KR102494238B1 - Target selection apparatus and target selection method - Google Patents

Abstract

The present invention receives driving information of another vehicle located in front of the own vehicle from an external sensor such as a camera sensor, a radar sensor, or an ultrasonic sensor in a target selection device that selects a target using a weight assigned to the other vehicle. with a receiving unit; an estimation unit for estimating a moving direction of another vehicle based on driving information of the other vehicle; a judging unit that determines whether the first other vehicle deviate from the estimated running path of the host vehicle based on the moving direction of the first other vehicle selected as a target in advance; and a system to maintain the first other vehicle as a target when it is determined that the first other vehicle is out of the driving path of the own vehicle and the difference between the moving direction of the first other vehicle and the other vehicle is within a preset error range. It relates to a target selection device including a setting unit for setting a weight assigned to a first vehicle.

Description

Target selection device and target selection method {TARGET SELECTION APPARATUS AND TARGET SELECTION METHOD}

The present invention relates to a technique for selecting a target that is a reference in controlling a vehicle.

Recently, in the automobile industry, autonomous driving technology, which is a technology in which a vehicle drives by itself and reaches a destination without a driver manipulating a steering wheel, an accelerator pedal, or a brake, has been developed and has reached a stage of practical use.

Such autonomous driving technology can be put to practical use using detailed technologies such as Adaptive Cruise Control (ACC), Autonomous Emergency Braking (AEB), and Traffic Jam Assist (TJA).

Technologies such as ACC, AEB, and TJA generally select a preceding vehicle traveling in the same lane as the host vehicle as a target, and operate the host vehicle's accelerator and brake system to maintain a constant distance from the selected target vehicle. As a control technique, it is important to select an accurate target.

However, the road on which the vehicle travels has various environments including curved roads, and a target selected by various environments may change in an unintended situation.

Due to such a problem, a problem in that the vehicle to which technologies such as ACC, AEB, and TJA are applied may perform undesirable sudden braking or acceleration.

Against this background, an object of the present invention, in one aspect, is to provide a target selection device capable of selecting an accurate target even in various road environments including curved roads.

In one aspect, the present invention provides a target selection device for selecting a target using a weight assigned to another vehicle from an external sensor such as a camera sensor, radar sensor, or ultrasonic sensor to another vehicle located in front of the own vehicle. a receiving unit for receiving driving information; an estimation unit for estimating a moving direction of another vehicle based on driving information of the other vehicle; a judging unit that determines whether the first other vehicle deviate from the estimated running path of the host vehicle based on the moving direction of the first other vehicle selected as a target in advance; and a system to maintain the first other vehicle as a target when it is determined that the first other vehicle is out of the driving path of the own vehicle and the difference between the moving direction of the first other vehicle and the other vehicle is within a preset error range. Provided is a target selection device including a setting unit for setting the weight assigned to the first vehicle.

In another aspect, the present invention provides driving information of another vehicle located in front from an external sensor such as a camera sensor, radar sensor, or ultrasonic sensor in a target selection method for selecting a target using a weight assigned to another vehicle. A receiving step of receiving; an estimation step of estimating a moving direction of another vehicle based on driving information of the other vehicle; a determination step of determining whether the first other vehicle is out of the estimated driving path of the own vehicle based on the moving direction of the first other vehicle selected as a target in advance; and a system to maintain the first other vehicle as a target when it is determined that the first other vehicle is out of the driving path of the own vehicle and the difference between the moving direction of the first other vehicle and the other vehicle is within a preset error range. Provided is a target selection method including a setting step of setting a weight assigned to the first vehicle.

As described above, according to the present invention, it is possible to provide a target selection device capable of accurately selecting a target even in various road environments including curved roads.

1 is a diagram illustrating an example for explaining problems that may occur in an autonomous driving device that controls a vehicle by selecting a target.
2 is a diagram showing the configuration of a target selection device according to an embodiment of the present invention.
3 is a diagram showing an example for explaining the operation of a target selection device according to an embodiment of the present invention.
4 is a diagram illustrating an example for explaining an operation of an estimator according to an embodiment of the present invention.
5 is a diagram illustrating an example for explaining an operation of a determination unit according to an embodiment of the present invention.
6 is a flowchart illustrating a target selection method according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Some embodiments of the present invention are described in detail below with reference to exemplary drawings. In adding reference numerals to components of each drawing, the same components may have the same numerals as much as possible even if they are displayed on different drawings. In addition, in describing the present invention, if it is determined that a detailed description of a related known configuration or function may obscure the gist of the present invention, the detailed description may be omitted.

Also, terms such as first, second, A, B, (a), and (b) may be used in describing the components of the present invention. These terms are only used to distinguish the component from other components, and the nature, sequence, order, or number of the corresponding component is not limited by the term. When an element is described as being “connected,” “coupled to,” or “connected” to another element, that element is or may be directly connected to that other element, but intervenes between each element. It will be understood that may be "interposed", or each component may be "connected", "coupled" or "connected" through other components.

1 is a diagram illustrating an example for explaining problems that may occur in an autonomous driving device that controls a vehicle by selecting a target.

Recently, in the automobile industry, autonomous driving technology, which is a technology in which a vehicle drives by itself and reaches a destination without a driver manipulating a steering wheel, an accelerator pedal, or a brake, has been developed and has reached a stage of practical use. Such autonomous driving technology can be put to practical use using detailed technologies such as Adaptive Cruise Control (ACC), Autonomous Emergency Braking (AEB), and Traffic Jam Assist (TJA).

Technologies such as ACC, AEB, and TJA generally select a preceding vehicle traveling in the same lane as the host vehicle as a target, and operate the host vehicle's accelerator and brake system to maintain a constant distance from the selected target vehicle. As a control technique, it is important to select an accurate target. However, the road on which the vehicle travels has various environments including curved roads, and a target selected by various environments may change in an unintended situation.

For example, referring to FIG. 1 , the case of (A) in which the own vehicle 110a and other vehicles 121a and 123a drive in a straight line; Technologies such as ACC, AEB, and TJA select the first other vehicle 121a located directly in front of the own vehicle 110a as a target, and keep the distance to the first other vehicle 121a constant. It is possible to control the accelerator and braking device of (110a). However, in the case of (B), the own vehicle 110b is driving in a straight line due to the road environment including a curved road, but the other vehicles 121a and 123a are driving in a curve; Technologies such as ACC, AEB, and TJA may select the second vehicle 123b located directly in front of the own vehicle 110b as a target.

As such, when including a curved path; As technologies such as ACC, AEB, and TJA operate, the standard target may change. Accordingly, by technologies such as ACC, AEB, and TJA, a problem may occur in that the vehicle performs undesirable sudden braking or acceleration.

Hereinafter, the target selection device and target selection method of the present invention, which can compensate for the problem that the target is changed by the road environment as described above, will be described in FIGS. 2 to 6 in detail.

Meanwhile, in a general target selection technique, weights may be allocated according to conditions of other vehicles, and other vehicles having weights equal to or greater than a preset threshold may be selected as targets. The target selection apparatus and target selection method of the present invention can be applied in a state in which weights are assigned to other vehicles according to conditions and other vehicles having weights equal to or greater than a preset threshold are selected as targets.

2 is a diagram showing the configuration of a target selection device according to an embodiment of the present invention.

Referring to FIG. 2 , the target selection device 200 according to an embodiment of the present invention receives driving information of another vehicle located in front of its own vehicle from an external sensor 10 that is a camera sensor, radar sensor, or ultrasonic sensor. a receiving unit 210 for receiving; an estimator 220 for estimating the direction of movement of another vehicle based on driving information of the other vehicle; a determining unit 230 that determines whether the first other vehicle is out of the estimated own vehicle's travel path based on the moving direction of the first other vehicle selected as a target in advance; and a system to maintain the first other vehicle as a target when it is determined that the first other vehicle is out of the driving path of the own vehicle and the difference between the moving direction of the first other vehicle and the other vehicle is within a preset error range. It may include a setting unit 240 that sets the weight assigned to the first vehicle.

The camera sensor may include a light collector that receives light, a camera that captures the received light as an image, and a control device that controls conditions. The light concentrator is a component that receives light and forms an image on the imaging unit, and there are various methods ranging from a simple small hole like a pinhole camera to a complicated one using multiple types of lenses. A light collecting unit of a typical camera includes a lens, a diaphragm, and a device for adjusting a lens distance. The light concentrator is also commonly referred to as a photographic lens. The imaging unit is a part that forms an image generated by light coming from the light collecting unit, and a film camera takes an image by placing a photosensitive film on the imaging unit and develops and prints it to create a picture, whereas a digital camera uses a light signal in the imaging unit By placing a device (CMOS, CCD, etc.) that converts the digital signal into an electrical signal, the digital image converted into an electrical signal is stored in a storage medium as an image file in various formats. The adjusting device is a component that operates to obtain a desired image, and may typically include an aperture for adjusting the size of a hole in the light collector and a shutter for accepting or blocking light. For example, in a bright place, the aperture may be narrowed to reduce the amount of light, and in a dark place, the aperture may be opened to increase the amount of light to properly capture an image. In addition, it is possible to capture a still image by speeding up the shutter operation for the fast movement of the athlete. In addition, devices such as a flash for shooting in a dark place and a viewfinder for pre-scrutinizing an object to be shot may also be included in the control device.

A radar sensor emits electromagnetic waves, hits an object, analyzes the reflected electromagnetic waves, and measures the distance to the object. If the radar uses a low frequency with a long wavelength, the attenuation of the radio wave is small and it can detect far away, but the resolution is deteriorated because it is not precisely measured. Because it is easily absorbed or reflected on the back, the attenuation is large, so it is difficult to detect far away, but it has a characteristic that high resolution can be obtained. According to these characteristics, low-frequency radio waves are used when it is necessary to quickly find a long-distance target, such as anti-aircraft radar or ground-to-ground radar, whereas when it is necessary to precisely measure the shape or size of a target, such as fire control radar uses high-frequency radio waves.

As the frequency of the ultrasonic sensor increases, the wavelength shortens, making it difficult for diffraction to occur and the shadow of the object being easily created. and direction can be sensed. In order to detect the distance, the ultrasonic sensor may detect the distance to the object based on the time it takes to return after being emitted using pulsed ultrasonic waves.

By installing the external sensor 10 capable of detecting an object by applying this method to monitor the front of the host vehicle, the external sensor 10 can determine the position of another vehicle located in front of the host vehicle (the host vehicle). It is possible to detect driving information including a reference) and the like.

The receiving unit 210 of the target selection device 200 according to an embodiment of the present invention may receive driving information of another vehicle from the external sensor 10 .

For example, the receiving unit 210 may receive driving information of another vehicle from the external sensor 10 using a controller area network (CAN). CAN is a standard communication specification designed to allow microcontrollers or devices to communicate with each other in a vehicle without a host computer, and is a message-based protocol. Such CAN tends to be often used not only in vehicles but also in industrial automation equipment and medical equipment.

The estimator 220 of the target selection device 200 according to an embodiment of the present invention may estimate the moving direction of another vehicle based on the received driving information of the other vehicle.

For example, when location information of another vehicle is received as driving information; The estimator 220 may estimate a moving direction, which is a vector, by subtracting previously received location information from currently received location information.

For another example, when image information of another vehicle is received as driving information; The estimator 220 may estimate the moving direction of the other vehicle using the ratio of the side image and the rear image of the other vehicle.

The determination unit 230 of the target selection device 200 according to an embodiment of the present invention determines that the first other vehicle deviate from the estimated driving route of the own vehicle based on the moving direction of the first other vehicle selected as the target in advance. can judge whether

For example, the determination unit 230 may determine that the first other vehicle deviated from the driving path of the own vehicle when the estimated moving direction of the first other vehicle does not match the direction of the driving path of the own vehicle. there is. A certain allowable range may be applied in determining whether the moving direction of the first other vehicle coincides with the direction of the driving path of the own vehicle.

Here, the running path of the own vehicle may be set toward the front of the own vehicle or may be estimated based on driving information of the own vehicle received from a sensor capable of detecting curved driving of the own vehicle. The sensor capable of detecting the curved driving may be a yaw rate sensor, a steering angle sensor, or a wheel speed sensor that detects the curved driving using the state of the own vehicle. Alternatively, the sensor capable of detecting curved driving may be a sensor capable of detecting curved driving using a relationship between the own vehicle and a fixed external object. The external object may be detected by the external sensor 10 .

The setting unit 240 of the target selection device 200 according to an embodiment of the present invention determines that the first other vehicle has deviated from the own vehicle's driving path, and the moving direction of the first other vehicle and the moving direction of the other vehicle If the difference in is within a preset error range, a weight assigned to the first other vehicle may be set so that the first other vehicle is maintained as a target. Here, comparing the moving direction of the first other vehicle selected as the target vehicle with the moving direction of the other vehicle may be to determine whether the first other vehicle is driving on a shoulder or a bypass road or along a curved road. .

In terms of the reliability of this determination, the setting unit 240 may calculate the difference between the moving direction of the first other vehicle and the moving direction of the other vehicle only when the number of other vehicles is greater than or equal to a preset threshold number. That is, the higher the threshold number, the higher the reliability of the judgment may be, but since the application case may be reduced, it may be set in a compromise based on the experimental data.

In addition, the margin of error is to reflect the difference in the direction of movement even when driving on the same road. Furthermore, since the difference in turning radii of vehicles traveling on a curve is greater than the difference in turning radii of vehicles traveling on a straight line, the error range can be increased if the driving path of the host vehicle is estimated as a curve.

Meanwhile, the setting unit 240 may reduce the amount by which the weight assigned to the first other vehicle decreases or set it to 0 (zero) so that the first other vehicle is maintained as a target.

As described above, the target selection device according to an embodiment of the present invention solves the problem that the target is changed as the first other vehicle selected as the target is not located in the straight front of the own vehicle by driving on a curved road can be solved

In addition, the target selection device according to another embodiment of the present invention not only sets the weight assigned to the first other vehicle previously selected as a target (like the target selection device according to an embodiment of the present invention), It is possible to further set the weight assigned to the second other vehicle not selected as .

To this end, the determination unit of the target selection device according to another embodiment of the present invention further determines whether the second other vehicle enters the estimated own vehicle's driving path based on the moving direction of the second other vehicle not selected as a target. can do.

For example, if the estimated moving direction of the second other vehicle is toward the own vehicle's driving route, the determination unit may determine that the second other vehicle is entering the own vehicle's driving route.

In addition, the setting unit of the target selection device according to another embodiment of the present invention determines that the second other vehicle enters the driving path of the host vehicle, and the difference between the moving direction of the second other vehicle and the moving direction of the other vehicle is an error. If it falls within the range, a weight assigned to the second other vehicle may be set so that the second other vehicle is not selected as a target. Here, comparing the moving direction of the second vehicle not selected as the target vehicle with the moving direction of the other vehicle may be to determine whether the second vehicle is changing lanes or driving along a curved road.

In terms of the reliability of this determination, the setting unit may calculate the difference between the moving direction of the second other vehicle and the moving direction of the other vehicle only when the number of other vehicles is greater than or equal to a predetermined threshold number. That is, the higher the threshold number, the higher the reliability of the judgment, but since the number of applications may be reduced, it can be set in a compromise based on the experimental data.

In addition, the error range may be to reflect the difference in moving direction even when driving on the same road.

Meanwhile, the setting unit may reduce the amount of increase in the weight assigned to the second vehicle or set it to 0 (zero) so that the second vehicle is not selected as a target.

As described above, the target selection device according to another embodiment of the present invention solves the problem that the target is changed as the second other vehicle, which is not selected as a target, travels on a curved road and is located in a straight front of the own vehicle. can be solved

Operations of the target selection device according to one embodiment of the present invention described above and the target selection device according to another embodiment of the present invention will be described in detail using FIGS. 3 to 5 .

3 is a diagram illustrating an example for explaining the operation of a target selection device according to an embodiment of the present invention, and FIG. 4 illustrates an example for explaining the operation of an estimation unit according to an embodiment of the present invention. 5 is a diagram showing an example for explaining an operation of a determination unit according to an embodiment of the present invention.

Referring to FIG. 3 , a situation in which the own vehicle 310 is driving on a straight road before a curved road, and other vehicles 321, 323, 325, and 327 are driving on a curved road in front of the own vehicle 310. am.

In this situation, the external sensor installed in the host vehicle 310 to monitor the front detects other vehicles 321, 323, 325, and 327 and generates driving information of the other vehicles 321, 323, 325, and 327. can Thus, the receiving unit according to an embodiment of the present invention may receive the driving information from an external sensor.

Accordingly, the estimator according to an embodiment of the present invention may estimate the moving directions 421, 423, 425, and 427 of other vehicles as shown in FIG. 4 based on the received driving information.

For example, when location information of another vehicle is received as driving information; The estimator may estimate the moving directions 421 , 423 , 425 and 427 , which are vectors, by subtracting previously received location information from currently received location information.

For another example, when image information of another vehicle is received as driving information; The estimator may estimate the moving directions 421, 423, 425, and 427 of the other vehicle using the ratio of the side image and the rear image of the other vehicle. That is, according to the situation of FIG. 3 , the received image information of other vehicles 321 , 323 , 325 , and 327 may include a left side image and a rear side image, respectively. Accordingly, the estimator may estimate that the moving directions of the other vehicles 321, 323, 325, and 327 are toward the left. Furthermore, the estimator may estimate the moving direction of another vehicle by using the received ratio of the left side image and the rear side image. In detail, by applying the ratio of the left side image and the rear side image to the trigonometric function, it is possible to estimate the angle of the other vehicle's accurate moving direction. For example, if the ratio of the left side image to the rear side image is the same as the ratio of the overall length and width of the other vehicle known in advance, the estimator may estimate that the moving direction of the other vehicle is approximately 45 degrees.

If the moving direction is estimated in this way, the determination unit according to an embodiment of the present invention allows the first other vehicle to drive the host vehicle based on the moving direction 423 of the first other vehicle previously selected as a target as shown in FIG. 5 . It may be determined whether the furnace 510 is out of the way. Here, the driving route 510 of the own vehicle may be set toward the front of the own vehicle, or may be estimated based on driving information of the own vehicle received from a sensor capable of detecting a curved driving of the own vehicle.

In FIG. 5 , the determination unit determines that the first other vehicle deviate from the driving route 510 of the own vehicle because the moving direction 423 of the first other vehicle and the direction 511 of the driving route 510 of the own vehicle do not match. can be judged to be Here, when comparing directions, a permissible range may be applied so that they are treated in the same direction.

It is determined that the first other vehicle deviated from the own vehicle's driving route 510, and the difference between the moving direction 423 of the first other vehicle and the moving directions 421, 425, and 427 of the other vehicle falls within a preset error range. If so, the setting unit may set the weight assigned to the first other vehicle so that the first other vehicle is maintained as a target. For example, the setting unit may reduce the amount by which the weight allocated to the first other vehicle decreases or set it to 0 (zero) so that the first other vehicle is maintained as a target.

Here, the setting unit determines the direction of movement of the first other vehicle 423 and the direction of movement of other vehicles 421, 425, and 427 only when the number of other vehicles (three in the case of FIG. 4) is equal to or greater than a preset threshold number. difference can be calculated. This may be for accurately determining whether the first other vehicle is driving on a shoulder road or a bypass road or driving along a curved road.

Meanwhile, the target selection device according to another embodiment of the present invention not only sets the weight assigned to the first other vehicle previously selected as a target (like the target selection device according to an embodiment of the present invention), It is possible to further set the weight assigned to the second other vehicle not selected as .

To this end, the determination unit according to another embodiment of the present invention determines whether the second other vehicle determines the driving path 510 of the host vehicle based on the moving direction 425 of the second other vehicle not previously selected as a target as shown in FIG. 5 . It can be judged whether to enter. In FIG. 5 , the second other vehicle refers to a vehicle traveling on the right lane with respect to the own vehicle 310, but this may be a result of the lane bending to the left. In other words, if the lane curves to the right, the second other vehicle may refer to another vehicle traveling in the left lane based on the own vehicle.

In addition, the setting unit according to another embodiment of the present invention determines that the second other vehicle enters the driving path 510 of the host vehicle, and determines the moving direction 425 of the second other vehicle and the moving direction 421 of the other vehicle , 423 and 427), if the difference is within the error range in advance, the setting unit may set the weight assigned to the second other vehicle so that the second other vehicle is not selected as a target. For example, the setting unit may reduce the amount of increase in the weight allocated to the second vehicle or set it to 0 (zero) so that the second vehicle is not selected as a target.

Here, the setting unit determines the direction of movement of the second vehicle 425 and the direction of movement of other vehicles 421, 423, and 427 only when the number of other vehicles (three in the case of FIG. 4) is equal to or greater than a preset threshold number. difference can be calculated. This may be to accurately determine whether the second vehicle is changing lanes or driving along a curved road.

4 and 5, the moving direction of other vehicles and the driving path of the own vehicle can be expressed by introducing a grid map set to have X-Y coordinates corresponding to the X-Y coordinates of the ground. In this case, the grid map may be updated to reflect the moving direction and distance of the own vehicle. In other words, the update cycle of the grid map may be equal to or shorter than the cycle of receiving driving information and estimating the direction of movement.

As described above, the target selection device of the present invention can solve the problem that the target is changed as the first other vehicle selected as the target travels on a curved road and is not located in a straight front of the own vehicle. It is possible to solve the problem that the target is changed as the second vehicle, which is not selected as the second vehicle, drives on a curved road and is positioned straight ahead of the host vehicle.

Hereinafter, a target selection method, which is an operation performed by the target selection device described with reference to FIGS. 2 to 5, will be briefly described.

6 is a flowchart illustrating a target selection method according to an embodiment of the present invention.

Referring to FIG. 6 , the target selection method according to an embodiment of the present invention receives driving information of another vehicle located in front of the host vehicle from an external sensor 10 that is a camera sensor, a radar sensor, or an ultrasonic sensor. step 600; an estimating step 610 of estimating the moving direction of another vehicle based on the travel information of the other vehicle; a determination step 620 of determining whether the first other vehicle deviate from the estimated travel path of the own vehicle based on the moving direction of the first other vehicle selected as a target in advance; and a system to maintain the first other vehicle as a target when it is determined that the first other vehicle is out of the driving path of the own vehicle and the difference between the moving direction of the first other vehicle and the other vehicle is within a preset error range. A setting step 630 of setting a weight assigned to the first vehicle may be included.

The camera sensor may include a light collector that receives light, a camera that captures the received light as an image, and a control device that controls conditions. The light concentrator is a component that receives light and forms an image on the imaging unit, and there are various methods ranging from a simple small hole like a pinhole camera to a complicated one using multiple types of lenses. A light collecting unit of a typical camera includes a lens, a diaphragm, and a device for adjusting a lens distance. The light concentrator is also commonly referred to as a photographic lens. The imaging unit is a part that forms an image generated by light coming from the light collecting unit, and a film camera takes an image by placing a photosensitive film on the imaging unit and develops and prints it to create a picture, whereas a digital camera uses a light signal in the imaging unit By placing a device (CMOS, CCD, etc.) that converts the digital signal into an electrical signal, the digital image converted into an electrical signal is stored in a storage medium as an image file in various formats. The adjusting device is a component that operates to obtain a desired image, and may typically include an aperture for adjusting the size of a hole in the light collector and a shutter for accepting or blocking light. For example, in a bright place, the aperture may be narrowed to reduce the amount of light, and in a dark place, the aperture may be opened to increase the amount of light to properly capture an image. In addition, it is possible to capture a still image by speeding up the shutter operation for the fast movement of the athlete. In addition, devices such as a flash for shooting in a dark place and a viewfinder for pre-scrutinizing an object to be shot may also be included in the control device.

A radar sensor emits electromagnetic waves, hits an object, analyzes the reflected electromagnetic waves, and measures the distance to the object. If the radar uses a low frequency with a long wavelength, the attenuation of the radio wave is small and it can detect far away, but the resolution is deteriorated because it is not precisely measured. Because it is easily absorbed or reflected on the back, the attenuation is large, so it is difficult to detect far away, but it has a characteristic that high resolution can be obtained. According to these characteristics, low-frequency radio waves are used when it is necessary to quickly find a long-distance target, such as anti-aircraft radar or ground-to-ground radar, whereas when it is necessary to precisely measure the shape or size of a target, such as fire control radar uses high-frequency radio waves.

As the frequency of the ultrasonic sensor increases, the wavelength shortens, making it difficult for diffraction to occur and the shadow of the object being easily created. and direction can be sensed. In order to detect the distance, the ultrasonic sensor may detect the distance to the object based on the time it takes to return after being emitted using pulsed ultrasonic waves.

By installing the external sensor 10 capable of detecting an object by applying this method to monitor the front of the host vehicle, the external sensor 10 can determine the position of another vehicle located in front of the host vehicle (the host vehicle). It is possible to detect driving information including a reference) and the like.

In the receiving step 600 of the target selection method according to an embodiment of the present invention, driving information of another vehicle may be received from the external sensor 10 .

For example, in the receiving step 600 , driving information of another vehicle may be received from the external sensor 10 using a controller area network (CAN). CAN is a standard communication specification designed to allow microcontrollers or devices to communicate with each other in a vehicle without a host computer, and is a message-based protocol. Such CAN tends to be often used not only in vehicles but also in industrial automation equipment and medical equipment.

In the estimation step 610 of the target selection method according to an embodiment of the present invention, the moving direction of the other vehicle may be estimated based on the received driving information of the other vehicle.

For example, when location information of another vehicle is received as driving information; In the estimating step 610, a moving direction, which is a vector, may be estimated by subtracting previously received location information from currently received location information.

For another example, when image information of another vehicle is received as driving information; In the estimation step 610, the direction of movement of the other vehicle may be estimated using the ratio of the side image and the rear image of the other vehicle.

In the determination step 620 of the target selection method according to an embodiment of the present invention, based on the moving direction of the first other vehicle selected as the target in advance, it is determined whether the first other vehicle deviate from the estimated driving route of the own vehicle. can

For example, in the determination step 620, if the estimated moving direction of the first other vehicle does not match the direction of the own vehicle's driving route, it may be determined that the first other vehicle is leaving the own vehicle's driving route. there is. A certain allowable range may be applied in determining whether the moving direction of the first other vehicle coincides with the direction of the driving path of the own vehicle.

Here, the running path of the own vehicle may be set toward the front of the own vehicle or may be estimated based on driving information of the own vehicle received from a sensor capable of detecting curved driving of the own vehicle. The sensor capable of detecting the curved driving may be a yaw rate sensor, a steering angle sensor, or a wheel speed sensor that detects the curved driving using the state of the own vehicle. Alternatively, the sensor capable of detecting curved driving may be a sensor capable of detecting curved driving using a relationship between the own vehicle and a fixed external object. The external object may be detected by the external sensor 10 .

In the setting step 630 of the target selection method according to an embodiment of the present invention, it is determined that the first other vehicle has deviated from the own vehicle's driving path, and the difference between the moving direction of the first other vehicle and the moving direction of the other vehicle is If it falls within a preset error range, a weight assigned to the first other vehicle may be set so that the first other vehicle is maintained as a target. Here, comparing the moving direction of the first other vehicle selected as the target vehicle with the moving direction of the other vehicle may be to determine whether the first other vehicle is driving on a shoulder or a bypass road or along a curved road. .

In terms of the reliability of this determination, the setting step 630 may calculate the difference between the moving direction of the first other vehicle and the moving direction of the other vehicle only when the number of other vehicles is greater than or equal to a preset threshold number. That is, the higher the threshold number, the higher the reliability of the judgment may be, but since the application case may be reduced, it may be set in a compromise based on the experimental data.

In addition, the margin of error is to reflect the difference in the direction of movement even when driving on the same road. Furthermore, since the difference in turning radii of vehicles traveling on a curve is greater than the difference in turning radii of vehicles traveling on a straight line, the error range can be increased if the driving path of the host vehicle is estimated as a curve.

Meanwhile, in the setting step 630, the amount by which the weight assigned to the first other vehicle is reduced may be reduced or set to 0 (zero) so that the first other vehicle is maintained as a target.

As described above, the target selection method according to an embodiment of the present invention solves the problem that the target is changed as the first other vehicle selected as the target is not located in a straight front of the own vehicle by driving on a curved road. can be solved

In addition, the target selection method according to another embodiment of the present invention not only sets the weight assigned to the first other vehicle previously selected as a target (like the target selection device according to an embodiment of the present invention), It is possible to further set the weight assigned to the second other vehicle not selected as .

To this end, the determining step of the target selection method according to another embodiment of the present invention further determines whether the second other vehicle enters the estimated driving route of the own vehicle based on the moving direction of the second other vehicle not selected as the target. can judge

For example, in the determining step, if the estimated moving direction of the second other vehicle is toward the own vehicle's driving route, it may be determined that the second other vehicle enters the own vehicle's driving route.

In addition, in the setting step of the target selection method according to another embodiment of the present invention, it is determined that the second other vehicle enters the own vehicle's driving path, and the difference between the moving direction of the second other vehicle and the moving direction of the other vehicle is If it falls within the error range, a weight assigned to the second other vehicle may be set so that the second other vehicle is not selected as a target. Here, comparing the moving direction of the second vehicle not selected as the target vehicle with the moving direction of the other vehicle may be to determine whether the second vehicle is changing lanes or driving along a curved road.

In terms of the reliability of this determination, the setting step may calculate the difference between the moving direction of the second other vehicle and the moving direction of the other vehicle only when the number of other vehicles is equal to or greater than a preset threshold number. That is, the higher the threshold number, the higher the reliability of the judgment, but since the number of applications may be reduced, it can be set in a compromise based on the experimental data.

In addition, the error range may be to reflect the difference in moving direction even when driving on the same road.

Meanwhile, in the setting step, the increase amount of the weight allocated to the second vehicle may be reduced or set to 0 (zero) so that the second vehicle is not selected as a target.

As described above, the target selection method according to another embodiment of the present invention solves the problem that the target changes as the second other vehicle, which is not selected as the target, travels on a curved road and is located in a straight front of the own vehicle. can be solved

In addition to this, the target selection method of the present invention can perform all of the operations performed by the target selection device of the present invention described with reference to FIGS. 2 to 5 .

The above description and accompanying drawings are merely illustrative of the technical idea of the present invention, and those skilled in the art can combine the configuration within the scope not departing from the essential characteristics of the present invention. , various modifications and variations such as separation, substitution and alteration will be possible. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

Claims (10)

A target selection device for selecting a target using a target selection weight assigned to another vehicle,
a receiving unit that receives driving information of the other vehicle located in front of the host vehicle from an external sensor such as a camera sensor, a radar sensor, or an ultrasonic sensor;
an estimator for estimating a moving direction of the other vehicle based on the driving information of the other vehicle;
a determination unit that determines whether the first other vehicle deviates from the estimated running path of the host vehicle based on the moving direction of the first other vehicle selected as a target in advance; and
It is determined that the first other vehicle is out of the driving path of the own vehicle, and the difference between the moving direction of the first other vehicle and the moving direction of other vehicles other than the first vehicle among the other vehicles is a preset error. and a setting unit configured to set a target selection weight allocated to the first other vehicle so that the first other vehicle is maintained as a target if the target falls within the range. According to claim 1,
The setting unit,
The target selection device according to claim 1 , wherein the reduction amount of the target selection weight assigned to the first other vehicle is reduced or set to 0 (zero) so that the first other vehicle is maintained as a target. According to claim 1,
The setting unit,
Calculating a difference between the moving direction of the first other vehicle and the moving direction of other vehicles excluding the first other vehicle among the other vehicles only when the number of the other vehicles is equal to or greater than a preset threshold number. selection device. According to claim 1,
The determination unit further determines whether the second other vehicle enters the driving path of the own vehicle based on the moving direction of the second other vehicle;
The setting unit,
It is determined that the second other vehicle enters the driving path of the own vehicle, and the difference between the moving direction of the second other vehicle and the moving direction of other vehicles other than the second vehicle among the other vehicles is the error and setting a target selection weight assigned to the second other vehicle so that the second other vehicle is not selected as a target if it falls within the range. According to claim 4,
The setting unit,
The target selection device according to claim 1 , wherein the target selection weight assigned to the second vehicle is reduced or set to 0 (zero) so that the second vehicle is not selected as a target. According to claim 4,
The setting unit,
Calculating a difference between the moving direction of the second other vehicle and the moving direction of other vehicles excluding the second other vehicle among the other vehicles only when the number of the other vehicles is equal to or greater than a preset threshold number. selection device. According to claim 1,
The receiving unit further receives driving information of the own vehicle from a driving detection sensor included in the own vehicle and capable of detecting a curved driving;
The target selection device according to claim 1 , wherein the driving route of the own vehicle is estimated based on driving information of the own vehicle. According to claim 7,
The target selection device according to claim 1 , wherein the error range is increased when the driving path of the host vehicle is estimated as a curve. A target selection method for selecting a target using a target selection weight assigned to another vehicle,
A receiving step of receiving driving information of the other vehicle located in front from an external sensor such as a camera sensor, a radar sensor, or an ultrasonic sensor;
an estimating step of estimating a moving direction of the other vehicle based on driving information of the other vehicle;
a determination step of determining whether the first other vehicle is out of the estimated travel path of the own vehicle based on the moving direction of the first other vehicle selected as a target in advance; and
It is determined that the first other vehicle is out of the driving path of the own vehicle, and the difference between the moving direction of the first other vehicle and the moving direction of other vehicles other than the first vehicle among the other vehicles is a preset error. and a setting step of setting a target selection weight assigned to the first other vehicle so that the first other vehicle is maintained as a target if it falls within the range. According to claim 9,
In the determining step, based on the moving direction of the second other vehicle, it is further determined whether the second other vehicle enters the driving path of the own vehicle;
In the setting step,
It is determined that the second other vehicle enters the driving path of the host vehicle, and the difference between the moving direction of the second other vehicle and the moving direction of other vehicles other than the second vehicle among the other vehicles is the error and setting a target setting weight assigned to the second other vehicle so that the second other vehicle is not selected as a target if it falls within the range.

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