KR20110108437A - The device for estimating the location of the vichecle and the method thereof - Google Patents

Abstract

The present invention relates to an apparatus for estimating a position of a vehicle, the apparatus comprising: a GPS receiver for periodically receiving position information of a vehicle from a GPS satellite, a controller for generating image data for displaying position information of the vehicle on a map, and the image. A display unit for displaying an image of the data, and transmitting the position information of the vehicle compensated for the processing time of the control unit and the display unit in accordance with the current position information of the vehicle and the position information of the vehicle of the previous period to the control unit It includes a position estimation unit. Thus, by calculating the position of the next vehicle without a separate sensor attached to the vehicle, it is possible to compensate for errors in vehicle position occurring during display of the device. Therefore, no additional cost is incurred, and the accuracy of the position estimate is improved by weighting the previous information to calculate the next position.

Description

Vehicle location estimating apparatus and its method {THE DEVICE FOR ESTIMATING THE LOCATION OF THE VICHECLE AND THE METHOD THEREOF}

The present invention relates to a vehicle position estimation device. In particular, the present invention relates to a position estimation device and method for receiving and processing GPS signals and compensating for machining time.

A GPS (Global Positioning System) receiver is to receive the geographical location of the receiver's present location from the satellite.

The GPS receiver is applied to various fields such as leisure, car navigation system, road traffic information indicator, as well as air navigation, surveying and military applications.

In particular, such a GPS receiver is widely used for navigation for displaying the location of a vehicle, that is, a location estimation apparatus for the vehicle.

1 is a configuration diagram showing a conventional position estimation apparatus for a vehicle.

Referring to FIG. 1, the conventional vehicle location estimation apparatus includes a GPS receiver 10, a signal generator 20, and a display unit 30.

The GPS receiver 10 receives a GPS satellite signal of a civil L2 band from a GPS satellite and transmits the GPS satellite signal to the signal generator 20.

The GPS receiver 10 receives a signal from a GPS satellite every 0.2 seconds, and receives location information of a vehicle that changes every 0.2 seconds.

The signal generator 20 generates an image signal to display the position information of the vehicle received from the GPS receiver 10 on the display unit 30.

The display unit 30 receives and displays an image signal from the signal generator 20 at a predetermined frequency.

In this case, it takes a predetermined time Δt until the signal generator 20 receives the position information of the vehicle from the GPS receiver 10 and displays the position of the position information on the display unit 30.

Therefore, as a predetermined time Δt is taken, an error occurs between the displayed position and the actual vehicle position at the time of display.

This makes it difficult to accurately recognize the current location on highways, complex intersections, alleys, and forked roads, which prevents drivers from making accurate path selections and can cause accidents due to sudden stops and lane changes.

An object of the present invention is to provide a position estimating apparatus capable of accurately displaying the actual position of a vehicle by compensating a difference between the position of the vehicle on a map and the actual position of the vehicle at the time of displaying.

According to an aspect of the present invention, an apparatus for estimating a position of a vehicle includes a GPS receiver configured to periodically receive position information of a vehicle from a GPS satellite, a controller configured to generate image data displaying the position information of the vehicle on a map, and an image of the image data. And a display estimating unit for displaying the position information of the vehicle compensated for the processing time of the control unit and the display unit to the control unit according to the display unit to display the current position information of the vehicle and the position information of the vehicle of the previous period. .

The location estimator may generate location information of the vehicle in a next period based on current location information of the vehicle and location information of the vehicle in a previous period.

The location information of the vehicle may be coordinate data of the vehicle.

The position estimator may calculate a rate of change with respect to the current coordinate data and the coordinate data of a plurality of previous periods, and generate coordinate data of a next period of the vehicle based on a sum of a value of each change rate multiplied by a weight.

The position estimating unit may calculate coordinate data after the processing time has elapsed based on the coordinate data of the next period.

On the other hand, the method of estimating the position of a vehicle according to the present invention periodically receives the position information of the vehicle from a GPS satellite, the processing time of the device is compensated according to the current position information of the vehicle and the position information of the vehicle of the previous period Generating location information of the vehicle, generating image data displaying the location information of the vehicle compensated for the processing time on a map, and displaying an image of the image data.

The processing time compensation step may include generating location information of the vehicle in a next cycle based on current position information of the vehicle and position information of the vehicle in a previous cycle, and based on position information of the vehicle in the next cycle. Computing the position information of the vehicle after the processing time has elapsed.

The location information of the vehicle may be coordinate data of the vehicle.

The processing time compensating step may calculate a rate of change with respect to the current coordinate data and the coordinate data of a plurality of previous periods, and generate coordinate data of the next cycle of the vehicle based on a sum of the product of each change rate multiplied by a weight. have.

According to the invention, it is possible to compensate for the error of the vehicle position occurring during the display of the device by calculating the position of the next vehicle without a separate sensor attached to the vehicle.

Therefore, no additional cost is incurred, and the accuracy of the position estimate is improved by weighting the previous information to calculate the next position.

1 is a configuration diagram showing a vehicle position estimation apparatus according to the prior art.
2 is a block diagram showing an apparatus for estimating a position of a vehicle according to the present invention.
3 is a flowchart illustrating an operation of an apparatus for estimating a position of a vehicle of FIG. 2.
4 is a diagram illustrating an estimated value calculated by the position estimator of FIG. 2.

DETAILED DESCRIPTION Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art may easily implement the present invention. The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. In the drawings, parts irrelevant to the description are omitted in order to clearly describe the present invention, and like reference numerals designate like parts throughout the specification.

Throughout the specification, when a part is said to "include" a certain component, it means that it can further include other components, without excluding other components unless specifically stated otherwise. In addition, the terms “… unit”, “… unit”, “module”, etc. described in the 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. have.

The present invention relates to an apparatus for estimating a position of a vehicle that compensates for a difference between a map position and an actual position based on past position information received from a GPS receiver, and calculates and displays an actual position of the vehicle on a display unit.

Hereinafter, a position estimation apparatus according to the present invention will be described with reference to FIGS. 2 to 4.

FIG. 2 is a block diagram illustrating an apparatus for estimating a position of a vehicle according to the present invention, FIG. 3 is a flowchart illustrating an operation of the apparatus for estimating a position of the vehicle of FIG. 2, and FIG. 4 is an estimated value calculated by the position estimator of FIG. 2. It is a figure which shows.

Referring to FIG. 1, the position estimating apparatus 100 according to the present invention may include a GPS receiver 110, a GPS signal generator 120, a position estimator 130, a memory 140, a controller 150, and a display unit ( 160).

The GPS receiver 110 receives a navigation message transmitted by a plurality of GPS satellites through an antenna and transmits the GPS message to the GPS signal generator 120.

The GPS signal generator 120 amplifies and digitizes the navigation message received by the GPS receiver 110 and converts it into a location signal of a vehicle that the position estimator 130 can process.

The memory 140 stores map data, and stores coordinate data extracted from the location signal of the vehicle.

The memory 140 may have a space for storing map data and a space for storing coordinate data of the vehicle.

The display unit 160 displays a current location and a driving route of the vehicle on a screen, and may be a general display device such as a liquid crystal display and a plasma display.

The controller 150 matches the estimated position of the vehicle of the next cycle output from the position estimator 130 with map data stored in the memory 140, and then performs a driving route search and guide operation of the found driving route. To control.

Meanwhile, the position estimator 130 extracts the coordinate data of the vehicle from the position signal of the vehicle from the GPS signal generator 120, reads the previous coordinate data stored in the memory 140, and displays the current and previous coordinate data. Based on the weights, the following coordinate data is generated.

That is, when the processing time required to display the position of the vehicle with respect to the currently received GPS information on the display unit 160 is Δt, the position estimating unit 130 performs coordinate data and previous coordinates according to the current GPS information. Based on the data, coordinate data after the machining time Δt is calculated.

The calculation of the position estimator 130 will be described later in detail.

Referring to FIG. 3, when the operation of the vehicle position estimation apparatus 100 of the present invention is described, first, when the operation of the vehicle position estimation apparatus 100 starts (S100), the GPS receiver 110 transmits the antenna through an antenna. Periodically receiving a GPS signal including the vehicle location information from the GPS satellite (S110).

In this case, the reception of the information may be performed at 0.2 second intervals, and the GPS receiver 110 transmits the location information of the vehicle to the GPS signal generator 120.

The GPS signal generating unit 120 processes the vehicle position information and converts it into a digital signal, and the digital signal includes the longitude and latitude information where the vehicle is located, and the coordinate data of the position of the vehicle can be extracted from the position information. (S120).

The GPS signal generator 120 stores coordinate data of the vehicle in the memory 140.

Next, the position estimator 130 reads coordinate data of the current vehicle and coordinate data of a predetermined number of previous cycles stored in the memory 140 and calculates the position of the vehicle of the next cycle, that is, coordinate data ( S130).

The position estimator 130 calculates the vehicle position of the next cycle, and then calculates the vehicle position after the processing time Δt based on the vehicle position of the next cycle (S140).

The position estimator 130 transmits the vehicle position after the calculated processing time Δt to the controller 150, and the controller 150 generates image data indicating the corresponding vehicle position and transmits the image data to the display unit 160. (S150). The display unit 160 displays the location of the vehicle in synchronization with the processing time Δt after the corresponding image data, thereby terminating the operation (S160).

In this way, the coordinate data of the next cycle is calculated based on the coordinate data of the current and previous cycles that have received the GPS information, and the coordinate data after the machining time is calculated according to the coordinate data of the next cycle. The required machining time Δt may be compensated for to indicate the position of the vehicle.

Hereinafter, the calculation of the position estimator 130 will be described with reference to FIGS. 4 and 1.

The position estimator 130 calculates the coordinate data B of the vehicle of the next cycle based on the coordinate data A of the position information of the vehicle received by the current GPS receiver 110 and the coordinate data of the previous cycle.

In this case, the coordinate data of the previous period used may be any number, and as shown in Table 1, the continuous coordinate data of four previous periods may be used.

Coordinate data is calculated separately in each direction as shown in Table 1.

section 1.0-0.8
Seconds ago 0.8-0.6
Seconds ago 0.6-0.4
Seconds ago 0.4-0.2
Seconds ago 0.2-0.0
Chojun (current) 0.2
In seconds North (coordinates) 4m 3.97 m 3.87m 3.71 m 3.46 m 3.13 m Change amount (Δ) -0.03m -0.10m -0.16m -0.25m -0.33 Rate of change (Δ ') -0.07m -0.06m -0.09m -0.077 Weight (W) 0.2 0.3 0.5 One East (coordinates) 0m 0.5m 1.0m 1.5m 2 m 2.5m Change amount (Δ) 0.5m 0.5m 0.5m 0.5m 0.5m Rate of change (Δ ') 0 0 0 0 Weight (W) 0.2 0.3 0.5 One

Referring to FIG. 4, for example, if the processing time Δt of the position estimating apparatus 100 of the present invention is 0.6 second, the position estimator 130 is 0.6 seconds from the time when the current GPS information is received (t1). After (t2) to calculate the position of the vehicle to be transmitted to the controller 150.

As shown in Table 1, the position estimator 130 calculates a change amount Δ of the moving distance with respect to the coordinate data of the previous period for each coordinate data read from the memory 140.

The change amount Δ refers to the distance traveled by the vehicle for 0.2 seconds.

Next, the change rate Δ 'is calculated with respect to the difference between the change amount Δ, and the change rate Δ' refers to the difference between two consecutive change amounts Δ.

The position estimating unit 130 assigns the weight W set at the change rate Δ ', and the weight W has a larger value as the section is closer to the present time.

As described above, the change amount Δ is applied to the coordinate data of the plurality of previous periods to compensate for the occurrence of the instantaneous error of the GPS signal, and the weight is given to give an accuracy to the estimation.

Based on this calculation, the rate of change for the next period can be obtained as shown in Equation (1).

[Equation 1]

Where Δ ' _0.2 is the rate of change after 0.2 seconds, that is, the rate of change for the next period, and N is the number of weights.

Since the weight W is applied more as the latest vehicle change (0.2 seconds before-0 seconds), it is possible to cope with a sudden steering wheel turn or a sudden change in road conditions.

The rate of change for the next period (Δ ' _0.2 ) is applied to the calculation of the change for the next period (Δ _0.2 ).

That is, the change amount for the next period is shown in Equation 2.

[Equation 2]

The change amount Δ _0.2 for the next period is applied to the coordinate calculation for the next period.

That is, the final position, which is the coordinate for the next period, has a change amount of the next period in the current coordinates.

When the coordinate data for the next period is determined as described above, calculations for other vertical and east coordinates are also performed by the same principle.

When the coordinate value for the next period t3 is calculated, the coordinate values after the next period t3 are calculated by repeating the previous operation.

That is, if the coordinate value for the next period t3 is calculated, the next coordinate value after 0.4 seconds is based on Table 1 and Equation 1 based on the previous five coordinate values including the coordinate value for the next period t3. , An operation of 2 is obtained.

Next, based on the previous five coordinate values including the estimated coordinate values after 0.4 seconds, a coordinate value of 0.6 seconds after (t2) has elapsed since the machining time Δt has elapsed from the present.

In this way, the coordinates of the next cycle are calculated by assigning the weights W to the coordinates of the current and previous cycles, and the estimated position of the vehicle after the processing time is calculated based on the coordinates of the next cycle. The current driving route can be displayed accurately.

The embodiments of the present invention described above are not only implemented by the apparatus and method but may be implemented through a program for realizing the function corresponding to the configuration of the embodiment of the present invention or a recording medium on which the program is recorded, The embodiments can be easily implemented by those skilled in the art from the description of the embodiments described above.

Although the embodiments of the present invention have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concepts of the present invention defined in the following claims are also provided. It belongs to the scope of rights.

Position Estimator 100
GPS receiver 110
GPS signal generator 120
Position estimator 130
Memory (140)
Control Unit 150
Display unit 160

Claims (9)

A GPS receiver for periodically receiving location information of a vehicle from a GPS satellite;
A control unit for generating image data displaying location information of the vehicle on a map;
A display unit which displays an image of the image data, and
A position estimating unit for transmitting the position information of the vehicle compensated for the processing time of the control unit and the display unit to the control unit according to current position information of the vehicle and position information of the vehicle of a previous period;
Containing
Vehicle position estimation device. The method of claim 1,
The position estimating unit
Generating position information of the vehicle in a next cycle based on current position information of the vehicle and position information of the vehicle in a previous cycle;
Vehicle position estimation device. The method of claim 2,
The location information of the vehicle
Coordinate data of the vehicle
Vehicle position estimation device. The method of claim 3,
The position estimating unit
A rate of change is calculated for the current coordinate data and the coordinate data of a plurality of previous periods, and the coordinate data of the next period of the vehicle is generated based on the sum of the product of each change rate multiplied by a weight.
Vehicle position estimation device. The method of claim 5,
The position estimating unit
To calculate coordinate data after elapse of machining time based on the coordinate data of the next cycle.
Vehicle position estimation device. Periodically receiving location information of a vehicle from a GPS satellite,
Generating location information of the vehicle in which the processing time of the device is compensated according to current location information of the vehicle and location information of the vehicle of a previous period;
Generating image data displaying location information of the vehicle compensated for the processing time on a map; and
Displaying an image of the image data;
Containing
Method of estimating the position of the vehicle. The method of claim 6,
The processing time compensation step
Generating location information of the vehicle in a next cycle based on current location information of the vehicle and location information of the vehicle in a previous cycle, and
Calculating position information of the vehicle after a processing time has elapsed based on position information of the vehicle of the next cycle;
Containing
Method of estimating the position of the vehicle. The method of claim 7, wherein
The location information of the vehicle
Coordinate data of the vehicle
Method of estimating the position of the vehicle. The method of claim 8,
The processing time compensation step
A rate of change is calculated for the current coordinate data and the coordinate data of a plurality of previous periods, and the coordinate data of the next period of the vehicle is generated based on the sum of the product of each change rate multiplied by a weight.
Method of estimating the position of the vehicle.

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