KR102452536B1 - Apparatus and mehtod for transmitting information for peripheral vehicle - Google Patents

Abstract

The present invention relates to an apparatus and method for transmitting information about surrounding vehicles, and the apparatus for transmitting information about surrounding vehicles according to the present invention includes a detection unit for acquiring first surrounding vehicle information through one or more sensors mounted on the vehicle, and a second through inter-vehicle communication. A communication unit for acquiring information about surrounding vehicles, and determining the reliability of the first surrounding vehicle information, comparing the reliability of the first surrounding vehicle information with the second surrounding vehicle information, so that the reliability of the first surrounding vehicle information is a second and a processing unit for transmitting the first surrounding vehicle information through the vehicle-to-vehicle communication when the reliability of the surrounding vehicle information is higher than that of the surrounding vehicle information.

Description

Apparatus and method for transmitting information about surrounding vehicles

The present invention compares the reliability of the surrounding vehicle information obtained using sensors mounted on the vehicle with the surrounding vehicle information obtained through V2V (vehicle to vehicle) communication to determine whether to transmit the surrounding vehicle information obtained from the vehicle. It relates to an apparatus and method for transmitting vehicle information.

Research is being actively conducted to utilize V2X (Vehicle to Everything) communication technology to enable vehicles to continuously communicate with road infrastructure and other vehicles while driving, and to exchange and share various useful information such as traffic conditions.

Recently, although the mandatory installation of V2V (Vehicle to Vehicle) controllers is being legalized, even if V2V controllers are mandatory, the penetration rate is very low in the beginning, so the V2X system is difficult to be effective.

KR 1020150070801 A

The present invention compares the reliability of the surrounding vehicle information obtained using sensors mounted on the vehicle with the surrounding vehicle information obtained through V2V (vehicle to vehicle) communication to determine whether to transmit the surrounding vehicle information obtained from the vehicle. An object of the present invention is to provide an apparatus and method for transmitting vehicle information.

In order to solve the above problems, the apparatus for transmitting information about surrounding vehicles according to an embodiment of the present invention includes a detection unit for acquiring first surrounding vehicle information through one or more sensors mounted on the vehicle, and a second surrounding vehicle through inter-vehicle communication. a communication unit for acquiring information, and determining the reliability of the first surrounding vehicle information, and comparing the reliability of the first surrounding vehicle information with the second surrounding vehicle information so that the reliability of the first surrounding vehicle information is a second surrounding vehicle information If it is higher than the reliability of the information, it characterized in that it comprises a processing unit for transmitting the first surrounding vehicle information through the vehicle-to-vehicle communication.

The detection unit may include any one or more of a camera, a radar, a lidar, and an ultrasonic sensor.

The first surrounding vehicle information and the second surrounding vehicle information may include speed, position, and heading information of the surrounding vehicle.

The first surrounding vehicle information and the second surrounding vehicle information may further include any one or more information of location information, a lamp, a turn indicator, and a vehicle type.

The processing unit is characterized in that it evaluates the reliability of the first surrounding vehicle information based on the score and level classification criteria for each distance between the vehicle and the surrounding vehicle according to the effective distance characteristic of each sensor.

The processing unit checks whether the first surrounding vehicle information and the second surrounding vehicle information are information about the same surrounding vehicle, and if the first surrounding vehicle information and the second surrounding vehicle information are information about the same surrounding vehicle, the The reliability of the first surrounding vehicle information and the second surrounding vehicle information is compared.

The processing unit is characterized in that it transmits the existing identification information to the first surrounding vehicle information.

The processing unit, when the first surrounding vehicle information and the second surrounding vehicle information are not information on the same surrounding vehicle, assigns new identification information to the first surrounding vehicle information and transmits the same.

On the other hand, the method for transmitting information about surrounding vehicles according to an embodiment of the present invention includes the steps of: acquiring first surrounding vehicle information through one or more sensors mounted on the vehicle and acquiring second surrounding vehicle information through inter-vehicle communication; 1 determining the reliability of the surrounding vehicle information, comparing the reliability of the first surrounding vehicle information with the second surrounding vehicle information, and when the reliability of the first surrounding vehicle information is higher than the reliability of the second surrounding vehicle information and transmitting the first surrounding vehicle information through the vehicle-to-vehicle communication.

In the determining of the reliability, the reliability of the first surrounding vehicle information is determined based on a score for each distance according to the effective distance of each sensor and a level classification criterion.

The step of comparing the reliability may include checking whether the first surrounding vehicle information and the second surrounding vehicle information are information about the same surrounding vehicle, and if the first surrounding vehicle information and the second surrounding vehicle information are information about the same surrounding vehicle, the first surrounding vehicle information and the second surrounding vehicle information It is characterized by comparing the reliability of information.

In the transmitting of the first surrounding vehicle information, existing identification information is added to the first surrounding vehicle information and then transmitted.

In the transmitting of the first surrounding vehicle information, if the first surrounding vehicle information and the second surrounding vehicle information are not information on the same surrounding vehicle, new identification information is added to the first surrounding vehicle information and transmitted. do it with

The present invention compares the reliability of the surrounding vehicle information obtained using sensors mounted on the vehicle and the surrounding vehicle information obtained through V2V (vehicle to vehicle) communication to determine whether to transmit the surrounding vehicle information obtained from the vehicle, It makes it possible to solve the situation of lowering the initial penetration rate of V2V communication terminals.

1 is a block diagram of an apparatus for transmitting information about surrounding vehicles according to an embodiment of the present invention;
2 is a diagram illustrating a format of a V2V message related to the present invention.
3 is a flowchart illustrating a method for transmitting information on surrounding vehicles according to an embodiment of the present invention.
4A and 4B are views for explaining a process of comparing first surrounding vehicle information and second surrounding vehicle information;

Terms such as "include", "comprise", "have" and the like described in this specification mean that the corresponding component may be embedded unless otherwise stated, so it does not exclude other components but other components It means that it can contain more elements.

In addition, terms such as “…unit”, “…group”, and “module” described in this specification mean a unit that processes at least one function or operation, which may be implemented by hardware or software or a combination of hardware and software. can Also, articles such as "a", "an" and "the" in the context of describing the present invention are meant to include both the singular and the plural unless otherwise indicated herein or otherwise clearly contradicted by the context. can be used

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

The present invention compares the reliability of the surrounding vehicle information obtained through the sensors mounted on the vehicle and the surrounding vehicle information obtained through V2X (Vehicle to Everything) communication, and transmits the surrounding vehicle information obtained through the sensors according to the comparison result to judge whether

1 is a block diagram of an apparatus for transmitting information about surrounding vehicles according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating a format of a V2V message related to the present invention.

As shown in FIG. 1 , the apparatus for recognizing the location of a surrounding vehicle according to the present invention includes a detection unit 110 , a global positioning system (GPS) receiver 120 , a communication unit 130 , a storage unit 140 , and an output unit 150 . ), and a processing unit 160 .

The detection unit 110 detects one or more surrounding vehicles (a front vehicle, a side vehicle, and a rear vehicle) located around the vehicle and acquires information on each detected surrounding vehicle. The detector 110 includes a camera 111 , a radar (Radio Detecting And Ranging, radar) 112 , a LiDAR (Light Detection And Ranging, LiDAR) 113 , and an ultrasonic sensor 114 . The camera 111 , the radar 112 , the lidar 113 , and the ultrasonic sensor 114 are respectively mounted at at least one or more positions of the front, side, and rear of the vehicle.

The camera 111 is mounted on the vehicle to acquire an image of the surroundings of the vehicle. The camera 111 is an omnidirectional camera, a charge coupled device (CCD) image sensor, a complementary metal oxide semi-conductor (CMOS) image sensor, a charge priming device (CPD) image sensor, and a charge injection device (CID) image. It may be implemented as any one or more image sensors among image sensors such as sensors.

The camera 111 may include an image processor that performs image processing such as noise removal, color reproduction, image quality and saturation adjustment, and file compression on an image acquired through an image sensor.

The radar 112 measures the distance between the vehicle and the surrounding vehicle. The radar 112 may generate an electromagnetic wave to the surrounding vehicle and receive the electromagnetic wave reflected from the surrounding vehicle to check the distance, direction, and altitude with respect to the surrounding vehicle.

The rider 113 measures the distance between the vehicle and the surrounding vehicle. The rider 113 scans the laser pulse and measures the arrival time of the laser pulse reflected from the surrounding vehicle, thereby calculating the spatial location coordinates of the reflection point, and confirming the distance and shape from the surrounding vehicle.

The ultrasonic sensor 114 generates ultrasonic waves to detect a surrounding vehicle and measures a distance between the vehicle and the surrounding vehicle.

The GPS receiver 120 determines the absolute position of the vehicle using signals transmitted from three or more GPS satellites. The GPS receiver 120 calculates the distance between the satellite and the GPS receiver 120 by using a time difference between the signal transmitted from the satellite and the signal received by the receiver 120 . The GPS receiver 120 calculates the absolute position of the vehicle by using the calculated distance between the satellite and the GPS receiver 120 and the position information of the satellite included in the transmitted signal. At this time, the GPS receiver 120 calculates the absolute position using the triangulation method.

The communication unit 130 performs wireless communication with surrounding vehicles. As a wireless communication technology, V2X communication technology such as V2V (Vehicle to Vehicle) communication is used.

The storage unit 140 may store a program for the operation of the processing unit 160 , and may temporarily store input/output data. The storage unit 140 may store map data.

The storage unit 140 includes a flash memory, a hard disk, a secure digital card (SD), a random access memory (RAM), a read only memory (ROM), and a web storage ( It may be implemented as any one or more storage media among storage media such as web storage).

The output unit 150 is for outputting information such as visual information, auditory information, and/or tactile information, and may include a display, a sound output module, a haptic module, and the like.

The display is a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), a flexible display, 3 It may include one or more of a 3D display, a transparent display, a head-up display (HUD), and a touch screen.

The sound output module may output audio data stored in the storage unit 140 . The sound output module may include a receiver, a speaker, and/or a buzzer.

The haptic module outputs a signal in a form that can be recognized by a user's tactile sense. For example, the haptic module may be implemented as a vibrator to control the intensity and pattern of vibration.

The processing unit 160 may acquire vehicle information by using sensors mounted on the vehicle, such as a wheel speed sensor and a steering angle sensor. In addition, the processing unit 160 acquires vehicle information from an electronic control unit (ECU) such as an Electronic Stability Control (ESC), a Traction Control System (TCS), and an Antilock Brake System (ABS) through a vehicle network. The vehicle network is implemented as a Controller Area Network (CAN), a Media Oriented Systems Transport (MOST) network, a Local Interconnect Network (LIN), or X-by-Wire (Flexray).

Vehicle information (Host Vehicle, HV) includes vehicle identification information (vehicle ID), vehicle absolute location (latitude, longitude), vehicle speed, heading, steering angle, yaw rate, and braking status. (brake status), whether sudden braking, turn signal (turn signal), path history (PH), and includes path prediction (path prediction, PP) and the like. Vehicle information is generated in the form of BSM (Basic Safety Messate) according to the SAEJ2735 standard.

The processing unit 160 acquires one or more pieces of information about surrounding vehicles (Remote Vehicle, RV) (RV1 and RV2) through the detection unit 110 . In other words, the processing unit 160 acquires information about one or more surrounding vehicles through one or more sensors mounted on the vehicle. The surrounding vehicle information may further include an identification number (vehicle ID), speed, position and heading, reliability, location information, lamp, turn signal, and vehicle type of the surrounding vehicle.

As shown in FIG. 2 , the processing unit 160 generates a V2V message by adding one or more surrounding vehicle information RV1 and RV2 to the vehicle information HV. The processing unit 160 transmits the generated V2V message through the communication unit 130 . The processing unit 160 receives a V2V message from another vehicle through the communication unit 130 . The received V2V message includes other vehicle information and one or more surrounding vehicle information.

The processing unit 160 determines the reliability of the surrounding vehicle information based on the determination table and the level classification criteria. As shown in [Table 1], the judgment table shows the score for each distance between the vehicle (own vehicle) and the surrounding vehicle calculated according to the effective distance characteristics of each sensor. The distance between the vehicle and the surrounding vehicle is the distance between the vehicle and the surrounding vehicle measured by one sensor or a combination of two or more sensors.

The processing unit 160 calculates a reliability score for each surrounding vehicle information based on the determination table. The processing unit 160 determines a reliability level according to the calculated reliability score. In this case, the processing unit 160 determines the reliability level based on the level classification criteria of [Table 2].

level standard Level 5 12 points or more Level 4 10 points or more Level 3 6 points or more Level 2 5 points or more Level 1 3 points or more Level 0 1 point or more

The processing unit 160 compares the reliability of the surrounding vehicle information (first surrounding vehicle information) obtained by the vehicle through the detection unit 110 with the surrounding vehicle information (second surrounding vehicle information) obtained through the communication unit 130 . At this time, the processing unit 160 acquires information about surrounding vehicles (second surrounding vehicle information) from the outside through V2V communication.

When the reliability of the first surrounding vehicle information is higher than the reliability of the second surrounding vehicle information, the processing unit 160 transmits (transmits) the first surrounding vehicle information through the communication unit 130 . Meanwhile, the processing unit 160 does not transmit the first surrounding vehicle information unless the reliability of the first surrounding vehicle information is higher than the reliability of the second surrounding vehicle information.

When comparing the reliability of the first surrounding vehicle information and the second surrounding vehicle information, the processing unit 160 checks whether the first surrounding vehicle information and the second surrounding vehicle information are the same information. The processing unit 160 determines whether the first surrounding vehicle information and the second surrounding vehicle information are the same information through a gate. Here, the gate is a criterion (range) for determining whether the first surrounding vehicle information and the second surrounding vehicle information are the same information. The gate is set based on the location of the surrounding vehicle obtained by the second surrounding vehicle information. For example, if the distance from the surrounding vehicle based on the second surrounding vehicle information to the surrounding vehicle based on the first surrounding vehicle information is within a certain range (gate), the first surrounding vehicle information and the second surrounding vehicle information are transferred to the same surrounding vehicle. It is judged as information about (same information). On the other hand, if the distance from the surrounding vehicle according to the second surrounding vehicle information to the surrounding vehicle according to the first surrounding vehicle information is out of a certain range, the first surrounding vehicle information and the second surrounding vehicle information are combined with information about different surrounding vehicles ( different information).

The size of the gate is adjusted (variable) according to the distance from the vehicle to the surrounding vehicles as shown in [Table 3].

Distance between vehicle and surrounding vehicles gate size within 10m 1m More than 10m and less than 40m 1.5m More than 40m and within 70m 2m More than 70m and less than 100m 2.5m

When the first surrounding vehicle information and the second surrounding vehicle information enter the gate, the processing unit 160 determines the first surrounding vehicle information and the second surrounding vehicle information as the same information. On the other hand, the processing unit 160 determines the first surrounding vehicle information and the second surrounding vehicle information as different information if any one of the surrounding vehicle information among the first surrounding vehicle information and the second surrounding vehicle information does not enter the gate.

The processing unit 160 compares the reliability of the first surrounding vehicle information and the second surrounding vehicle information when the first surrounding vehicle information and the second surrounding vehicle information enter the gate. In other words, if the first surrounding vehicle information and the second surrounding vehicle information are information about the same surrounding vehicle, the processing unit 160 compares the reliability of the first surrounding vehicle information and the second surrounding vehicle information. When the reliability of the first surrounding vehicle information is higher than that of the second surrounding vehicle information, the processing unit 160 transmits the first surrounding vehicle information to the existing ID.

Meanwhile, the processing unit 160 does not transmit the first surrounding vehicle information when the reliability of the first surrounding vehicle information is lower than the reliability of the second surrounding vehicle information.

When the first surrounding vehicle information does not enter the gate, the processing unit 160 issues and transmits a new ID (identification information) to the first surrounding vehicle information.

3 is a flowchart illustrating a method for transmitting information about surrounding vehicles according to an embodiment of the present invention, and FIGS. 4A and 4B are diagrams for explaining a process of comparing first information about surrounding vehicles with second information about surrounding vehicles.

First, the processing unit 160 acquires information about one or more surrounding vehicles through the detection unit 110 and the communication unit 130, respectively (S110). The processing unit 160 acquires the first surrounding vehicle information through one or more sensors 111 to 114 mounted on the vehicle (S110-1). The processing unit 160 acquires the second surrounding vehicle information through V2V communication (S110-2).

The processing unit 160 determines the reliability of the first surrounding vehicle information (S120). The processing unit 160 determines the reliability level for the first surrounding vehicle information based on the determination table of [Table 1] and the level classification criteria of [Table 2].

The processing unit 160 compares the reliability of the first surrounding vehicle information with the reliability of the second surrounding vehicle information (S130). The processing unit 160 checks whether the first surrounding vehicle information and the second surrounding vehicle information are information about the same surrounding vehicle (same information) through a gate.

When the first surrounding vehicle information and the second surrounding vehicle information enter the gate, the processing unit 160 determines the first surrounding vehicle information and the second surrounding vehicle information as the same information. And, if the first surrounding vehicle information does not enter the gate, the processing unit 160 determines the first surrounding vehicle information and the second surrounding vehicle information as different information.

When the first surrounding vehicle information and the second surrounding vehicle information are the same information, the processing unit 160 compares the reliability of the first surrounding vehicle information and the second surrounding vehicle information. As shown in FIG. 4A , when the first surrounding vehicle information and the second surrounding vehicle information enter the gate, the reliability of the first surrounding vehicle information and the second surrounding vehicle information is compared.

If the reliability of the first surrounding vehicle information is higher than the reliability of the second surrounding vehicle information, the processing unit 160 transmits the first surrounding vehicle information ( S140 ). In this case, the processing unit 160 transmits the first surrounding vehicle information to the existing ID (eg, ID1).

Meanwhile, the processing unit 160 issues a new ID (eg, ID2) to the first surrounding vehicle information when only the second surrounding vehicle information enters the gate, and the first surrounding vehicle information does not enter the gate as in FIG. 4B ( given) and then transmitted.

Meanwhile, the processing unit 160 does not transmit the first surrounding vehicle information when the reliability of the first surrounding vehicle information is lower than the reliability of the second surrounding vehicle information.

In the above, even though all the components constituting the embodiment of the present invention are described as being combined or operating in combination, the present invention is not necessarily limited to this embodiment. That is, within the scope of the object of the present invention, all the components may operate by selectively combining one or more. In addition, all of the components may be implemented as one independent hardware, but a part or all of each component is selectively combined to perform some or all functions of the combined components in one or a plurality of hardware program modules It may be implemented as a computer program having Codes and code segments constituting the computer program can be easily deduced by those skilled in the art of the present invention. Such a computer program is stored in a computer readable storage medium (Computer Readable Media), read and executed by the computer, thereby implementing the embodiment of the present invention.

110: detection unit 111: camera
112: radar 113: rider
114: ultrasonic sensor 120: GPS receiver
130: communication unit 140: storage unit
150: output unit 160: processing unit

Claims (13)

A detection unit for acquiring the first surrounding vehicle information through one or more sensors mounted on the vehicle;
A communication unit for acquiring second surrounding vehicle information through vehicle-to-vehicle communication, and
The reliability of the first surrounding vehicle information is determined, and the reliability of the first surrounding vehicle information is higher than the reliability of the second surrounding vehicle information by comparing the reliability of the first surrounding vehicle information and the second surrounding vehicle information. and a processing unit for transmitting the first surrounding vehicle information through inter-communication,
The processing unit,
It is checked whether the first surrounding vehicle information and the second surrounding vehicle information are information about the same surrounding vehicle. If the first surrounding vehicle information and the second surrounding vehicle information are information about the same surrounding vehicle, the first surrounding vehicle information A device for transmitting information about surrounding vehicles, characterized in that the information and reliability of the second surrounding vehicle information are compared. According to claim 1,
The detection unit,
A peripheral vehicle information transmission device comprising at least one of a camera, a radar, a lidar, and an ultrasonic sensor. According to claim 1,
The first surrounding vehicle information and the second surrounding vehicle information include,
Surrounding vehicle information transmission device, characterized in that it includes the speed, position, and heading information of the surrounding vehicle. 4. The method of claim 3,
The first surrounding vehicle information and the second surrounding vehicle information include,
A device for transmitting information about surrounding vehicles, characterized in that it further comprises any one or more of location information, a lamp, a turn indicator, and a vehicle type. According to claim 1,
The processing unit,
A device for transmitting information about a surrounding vehicle, characterized in that the reliability of the first surrounding vehicle information is evaluated based on the score and level classification criteria for each distance between the vehicle and the surrounding vehicle according to the effective distance characteristics of each sensor. delete According to claim 1,
The processing unit,
Apparatus for transmitting information about surrounding vehicles, characterized in that the first surrounding vehicle information is transmitted by assigning existing identification information. 8. The method of claim 7,
The processing unit,
When the first surrounding vehicle information and the second surrounding vehicle information are not information on the same surrounding vehicle, new identification information is assigned to the first surrounding vehicle information and transmitted. acquiring first surrounding vehicle information through one or more sensors mounted on the vehicle and acquiring second surrounding vehicle information through inter-vehicle communication;
determining the reliability of the first surrounding vehicle information;
comparing the reliability of the first surrounding vehicle information and the second surrounding vehicle information; and
When the reliability of the first surrounding vehicle information is higher than the reliability of the second surrounding vehicle information, transmitting the first surrounding vehicle information through the inter-vehicle communication;
The step of comparing the reliability is,
Checking whether the first surrounding vehicle information and the second surrounding vehicle information are information about the same surrounding vehicle, and comparing the reliability of the first surrounding vehicle information and the second surrounding vehicle information if it is information about the same surrounding vehicle Surrounding vehicle information transmission method, characterized in that it comprises. 10. The method of claim 9,
The step of determining the reliability is,
A method for transmitting information about surrounding vehicles, characterized in that the reliability of the first surrounding vehicle information is determined based on the score and level classification criteria for each distance according to the effective distance of each sensor. delete 10. The method of claim 9,
Transmitting the first surrounding vehicle information comprises:
A method for transmitting information about surrounding vehicles, characterized in that the first surrounding vehicle information is transmitted by assigning existing identification information. 10. The method of claim 9,
Transmitting the first surrounding vehicle information comprises:
If the first surrounding vehicle information and the second surrounding vehicle information are not information about the same surrounding vehicle, new identification information is assigned to the first surrounding vehicle information and transmitted.

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