KR102497027B1 - Control method and system for estimating position of vehicle - Google Patents

Abstract

Collecting travel data previously stored inside the vehicle or input from the outside; Calculating a cycle for estimating the location of the vehicle based on the collected driving data; and estimating the position of the vehicle according to the period of estimating the calculated position of the vehicle.

Description

Vehicle position estimation control method and control system {CONTROL METHOD AND SYSTEM FOR ESTIMATING POSITION OF VEHICLE}

The present invention relates to a control method and control system for estimating the position of a vehicle, and more particularly, to a technique for varying a cycle for estimating the position of a vehicle based on data input to the vehicle.

Although different depending on the type or grade of the vehicle, with the development of technology, a smart control system for assisting the driver's convenience and driving is being installed, and in addition, autonomous driving of the vehicle has reached a stage where it is being realized.

In particular, as technology for accurately estimating the position of a vehicle develops, a global positioning system (GPS) receiver is mounted in the vehicle, and the position of the vehicle can be calculated by receiving signals from GPS satellites.

In addition, the location of the vehicle can be more accurately calculated by additionally using image data input from a camera sensor mounted in the vehicle, and precise map information stored in the vehicle or transmitted through communication.

However, if the operation cycle of calculating the vehicle position is too short, overload and power of the vehicle are unnecessarily wasted, and if the operation cycle of calculating the vehicle position is too long, the vehicle position can be accurately determined in a necessary situation. Therefore, there is a risk of an error or an accident in road guidance (navigation).

Therefore, there is a need for a method and system for controlling vehicle position estimation so that the vehicle position calculation period is appropriately controlled as needed to efficiently operate in a necessary situation.

The matters described as the background art above are only for improving understanding of the background of the present invention, and should not be taken as an admission that they correspond to prior art already known to those skilled in the art.

KR 10-2016-0075051 A KR 10-2016-0003492 A KR 10-2015-0049723 A

The present invention has been proposed to solve this problem, and is intended to provide a method and system for controlling a period of vehicle position estimation.

To achieve the above object, a method for estimating and controlling a vehicle position according to the present invention includes collecting driving data previously stored inside a vehicle or input from the outside; Calculating a period for estimating the location of the vehicle based on the collected driving data; and estimating the location of the vehicle according to the period of estimating the calculated location of the vehicle.

In the collecting driving data, at least one of map data of a road adjacent to the location of the vehicle, image data sensed by a camera sensor installed in the vehicle, vehicle speed data, and steering angle data of the driver may be collected.

In the step of collecting driving data, in the step of calculating the cycle of collecting vehicle speed data and estimating the position of the vehicle, the cycle of estimating the position of the vehicle as the speed of the vehicle increases based on the collected speed data can be calculated to decrease.

In the step of collecting driving data, map data of a road adjacent to the location of the vehicle or speed data of the vehicle is collected, and in the step of calculating a cycle for estimating the location of the vehicle, the vehicle is based on the collected map data or speed data. As the rotation angle of or the curvature of the road ahead increases, the period for estimating the position of the vehicle can be calculated to decrease.

In the step of collecting driving data, image data sensed by a camera sensor installed in the vehicle is collected, and in the step of calculating a period for estimating the position of the vehicle, one of the lanes on both sides of the vehicle is selected based on the collected image data. When the distance to is less than or equal to a predetermined distance, a period for estimating the location of the vehicle may be calculated to decrease.

In the step of collecting driving data, in the step of collecting steering angle data of the driver and calculating a cycle for estimating the position of the vehicle, the position of the vehicle is estimated based on the collected steering angle data when the steering angle speed is equal to or greater than the preset angular speed. It can be calculated so that the cycle decreases.

In the step of estimating the position of the vehicle, the position of the vehicle may be estimated based on the GPS data received by the GPS receiver at each time point of estimating the position of the vehicle according to the period of estimating the calculated position of the vehicle.

A vehicle position estimation control system according to the present invention for achieving the above object includes a data collection unit that collects driving data previously stored inside a vehicle or input from the outside; a position estimation period calculation unit that calculates a period for estimating the position of the vehicle based on the driving data collected by the data collection unit; and a position estimation unit for estimating the position of the vehicle according to the period for estimating the position of the vehicle calculated by the position estimation period calculation unit.

The data collection unit includes map data of roads adjacent to the location of the vehicle pre-stored in the memory, image data sensed by the camera sensor mounted on the vehicle, vehicle speed data sensed by the speed sensor, and driver's steering angle data sensed by the steering angle sensor. Any one or more can be collected.

The position estimating unit may estimate the position of the vehicle based on GPS data received from the GPS receiver at each time point of estimating the position of the vehicle according to the period of estimating the position of the vehicle calculated by the position estimation period calculator.

According to the vehicle position estimation control method and control system of the present invention, the vehicle position estimation period can be appropriately controlled according to the state of the vehicle. In particular, if the vehicle position estimation cycle is short, the usage of CPU and memory increases, and thus a lot of energy is used, which may adversely affect fuel efficiency or power supply. Conversely, if the vehicle position estimation period is long, a rapidly changing vehicle position cannot be sensed in real time, which may cause a problem in vehicle control.

Accordingly, according to the vehicle position estimation control method and control system of the present invention, efficient vehicle control is possible by controlling to estimate the position of the vehicle at an optimal position estimation cycle according to the driving conditions of the vehicle.

1 is a flowchart of a method for estimating and controlling a vehicle position according to an embodiment of the present invention.
2 is a block diagram of a vehicle position estimation control system according to an embodiment of the present invention.

Specific structural or functional descriptions of the embodiments of the present invention disclosed in this specification or application are merely exemplified for the purpose of explaining the embodiments according to the present invention, and the embodiments according to the present invention may be implemented in various forms. and should not be construed as being limited to the embodiments described in this specification or application.

Embodiments according to the present invention can apply various changes and can have various forms, so specific embodiments are illustrated in the drawings and described in detail in this specification or application. However, this is not intended to limit the embodiments according to the concept of the present invention to a specific disclosed form, and should be understood to include all modifications, equivalents, or substitutes included in the spirit and technical scope of the present invention.

Terms such as first and/or second may be used to describe various components, but the components should not be limited by the terms. The above terms are only for the purpose of distinguishing one component from another component, e.g., without departing from the scope of rights according to the concept of the present invention, a first component may be termed a second component, and similarly The second component may also be referred to as the first component.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle. Other expressions describing the relationship between elements, such as "between" and "directly between" or "adjacent to" and "directly adjacent to", etc., should be interpreted similarly.

Terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this specification, terms such as "comprise" or "having" are intended to designate that the described feature, number, step, operation, component, part, or combination thereof exists, but one or more other features or numbers However, it should be understood that it does not preclude the presence or addition of steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined herein, they are not interpreted in an ideal or excessively formal meaning. .

Hereinafter, the present invention will be described in detail by describing preferred embodiments of the present invention with reference to the accompanying drawings. Like reference numerals in each figure indicate like elements.

1 is a flowchart of a method for estimating and controlling a vehicle position according to an embodiment of the present invention, and FIG. 2 is a block diagram of a control system for estimating and controlling a position of a vehicle according to an embodiment of the present invention.

Referring to FIGS. 1 and 2 , a method for estimating and controlling a location of a vehicle according to an embodiment of the present invention includes collecting driving data previously stored inside a vehicle or input from the outside (S100); Calculating a period for estimating the location of the vehicle based on the collected driving data (S200); and estimating the location of the vehicle according to the calculated vehicle location estimation period (S400).

A vehicle position estimation control system according to an embodiment of the present invention includes a data collection unit 50 that collects driving data previously stored inside a vehicle or input from the outside; a position estimation period calculation unit 60 that calculates a period for estimating the position of the vehicle based on the driving data collected by the data collection unit 50; and a position estimation unit 70 for estimating the position of the vehicle according to the period for estimating the position of the vehicle calculated by the position estimation period calculation unit 60 .

The vehicle position estimation control system may constitute a part of an electronic control unit (ECU) of the vehicle or form a control unit with a separate controller.

According to the vehicle position estimation control method and control system of the present invention, the vehicle position is not estimated every time a sensor inside the vehicle and a controller connected thereto operate, and a period for estimating the position of the vehicle is calculated (S200) Afterwards, it is determined whether it is time to estimate the location of the vehicle according to this (S300), and an operation of estimating the location of the vehicle is performed (S400).

Accordingly, an operation of estimating the position of the vehicle is unnecessary, thereby preventing a phenomenon in which power consumption of the vehicle or memory is used, and thus an efficient operation of estimating the position of the vehicle is possible.

In the step of collecting driving data (S100), any one or more of map data of a road adjacent to the location of the vehicle, image data sensed by the camera sensor 20 mounted in the vehicle, vehicle speed data, and steering angle data of the driver is collected. can be collected

Specifically, the data collection unit 50 includes map data of a road adjacent to the location of the vehicle pre-stored in the memory 40, image data sensed by the camera sensor 20 mounted in the vehicle, and sensing by the speed sensor 30. Any one or more of vehicle speed data and steering angle data of a driver sensed by the steering angle sensor 10 may be collected.

That is, the data collection unit 50 is connected to the memory 40 in which map data is pre-stored, the camera sensor 20, the speed sensor 30, and the steering angle sensor 10, and senses from each or inputs data stored in each. can receive The position estimation period calculator 60 may calculate a period for estimating the position of the vehicle using at least one of the data collected by the data collection unit 50 .

As the map data, map data pre-stored in the memory 40 may be used, or map data transmitted in real time from the outside through communication may be used.

Specifically, in the step of collecting driving data (S100), vehicle speed data is collected, and in the step of calculating a cycle for estimating the location of the vehicle (S200), the speed of the vehicle is increased based on the collected speed data. Accordingly, it is possible to calculate the period for estimating the position of the vehicle to decrease.

That is, since the position of the vehicle changes rapidly when the vehicle has a high speed, the rapidly changing position of the vehicle can be reflected in real time only when the period for estimating the position of the vehicle is short.

For example, the period for estimating the position of the vehicle can be calculated with the frequency calculated as follows. It is common sense to those skilled in the art that the frequency f has a reciprocal relationship with the period T.

f(v) = (v / 10) - 5 [Hz]

Here, f(v) is a frequency (1/T) for estimating the vehicle position reflecting the vehicle speed, and v is the vehicle speed.

In addition, in the step of collecting driving data (S100), map data of a road adjacent to the location of the vehicle or speed data of the vehicle is collected, and in the step of calculating a cycle for estimating the location of the vehicle (S200), the collected map Based on data or speed data, it may be calculated so that a cycle for estimating the position of the vehicle decreases as the rotation angle of the vehicle or the curvature of the road ahead increases.

Since the position of the vehicle can change in various ways when the road ahead is a curved road with curvature or when the vehicle travels with a turning angle, rather than when the road ahead is a straight road or the vehicle is traveling forward, it is necessary to estimate the position of the vehicle. When the period is short, the position of the vehicle can be reflected in real time.

For example, the period for estimating the position of the vehicle can be calculated with the frequency calculated as follows.

f(c) = c * 3000 [Hz]

Here, f(c) is a frequency (1/T) for estimating the vehicle position reflecting the curvature of the road, and c is the curvature of the road.

As for the curvature of the road, the curvature of the road ahead may be collected from the collected map data, and the curvature of the road may be calculated instead of the curvature of the road by calculating the turning angle of the vehicle using the ratio of the longitudinal speed and the lateral speed using the speed data of the vehicle. can do. In addition, the steering angle sensed by the steering angle sensor 10 described later may be used.

In addition, the frequency for estimating the location of the vehicle may be calculated using both a frequency for estimating the location of the vehicle reflecting the speed of the vehicle and a frequency for estimating the location of the vehicle reflecting the curvature of the road.

That is, the frequency f for estimating the position of the vehicle can be calculated as the sum of the frequency for estimating the position of the vehicle reflecting the speed of the vehicle and the frequency for estimating the position of the vehicle reflecting the curvature of the road (f = f( v) + f(c)).

In particular, here, a frequency f estimating the location of the vehicle, a frequency f(v) estimating the location of the vehicle reflecting the speed of the vehicle, and a frequency f(c) estimating the location of the vehicle reflecting the curvature of the road ) may be set to a maximum or minimum value. The maximum value may be set in consideration of operation cycles of the sensors. For example, the frequency for estimating the position of the vehicle may be set to a maximum value of 100 ms (10 Hz) in consideration of the operation period of sensors operating at a period of 50 ms (20 Hz).

In the step of collecting driving data (S100), the image data sensed by the camera sensor 20 mounted on the vehicle is collected, and in the step of calculating a period for estimating the position of the vehicle (S200), the collected image data is Based on this, if the distance from either side of the vehicle to any one of the lanes is equal to or less than a predetermined distance, the cycle for estimating the location of the vehicle may be reduced.

In addition, in the step of collecting driving data (S100), the steering angle data of the driver is collected, and in the step of calculating a period for estimating the position of the vehicle (S200), the steering angle speed is a preset angular speed based on the collected steering angle data. In this case, it may be calculated so that the cycle for estimating the position of the vehicle decreases.

The image data of the camera sensor 20 may measure the distance to the lanes on both sides of the vehicle by sensing images of the front and rear of the vehicle as well as images of the side of the vehicle. A relatively shorter distance among the distances between the measured vehicle and the left lane and the right lane may be used as one of the distances between the lanes on both sides of the vehicle.

The steering angle sensor 10 may collect steering angle data by sensing rotation of a steering wheel operated by a driver. Specifically, among the steering angle data, the angular velocity of the steering angle may be used.

In the step of calculating the period for estimating the position of the vehicle (S200), any one of the distances to the lanes on both sides of the vehicle or the steering angular velocity is divided in stages or continuously reflected in the period for estimating the position of the vehicle. It is also possible to calculate such that the period for estimating the position of the vehicle decreases as the distance to one of them decreases or the period for estimating the position of the vehicle decreases as the steering angular velocity increases.

However, if either of the distances between the lanes on both sides of the vehicle is less than or equal to a preset distance (for example, 1.1 m) or the steering angular velocity is greater than or equal to a preset angular velocity (for example, 180 deg/s), the preset vehicle position is estimated. cycle can be calculated. For example, a predetermined period of estimating the vehicle position may be a minimum value (eg, 100 ms (10 Hz)).

If the distance between the two lanes of the vehicle is small, it can be regarded as a situation where the vehicle changes lanes, and even when the steering angular speed of the driver is large, the vehicle suddenly changes its driving direction or the vehicle changes lanes. This is because it is necessary to reduce the cycle of estimating the position of the vehicle, which can be seen as a situation.

In the step of estimating the position of the vehicle (S400), the position of the vehicle is estimated based on the GPS data received from the GPS receiver 80 at each time point of estimating the position of the vehicle according to the period of estimating the calculated position of the vehicle. can

The position estimating unit 70 calculates the position of the vehicle based on the GPS data received from the GPS receiver 80 at each point in time for estimating the position of the vehicle according to the period for estimating the position of the vehicle calculated by the position estimation period calculation unit 60. position can be estimated. The GPS receiver 80 may be directly connected to the position estimating unit 70 as shown, and is connected to the data collecting unit 50 so that the data collecting unit 50 collects GPS data and indirectly positions the position estimating unit 70. ) may be connected.

In addition, the position estimator 70 may estimate the position of the vehicle only with GPS data, but may modify or materialize the GPS data using data collected by the data collection unit 50 . That is, the position on the map where the vehicle is located can be more accurately estimated by using map data in addition to the GPS data, and a specific lane of the road where the vehicle is located can be estimated using image data sensed by the camera sensor 20. it will be possible to do

Although shown and described in relation to specific embodiments of the present invention, it is known in the art that the present invention can be variously improved and changed without departing from the technical spirit of the present invention provided by the claims below. It will be self-evident to those skilled in the art.

10: steering angle sensor 20: camera sensor
30: speed sensor 40: memory
50: data collection unit 60: position estimation period calculation unit
70: position estimation unit 80: GPS receiver

Claims (10)

Collecting travel data previously stored inside the vehicle or input from the outside;
Calculating a cycle for estimating the location of the vehicle based on the collected driving data; and
Including; estimating the position of the vehicle according to the period of estimating the calculated position of the vehicle,
In the step of collecting driving data, image data sensed by a camera sensor installed in the vehicle is collected,
In the step of calculating the period for estimating the position of the vehicle, calculating the period for estimating the position of the vehicle to decrease when the distance to any one of the lanes on both sides of the vehicle is less than or equal to a predetermined distance based on the collected image data. A method for estimating and controlling a vehicle position. The method of claim 1,
In the step of collecting driving data, at least one of map data of a road adjacent to the location of the vehicle, image data sensed by a camera sensor mounted in the vehicle, speed data of the vehicle, and steering angle data of the driver is collected. Vehicle position estimation control method. The method of claim 1,
In the step of collecting driving data, vehicle speed data is collected,
In the step of calculating the period for estimating the position of the vehicle, based on the collected speed data, as the speed of the vehicle increases, the period for estimating the position of the vehicle is calculated to decrease. The method of claim 1,
In the step of collecting driving data, map data of a road adjacent to the location of the vehicle or speed data of the vehicle is collected,
In the step of calculating the period for estimating the position of the vehicle, the period for estimating the position of the vehicle is calculated so that the period for estimating the position of the vehicle decreases as the rotation angle of the vehicle or the curvature of the road ahead increases based on the collected map data or speed data. A vehicle position estimation control method. delete The method of claim 1,
In the step of collecting driving data, steering angle data of the driver is collected,
In the step of calculating the period for estimating the position of the vehicle, when the steering angular velocity is greater than or equal to a preset angular velocity based on the collected steering angle data, the period for estimating the position of the vehicle is calculated to decrease. method. The method of claim 1,
In the step of estimating the position of the vehicle, the position of the vehicle is estimated based on the GPS data received from the GPS receiver at each time point of estimating the position of the vehicle according to the period of estimating the calculated position of the vehicle. Position estimation control method. a data collection unit that collects driving data previously stored inside the vehicle or input from the outside;
a position estimation period calculation unit that calculates a period for estimating the position of the vehicle based on the driving data collected by the data collection unit; and
A position estimation unit for estimating the position of the vehicle according to the period for estimating the position of the vehicle calculated by the position estimation period calculation unit;
The data collection unit collects image data sensed by the camera sensor mounted on the vehicle,
The position estimation period calculation unit calculates the position estimation period of the vehicle to decrease when the distance to any one of the lanes on both sides of the vehicle is less than or equal to a preset distance based on the collected image data. . The method of claim 8,
The data collection unit includes map data of roads adjacent to the location of the vehicle pre-stored in the memory, image data sensed by the camera sensor mounted on the vehicle, vehicle speed data sensed by the speed sensor, and driver's steering angle data sensed by the steering angle sensor. A vehicle position estimation control system, characterized in that for collecting one or more of them. The method of claim 8,
The position estimating unit estimates the position of the vehicle based on the GPS data received from the GPS receiver every time the position of the vehicle is estimated according to the period of estimating the position of the vehicle calculated by the position estimation period calculation unit. position estimation control system.

Images