KR20120121696A - Method for detecting a moving object - Google Patents

Method for detecting a moving object Download PDF

Info

Publication number
KR20120121696A
KR20120121696A KR1020110039651A KR20110039651A KR20120121696A KR 20120121696 A KR20120121696 A KR 20120121696A KR 1020110039651 A KR1020110039651 A KR 1020110039651A KR 20110039651 A KR20110039651 A KR 20110039651A KR 20120121696 A KR20120121696 A KR 20120121696A
Authority
KR
South Korea
Prior art keywords
moving
feature points
distance
vehicle
group
Prior art date
Application number
KR1020110039651A
Other languages
Korean (ko)
Other versions
KR101755690B1 (en
Inventor
유경호
이희승
Original Assignee
현대자동차주식회사
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 현대자동차주식회사 filed Critical 현대자동차주식회사
Priority to KR1020110039651A priority Critical patent/KR101755690B1/en
Publication of KR20120121696A publication Critical patent/KR20120121696A/en
Application granted granted Critical
Publication of KR101755690B1 publication Critical patent/KR101755690B1/en

Links

Images

Classifications

    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B60W30/095Predicting travel path or likelihood of collision
    • B60W30/0956Predicting travel path or likelihood of collision the prediction being responsive to traffic or environmental parameters
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S1/00Beacons or beacon systems transmitting signals having a characteristic or characteristics capable of being detected by non-directional receivers and defining directions, positions, or position lines fixed relatively to the beacon transmitters; Receivers co-operating therewith
    • GPHYSICS
    • G01MEASURING; TESTING
    • G01SRADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S11/00Systems for determining distance or velocity not using reflection or reradiation
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/52Radar, Lidar
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/62Laser
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00Input parameters relating to overall vehicle dynamics
    • B60W2520/06Direction of travel
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2530/00Input parameters relating to other vehicle conditions or values
    • B60W2530/18Distance travelled
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2550/00Input parameters relating to exterior conditions
    • B60W2550/20Traffic related input parameters
    • B60W2550/30Distance or speed relative to other vehicles
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60YINDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00Special features of vehicle units
    • B60Y2400/30Sensors
    • B60Y2400/301Sensors for position or displacement

Abstract

The present invention relates to a moving object detection method.
A moving object detection method according to the present invention comprises the steps of storing the distance measurement results by measuring the distance between the feature points and the vehicle, the process of dividing the feature points into a fixed group and a mobile group by using the stored distance measurement results; Estimating a moving amount and a moving speed of the vehicle using a distance change value based on the fixed group.

Description

Method for detecting a moving object

The present invention relates to a method for detecting a moving object, and more particularly, to detect a moving object using only a distance measuring sensor, and to detect a moving object by estimating a moving direction and a moving speed of the host vehicle.

Recently, as the vehicle is highly intelligent, various intelligent functions are performed by using various sensors mounted on the vehicle. Among them, there is a front collision prevention system that detects an obstacle or a moving object in front of the vehicle to prevent a collision.

In order to effectively prevent a front collision in such a front collision avoidance system, a distance measuring sensor and an image sensor are conventionally used. However, although the distance sensor and the image sensor can obtain relatively accurate data when there is no movement, there is a problem that cannot obtain accurate results when the vehicle moves.

Thus, in the related art, a moving object may be detected by calculating a moving amount or moving speed for each distance measured from the distance measuring sensor by adding a speed measuring sensor (wheel encoder, GPS sensor, etc.) as well as a distance measuring sensor and an image sensor.

However, the speed sensor is expensive and the data processing algorithm for the fusion / synchronization between the physical structure and the sensor has a complex problem.

An object of the present invention is to detect a moving object and to estimate the moving amount and the moving speed of the own vehicle using only the distance measuring sensor without using various sensors (image sensor, GPS sensor, speed measuring sensor, etc.).

Moving object detection method according to the present invention for achieving the above object is the process of storing the distance measurement results by measuring the distance between the feature points and the vehicle, and using the stored distance measurement results and the fixed point and the group And a step of estimating a moving amount and a moving speed of the vehicle by using a distance change value based on the fixed group.

In addition, the process of dividing the fixed group and the moving group, the feature points having the same moving speed and direction of movement among the feature points is determined as the fixed group and the remaining feature points other than the fixed group of the feature points as the mobile group Characterized in that.

In addition, the process of dividing the fixed group and the moving group, by using the distance change value between the feature point and the vehicle, the feature group moved by the same distance in the direction closer to the vehicle of the feature point the fixed group Included in the, characterized in that the moving point to the feature group moving in a direction away from the vehicle and the feature point moving closer to the vehicle, but characterized in that the moving distance is included in the moving group.

The estimating of the moving amount and the moving speed of the vehicle may include calculating a distance change value based on the fixed group and dividing the distance change value by a data acquisition period of a distance measuring sensor to estimate the moving speed. .

The storing of the distance measurement result by measuring the distance may include measuring the distance using any one of a radar and a laser scanner.

As described above, the present invention detects a moving object and estimates the moving amount and the moving speed of the own vehicle regardless of whether the distance measuring sensor is moved by using only the distance measuring sensor without using various sensors (image sensor, GPS sensor, speed measuring sensor, etc.). This can reduce the cost.

In addition, since it consists of only a single distance measuring sensor, the physical structure is simple and the software algorithm is simple, so that convenience and maintenance are easy.

1 is a block diagram of a moving object detection system according to an embodiment of the present invention.
2 is a flow chart showing a moving object detection method according to an embodiment of the present invention.
3 is a view for explaining a method of distinguishing a moving group from a fixed group of the moving object detection method of FIG.
4 is a graph showing the probability distribution of the mobile group and the fixed group.
FIG. 5 is a diagram for explaining an example of detecting a moving object in front of a vehicle at an intersection and displaying the same on a screen; FIG.

Hereinafter, a method for detecting a moving object according to the present invention will be described in detail with reference to FIGS. 1 to 5.

1 is a block diagram of a moving object detection system according to an embodiment of the present invention.

The moving object detection system according to the exemplary embodiment of the present invention includes a distance measuring sensor 110, a display unit 120, and a controller 130.

The distance sensor 110 measures a distance from an object in front and rear of the host vehicle, and includes a radar, a laser scanner, a lidar sensor, and the like, and may be installed at the front, rear, left, and right sides of the vehicle.

The controller 130 divides the feature point into a fixed group and a mobile group by using a distance change value between the feature points (obstacles, buildings, vehicles, people, etc.) measured by the distance measuring sensor 110 and based on the fixed group. Estimate the amount of movement and speed of own vehicle.

The display unit 120 displays the moving speed, the moving amount, and the moving object information of the host vehicle as shown in FIG. 5. FIG. 5 discloses an example in which a moving vehicle, a stationary person, and a stationary bus exist in front of a vehicle at an intersection and are displayed on a screen.

Hereinafter, a moving object detection method according to an embodiment of the present invention will be described in detail with reference to FIG. 2. In this case, although an embodiment of detecting a moving object in front of the vehicle is disclosed in FIG. 2, a moving object in the rear of the vehicle and left / right sides may also be detected in the same manner as in the front.

First, the distance measuring sensor 110 is controlled by the controller 130 to first measure the distance to the feature points in front of the vehicle (S101). Here, the feature points include a mobile group such as a vehicle and a person, and a fixed group such as a building and a parked vehicle. However, the fixed group may include a part of the mobile group (such as a vehicle temporarily stopped).

Thereafter, the distance measuring sensor 110 measures the distance from the feature points in front of the vehicle in a second manner (S101). In this case, the distance information between the distance sensor 110 and the feature points is R {r i | i = 1,2,… , n}, but the first and second measurement examples are disclosed in FIG. 2, but the measurement is continuously performed and stored until a predetermined time or a predetermined amount is used, and then all measurements are performed using FIG. 4. Calculating the probability distribution can increase the accuracy.

Subsequently, the controller 130 compares the first distance measurement result with the second distance measurement result (S103), and determines the feature points representing similar movements (moving speed and direction of movement) among the feature points as a fixed group and moves the remaining feature points. Judging by the group (S104).

In this case, when the information indicating the state (movement speed, direction of movement, etc.) of all the feature points in the distance information R is FP, the information FP indicating the state of all the feature points is FP {x j = f (R) | Expressed as j = 1, 2, ..., m, m <n}, f (R) means a function to extract the state of the feature points using the distance information R.

In addition, when the fixed group is called CP, the fixed group CP is CP {y k = g (FP) | k = 1,… , denoted by l}, g (FP) is a function for extracting object looks common (similar) moves in the FP, CP includes physical information, such as position change, and angle change.

In addition, when the mobile group is referred to as MP, the mobile group means the rest of the fixed group (CP) of the FP.

Thereafter, the controller 130 calculates a distance change value (position change value) based on the fixed group and estimates the movement amount (movement direction) and the movement speed of the host vehicle (S105). At this time, the moving speed of the host vehicle can be estimated by dividing the distance change value by the data acquisition period (T sample ) of the distance measuring sensor.

The process S104 to S105 will be described in detail with reference to FIG. 3.

As shown in FIG. 3, when comparing the first distance measurement result and the second distance measurement result, the fixed group moves in a direction closer to the host vehicle (A-> A`, B-> B`) and the moving group The vehicle may move in a direction CC` away from the host vehicle or in a direction D-> D` close to the host vehicle. Accordingly, the controller 130 determines that the feature points moving in the direction closer to the host vehicle are fixed groups and the feature points moving in the direction away from the host vehicle are the moving group. In this case, the moving group may be different from each other in the moving distance or the moving direction according to the moving speed and the moving direction, but the fixed group is substantially the same in the moving speed and the moving direction, so that the control unit 130 has the moving speed and the moving direction. Almost the same feature points are judged as fixed groups. Here, the fixed group may include an object that is temporarily stopped and an object that exhibits the same movement as the fixed group of the moving group.

For example, assuming that 100 feature points FP exist, when 70 feature points CP of 100 feature points show similar movements (movement speed and direction of movement), it is determined as a fixed group and the remaining 30 points After determining the feature points MP as the moving group, the distance change value with the host vehicle is calculated based on the 70 fixed groups, and the moving amount (movement direction) and the moving speed of the host vehicle are estimated according to the distance change value.

As described above, the present invention can estimate the moving direction and the moving speed of the host vehicle using only the distance measuring sensor without using an additional sensor such as an image sensor or a speed sensor (GPS sensor) and detect a moving object in the sensor monitoring network.

Thus, the present invention can be utilized in accident prevention technologies such as pedestrian protection collision avoidance if a system for warning a driver when a near moving object is detected or an object approaching from the side is detected.

110: Distance measuring sensor
120: display unit
130: control unit

Claims (5)

  1. Storing distance measurement results by measuring a distance between the feature points and the vehicle;
    Dividing the feature points into a fixed group and a moving group by using the stored distance measurement result; And
    Estimating a moving amount and a moving speed of the vehicle by using a distance change value based on the fixed group
    Moving object detection method comprising a.
  2. The method according to claim 1,
    The process of dividing the fixed group and the mobile group,
    And determining the feature points having the same moving speed and the moving direction among the feature points as the fixed group, and determining the remaining feature points other than the fixed group among the feature points as the mobile group.
  3. The method according to claim 1 or 2,
    The process of dividing the fixed group and the mobile group,
    By using the distance change value between the feature points and the vehicle, the fixed group includes the feature points moved by the same distance in the direction closer to the vehicle of the feature points, and in a direction away from the vehicle of the feature points And moving the feature points in a direction closer to the vehicle but including different feature points in the moving group.
  4. The method according to claim 1 or 2,
    The process of estimating the moving amount and the moving speed of the vehicle,
    Calculating a distance change value based on the fixed group and dividing the distance change value by a data acquisition period of a distance measuring sensor to estimate the moving speed.
  5. The method according to claim 1 or 2,
    The process of storing the distance measurement results by measuring the distance,
    Moving object detection method characterized in that for measuring the distance using a sensor of any one of the radar, laser scanner.
KR1020110039651A 2011-04-27 2011-04-27 Method for detecting a moving object KR101755690B1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020110039651A KR101755690B1 (en) 2011-04-27 2011-04-27 Method for detecting a moving object

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020110039651A KR101755690B1 (en) 2011-04-27 2011-04-27 Method for detecting a moving object

Publications (2)

Publication Number Publication Date
KR20120121696A true KR20120121696A (en) 2012-11-06
KR101755690B1 KR101755690B1 (en) 2017-07-19

Family

ID=47508112

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020110039651A KR101755690B1 (en) 2011-04-27 2011-04-27 Method for detecting a moving object

Country Status (1)

Country Link
KR (1) KR101755690B1 (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104748756A (en) * 2013-12-31 2015-07-01 现代自动车株式会社 Method for measuring position of vehicle using cloud computing
CN104925059A (en) * 2015-06-02 2015-09-23 奇瑞汽车股份有限公司 Automatic car-following method and device

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2002031686A (en) * 2000-05-11 2002-01-31 Honda Motor Co Ltd Vehicle velocity detector and object detector for vehicle
JP3936713B2 (en) * 2004-09-24 2007-06-27 三菱電機株式会社 Rear side warning device for vehicles
JP2010043960A (en) * 2008-08-13 2010-02-25 Nissan Motor Co Ltd System and method for detecting situation of movement of vehicle

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104748756A (en) * 2013-12-31 2015-07-01 现代自动车株式会社 Method for measuring position of vehicle using cloud computing
US9465099B2 (en) 2013-12-31 2016-10-11 Hyundai Motor Company Method for measuring position of vehicle using cloud computing
CN104925059A (en) * 2015-06-02 2015-09-23 奇瑞汽车股份有限公司 Automatic car-following method and device

Also Published As

Publication number Publication date
KR101755690B1 (en) 2017-07-19

Similar Documents

Publication Publication Date Title
KR100909741B1 (en) Surveillance, monitoring methods
US7411486B2 (en) Lane-departure warning system with differentiation between an edge-of-lane marking and a structural boundary of the edge of the lane
US8630793B2 (en) Vehicle controller
EP2431917B1 (en) Barrier and guardrail detection using a single camera
US7782179B2 (en) Obstacle detection apparatus
US8615109B2 (en) Moving object trajectory estimating device
US9074906B2 (en) Road shape recognition device
US20160109571A1 (en) System and method for providing target threat assessment in a collision avoidance system on a vehicle
EP2242674B1 (en) Method and assistance system for detecting objects in the surrounding area of a vehicle
US20080205706A1 (en) Apparatus and method for monitoring a vehicle&#39;s surroundings
US8447484B2 (en) Branch-lane entry judging system
KR20140033277A (en) Apparatus of identificating vehicle based vehicle-to-vehicle communication, and method of thereof
US20110241857A1 (en) Driver assistance method for moving a motor vehicle and driver assistance device
EP1731922A1 (en) Method and device for determining free areas in the vicinity of a motor vehicle
EP2336999A1 (en) Device for detecting/judging road boundary
JPWO2011086661A1 (en) Collision position prediction device
JP4715579B2 (en) Potential risk estimation device
RU2666010C2 (en) Method and device for determining traffic density using electronic controller installed in vehicle
JP5939357B2 (en) Moving track prediction apparatus and moving track prediction method
US7843767B2 (en) Object detection apparatus and method
JP2008282097A (en) Collision risk degree estimating apparatus and driver supporting apparatus
CN102778670B (en) Novel sensor alignment process and tools for active safety vehicle applications
WO2010053410A1 (en) Method and system for combining sensor data
US8576055B2 (en) Collision avoidance assisting system for vehicle
US8897497B2 (en) Object detecting device

Legal Events

Date Code Title Description
A201 Request for examination
E902 Notification of reason for refusal
E701 Decision to grant or registration of patent right
GRNT Written decision to grant