the radius R between the centripetal centers C is performed (S620).

Thereafter, the coordinate generator 210 generates the predicted position coordinates P3 separated by the radius R from the centripetal center C on the host vehicle axis X1 (S630).

8 is a flowchart illustrating a method of determining the approach of a vehicle through a comparison of a critical angle Q1 and a relative angle Q2 on a curved road according to an embodiment of the present invention.

6 and 8, the step of generating the detection position coordinates P4 moved by the detection distance S1 along the predicted path coordinates from the generated predicted position coordinates P3 by the coordinate generator 210 is performed. (S710).

Thereafter, the step of generating the vehicle detection axis X passing through the detection position coordinate P4 and the centripetal center C by the axis generator 220 is performed (S720).

Thereafter, the step of calculating the critical angle Q1 of the vehicle detection axis X and the host vehicle axis X1 by the angle calculation unit 320 is performed (S730).

Thereafter, the axis generation unit 220 generates the host vehicle position coordinate P2 and the relative vehicle axis X2 passing through the centripetal C (S740).

Thereafter, the step of calculating the relative angle Q2 between the relative vehicle axis X2 and the host vehicle axis X1 by the angle calculation unit 320 is performed (S750).

Thereafter, the angle determination unit 420 compares the relative angle Q2 and the critical angle Q1 to determine whether or not the other vehicle approaches (S800).

Thereafter, when the relative angle Q2 becomes less than or equal to the critical angle Q1, the output unit 500 outputs a vehicle approach signal (S900).

As described above, the vehicle approach detection apparatus 11 according to an embodiment of the present invention is characterized in that it can easily determine the location of the counterpart vehicle 20 by receiving GPS location coordinates. In addition, since the vehicle approach detection device of the present invention can generate a predicted distance from the host vehicle axis to the rear based on the movement path coordinates of the host vehicle, it is possible to immediately detect when an opponent vehicle approaches within the detection distance. It is characterized.

In other words, compared to the conventional sensor method that simply measures the distance between vehicles in pieces, it is possible to directly receive the position coordinates of the other vehicle, thus preventing malfunctions caused by the shape of the road and the external environment, and minimizing errors. There is this.

The vehicle approach detection device and vehicle approach detection method described above are not limited to the configuration and method of the above-described embodiments, but the embodiments are all or part of each embodiment so that various modifications can be made. Is configured by selectively combining.

In addition, terms such as "include", "consist of" or "have" described above mean that the corresponding component may be included unless otherwise stated, excluding other components It should not be construed as being able to further include other components. All terms, including technical or scientific terms, unless otherwise defined, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms generally used, such as terms defined in the dictionary, should be interpreted as being consistent with the meaning in the context of the related technology, and are not interpreted in an ideal or excessively formal meaning unless explicitly defined in the present invention.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention. Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.

10: host vehicle
11: vehicle approach detection device
20: opponent vehicle
30: Information provision infrastructure
100: receiver
200: generation unit
300: calculation unit
400: judgment unit
500: output

Claims (10)

Receiving the host vehicle location coordinates and the relative vehicle location coordinates;
Generating movement path coordinates connecting the host vehicle location coordinates;
Calculating a heading angle of the host vehicle;
Generating a host vehicle axis perpendicular to the heading angle;
Generating predicted path coordinates from the host vehicle axis to the relative vehicle position coordinates based on the movement path coordinates; And
Including the step of generating a predicted position coordinates where the predicted path coordinates and the host vehicle axis meet,
Generating a centripetal center based on curvature information of the moving path coordinates;
Receiving relative vehicle angular speed information and relative vehicle speed information from the counterpart vehicle,
Calculating a radius between the relative vehicle position coordinate and the centripetal center from the relative vehicle angular velocity information and the relative vehicle velocity information; And
On the host vehicle axis, the vehicle approach detection method further comprising the step of generating the predicted position coordinates away from the center by the radius. The method of claim 1,
Calculating a predicted distance from the predicted position coordinates to the relative vehicle position coordinates along the predicted path coordinates;
Comparing the predicted distance with a preset sensing distance to determine whether the opponent vehicle approaches; And
If the predicted distance is less than the detection distance, further comprising the step of outputting a vehicle approach signal, vehicle approach detection method. delete The method of claim 1,
Generating sensing position coordinates moved by the sensing distance along the predicted path coordinates from the predicted position coordinates;
Generating a vehicle detection axis passing through the detection position coordinates and the centripetal center;
Calculating a critical angle between the vehicle detection axis and the host vehicle axis;
Generating the coordinates of the location of the relative vehicle and the axis of the vehicle passing through the center;
Calculating a relative angle between the axis of the corresponding vehicle and the axis of the host vehicle;
Comparing the relative angle and the critical angle to determine whether the opponent vehicle approaches; And
If the relative angle is less than the threshold angle, further comprising the step of outputting a vehicle approach signal, vehicle approach detection method. The method of claim 2,
The sensing distance is set in consideration of the size of the host vehicle and the size of the relative vehicle. The method of claim 2,
The sensing distance is,
A first area adjacent to the driver's seat of the host vehicle; And
And a second area adjacent to the passenger seat of the host vehicle,
The vehicle approach detection method, wherein the second area is set to be relatively larger than the first area. The method of claim 1,
When the counterpart vehicle enters within a predetermined distance based on the host vehicle, the host vehicle and the counterpart vehicle can communicate with each other. A receiver for receiving the host vehicle position coordinates and the relative vehicle position coordinates;
A generator configured to generate moving path coordinates connecting the host vehicle location coordinates; And
And a calculation unit that calculates a heading angle of the host vehicle,
The generation unit,
An axis generator for generating a host vehicle axis perpendicular to the heading angle; And
Based on the movement path coordinates, including a coordinate generator for generating a predicted path coordinates from the host vehicle axis to the relative vehicle location coordinates, and generating a centripetal center based on curvature information of the movement path coordinates,
The receiving unit,
A vehicle information receiving unit for receiving information on the angular velocity of the vehicle and the velocity of the vehicle from the vehicle,
The calculation unit,
A distance calculation unit for calculating a radius between the relative vehicle position coordinate and the centripetal center from the relative vehicle angular velocity information and the relative vehicle velocity information,
The coordinate generator,
On the side of the host vehicle, generating the predicted position coordinates separated by the radius from the centripetal center. The method of claim 8,
A determination unit that compares a predicted distance calculated by the calculation unit with a preset sensing distance to determine whether the other vehicle is approaching; And
Further comprising an output unit for outputting a vehicle approach signal when the predicted distance is less than the sensing distance,
The predicted distance is a distance from the predicted position coordinates to the relative vehicle position coordinates along the predicted route coordinates. A computer program combined with a computer as hardware and stored in a recording medium readable by a computer to perform the method of claim 1.

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