KR20150119525A - System and method for detecting the vehicle - Google Patents

Abstract

The present invention relates to a system and a method for detecting a vehicle. The system for detecting a vehicle comprises: a drive speed measuring part measuring a subject vehicle′s speed information on the driving speed of the subject vehicle; a position information measuring part receiving a global positioning system (GPS) signal from a GPS satellite and measuring the subject vehicle′s position information which is position information of the subject vehicle; a wireless communications part receiving at least one piece of vehicle position information and vehicle speed information on at least one neighboring vehicle positioned adjacent to the subject vehicle; and a vehicle detection control part selecting a front vehicle positioned in the front side of the subject vehicle from at least one neighboring vehicle by using at least one piece of the vehicle position information and the subject vehicle position information and detecting the front vehicle using at least one piece of the subject vehicle speed information, the subject vehicle position information, front vehicle position information, which is position information of the front vehicle, and front vehicle speed information, which is driving speed information of the front vehicle.

Description

[0001] SYSTEM AND METHOD FOR DETECTING THE VEHICLE [0002]

The present invention relates to a vehicle detection system and method.

As automobile technology develops rapidly, technology development for various convenience devices for driver's convenience has been steadily being carried out.

Among these, an automatic traveling system referred to as an adaptive cruise control (ACC) or a smart cruise control system is a system in which the distance between the preceding vehicle and the subject vehicle, the relative speed between the subject vehicle and the preceding vehicle, It is a driving convenience system that runs automatically while keeping the distance and speed from the forward vehicle constant considering the speed of the vehicle.

Here, the conventional method for measuring the distance between the front vehicle and the subject vehicle and the relative speed of the front vehicle with respect to the subject vehicle in the automatic traveling system includes a camera sensor, a radar sensor and a lidar sensor And the like.

Therefore, when the driving convenience system including the expensive vehicle detection sensor as described above is installed in the vehicle, the cost of the vehicle is increased.

In addition, since the detection distance of the vehicle detection sensor is limited to several hundred meters, there is a functional limit to detect only a front vehicle located close to the subject vehicle.

SUMMARY OF THE INVENTION In view of the foregoing, it is an object of the present invention to provide a vehicle detection system and method for detecting a forward vehicle using a GPS (Global Positioning System) and a wireless communication module, The purpose is to provide.

In order to achieve the above-mentioned object, in one aspect, the present invention provides a traveling speed measuring apparatus comprising: a traveling speed measuring unit for measuring information about a vehicle speed, which is a running speed of the subject vehicle; A position information measuring unit which receives a GPS signal from a GPS satellite and measures car position information which is position information of the car; A wireless communication unit for receiving at least one of surrounding vehicle location information, which is vehicle location information of at least one nearby vehicle located in the vicinity of the subject vehicle, and surrounding vehicle speed information, which is traveling speed information of the at least one nearby vehicle; And selecting a preceding vehicle positioned in front of the subject vehicle among the at least one nearby vehicle using the at least one nearby vehicle positional information and the subject position information and determining the position of the subject vehicle based on the subject vehicle speed information, And a vehicle detection control unit for detecting the preceding vehicle using at least one of front vehicle position information, which is information on the front vehicle, and forward vehicle speed information, which is information on the running speed of the preceding vehicle.

According to another aspect of the present invention, there is provided a method of sensing a vehicle ahead in a vehicle detection system, comprising: a vehicle position information measurement step of receiving a GPS signal from a GPS satellite and measuring position information of the vehicle; A surrounding vehicle information receiving step of receiving at least one of surrounding vehicle location information which is vehicle location information of one or more nearby vehicles located in the vicinity of the subject vehicle and surrounding vehicle speed information which is traveling speed information of the at least one nearby vehicle; A front vehicle selecting step of selecting a front vehicle located in front of the subject vehicle among the at least one nearby vehicle using one or more of the near vehicle location information and the vehicle location information; And forward vehicle speed information, which is information on vehicle speed of the subject vehicle, speed information of the preceding vehicle, position information of the preceding vehicle that is the position information of the preceding vehicle, and information of the speed of the preceding vehicle, And a vehicle sensing step of sensing the vehicle.

As described above, according to the present invention, since the vehicle detection system detects the forward vehicle using the satellite navigation device and the wireless communication module, which are relatively inexpensive compared to the expensive vehicle detection sensor, It is possible to prevent an increase in the temperature of the liquid.

In addition, since the communication distance is longer in the vehicle detection system than in the vehicle-to-infrastructure communication or the vehicle communication system in which the communication distance is relatively longer than the detection distance of the vehicle detection sensor, the detection distance of the vehicle detection system can be widened as compared with the conventional case.

1 is a block diagram schematically showing a configuration of a vehicle detection system according to an embodiment of the present invention;
2 is a block diagram schematically showing a further configuration of a vehicle detection system according to an embodiment of the present invention;
FIGS. 3 to 5 are diagrams for explaining a method of operating a vehicle detection system according to an embodiment of the present invention;
FIG. 6 is a flowchart illustrating a process of detecting a forward vehicle in a vehicle detection system according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In describing the components of the present invention, the terms first, second, A, B, (a), (b), and the like can be used. These terms are intended to distinguish the constituent elements from other constituent elements, and the terms do not limit the nature, order or order of the constituent elements. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected to or connected to the other component, It should be understood that an element may be "connected," "coupled," or "connected."

FIG. 1 is a block diagram schematically showing a configuration of a vehicle detection system according to an embodiment of the present invention.

The vehicle sensing system 100 according to the embodiment of the present invention includes a traveling speed measuring unit 110, a position information measuring unit 120, a wireless communication unit 130, and a vehicle sensing control unit 140.

The running speed measuring unit 110 measures the vehicle speed information, which is the running speed information of the vehicle 310 equipped with the vehicle detection system 100 according to the embodiment of the present invention. The traveling speed measuring unit 110 may measure the vehicle speed information using a GPS (Global Positioning System) signal received by the position information measuring unit 120 to be described later, or may measure wheel speed sensor signals, vehicle speed sensor signals, And the odometer information can be used to measure the vehicle speed information.

3, the position information measurement unit 120 measures the position information of the vehicle 310, which is the position information of the vehicle 310, by receiving the GPS signal from the GPS satellite 330. [ Here, the position information measuring unit 120 measures the position information of the vehicle by receiving the GPS signals from the three or more GPS satellites 330.

The wireless communication unit 130 receives at least one of surrounding vehicle location information, which is vehicle location information of one or more nearby vehicles located in the vicinity of the own vehicle 310, and surrounding vehicle speed information, which is traveling speed information of one or more nearby vehicles. Here, the at least one nearby vehicle location information may be measured using one or more nearby vehicles using the GPS signal, the one or more surrounding vehicle speed information may be measured using the GPS signal at one or more nearby vehicles, The vehicle speed sensor, the vehicle speed sensor, and the integrating distance meter.

Meanwhile, the wireless communication unit 130 may transmit the vehicle location information and the vehicle speed information of the own vehicle 310 to one or more nearby vehicles.

3, the wireless communication unit 130 of the vehicle 310 communicates with the vehicle 100 via the communication infrastructure 340 by indirectly communicating with the front vehicle 320 and the rear vehicle 350 Infrastructure), and vehicle-to-vehicle communication (Vehicle to Vehicle) that directly communicates with one or more nearby vehicles. The communication method of the wireless communication unit 130 may use WAVE (Wireless Access in Vehicular Environment) communication or other wireless communication using a 5.9 GHz communication frequency.

The vehicle detection control unit 140 detects the position of the subject vehicle 310 from one or more nearby vehicles using the at least one nearby vehicle position information received from the wireless communication unit 130 and the vehicle position information measured by the position information measurement unit 120 The forward vehicle position information which is the position information of the forward vehicle 320 and the forward vehicle speed information which is the traveling speed information of the forward vehicle 320, To detect the front vehicle 320. [ Here, it goes without saying that the forward vehicle position information and the forward vehicle speed information are any one of at least one nearby vehicle position information and one or more surrounding vehicle speed information received by the wireless communication unit 130. [

In the present invention, the detection of the front vehicle 320 means continuously detecting the distance between the subject vehicle 310 and the front vehicle 320, the relative speed of the front vehicle 320 with respect to the subject vehicle 310, Monitoring.

As described above, in the present invention, the distance, relative speed, and relative acceleration between the vehicle 310 and the front vehicle 320, which have conventionally been calculated through an expensive vehicle sensor, The vehicle position information and the vehicle speed information measured by the position measuring unit 120, which is a satellite navigation device of the vehicle 310, and the vehicle position information and the vehicle speed information measured by various sensors .

Specifically, the vehicle detection control unit 140 calculates the angle of alignment between the subject vehicle 310 and the at least one nearby vehicle using the subject position information and the at least one nearby vehicle position information, And selects a vehicle within an angle by the front vehicle (320).

For example, in FIG. 4, when only the alignment angle? ₁ is an angle within a predetermined angle, and the alignment angle? ₂ and the alignment angle? ₃ are angles exceeding a predetermined angle, the vehicle detection control unit 140 determines, The vehicle with the alignment angle? ₁ and the vehicle with the alignment angle? ₃ are selected by the front vehicle 320, and the vehicle with the alignment angle? ₂ and the alignment angle? ₃ are not selected by the front vehicle. Here, the alignment angle may be calculated by inputting the position information of the nearby vehicles to the destination direction (Bearing) information of the GPS system, and the predetermined angle, which is a reference angle for selecting the front vehicle 320, It is preferable to set the maximum alignment angle that can occur when the vehicle 320 is traveling in the same lane.

The vehicle detection control unit 140 that has selected the front vehicle 320 among the at least one nearby vehicle calculates the separation distance between the vehicle 310 and the front vehicle 320 using the vehicle position information and the front vehicle position information, The relative speed and the relative acceleration of the front vehicle 320 with respect to the own vehicle 310 are calculated using the speed information and the front vehicle speed information.

In an embodiment of the present invention, the vehicle sensing control unit 140 may convert geosfer coordinates (e.g., latitude, longitude coordinates, etc.) into TM (Transverse Mercator) coordinates or UTM (Universal Transverse Mercator) coordinates Can be converted.

The relative speed of the forward vehicle 320 with respect to the own vehicle 310 can be calculated by subtracting the vehicle speed information from the forward vehicle speed information.

The relative acceleration may be calculated by differentiating the relative speed or the acceleration information of the forward vehicle 320 may be further received in the wireless communication unit 130 and the traveling speed measurement unit 110 of the vehicle 310 may calculate the relative acceleration, The acceleration information of the own vehicle 310 may be subtracted from the acceleration information of the preceding vehicle 320 and then calculated. Here, the acceleration information of the own vehicle 310 can be measured using any one of the GPS signal received by the own vehicle 310 and the longitudinal velocity sensor mounted on the vehicle 310, and the acceleration information of the front vehicle 320 The acceleration information may be measured using one of the GPS signal received at the front vehicle 320 and the end-point velocity sensor mounted at the front vehicle 320. [

In the embodiment of the present invention, the vehicle sensing control unit 140 may perform the automatic driving control of the subject vehicle 310 using the calculated distance, relative speed, and relative acceleration. For this, the vehicle detection control unit 140 may perform cooperative control with the automatic driving control related component 210 including the steering angle sensor, the wheel speed sensor, the yaw rate sensor, the engine, the shift control unit, and the braking control unit have.

The vehicle detection control unit 140 calculates the angle of alignment between the subject vehicle 310 and the at least one nearby vehicle using the subject position information and the at least one nearby vehicle position information, And selects at least one preceding vehicle among the at least one nearby vehicle with a predetermined angle and a separation distance greater than the separation distance of the preceding vehicle 320 as one or more preceding vehicles, Lt; / RTI >

For example, the vehicle detection control unit 140 among the front vehicle 320 and the second to eighth vehicles, which are running within the communication distance of the wireless communication unit 130 as shown by the dotted line in FIG. 5, The second vehicle and the third vehicle whose alignment angle is within a predetermined angle and the separation distance is larger than the separation distance of the front vehicle 320 are selected as the preceding vehicle while the same lane is being driven, will be.

As described above, the vehicle sensing control unit 140, which may sense the front vehicle 320 and perform the automatic driving control, may be configured independently of the subject vehicle 310, And may perform the function of the vehicle sensing control unit 140 in the automatic driving control unit (for example, the electronic stability control apparatus or the like). In other words, the vehicle detection control unit 140 may be configured depending on the automatic driving control unit.

Hereinafter, a process of the vehicle sensing system 100 sensing the front vehicle 320 will be described.

FIG. 6 is a flowchart illustrating a process of detecting a forward vehicle in a vehicle detection system according to an embodiment of the present invention.

The vehicle detection system 100 mounted on the vehicle 310 receives the GPS signals from the GPS satellites 330 to measure the position information of the vehicle and detects the vehicle position information of one or more nearby vehicles located in the vicinity of the own vehicle 320, And vehicle speed information (S610, S620). Here, the vehicle detection system 100 may receive one or more nearby vehicle location information and one or more nearby vehicle speed information using either vehicle-to-infrastructural communication or intervehicular communication.

The vehicle detection system 100 calculates an angle of alignment between the subject vehicle 310 and one or more nearby vehicles using one or more nearby vehicle location information and vehicle location information, The vehicle in front of the subject vehicle 310 is selected by the front vehicle 320 (S630).

Then, the vehicle detection system 100 determines the driving speed of the preceding vehicle 320, which is the traveling speed of the vehicle 310, the vehicle position information, the position information of the front vehicle 320, The front vehicle 320 is sensed using at least one of the front vehicle speed information (S640). In other words, the controller continuously monitors the distance between the subject vehicle 310 and the front vehicle 320, the relative speed of the front vehicle 320 with respect to the subject vehicle 310, and the relative acceleration. Specifically, the distance between the subject vehicle 310 and the preceding vehicle is calculated using the subject position information and the preceding vehicle position information, and the distance between the subject vehicle 310 and the preceding vehicle is calculated using the subject vehicle speed information and the preceding vehicle speed information. 320 are calculated.

The vehicle detection system 100 that senses the front vehicle 320 through the above process may perform automatic driving control of the subject vehicle 310 using the distance, relative speed, and relative acceleration calculated in step S640 have.

As described above, the vehicle detection system 100 according to the embodiment of the present invention uses the position information measurement unit 120 and the wireless communication unit 130, which are relatively low-priced satellite navigation devices, The relative speed and the relative acceleration between the front vehicle 310 and the front vehicle 320 and detects the front vehicle 320 through the distance, have.

Further, since the communication distance is longer in the vehicle detection system than in the vehicle-to-infrastructural communication or vehicle-to-vehicle communication in which the communication distance is relatively longer than the detection distance of the vehicle detection sensor, the detection distance of the vehicle detection system can be widened as compared with the conventional one.

While the present invention has been described in connection with what is presently considered to be the most practical and preferred embodiments, it is to be understood that the invention is not limited to the disclosed embodiments. That is, within the scope of the present invention, all of the components may be selectively coupled to one or more of them. The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

Claims (10)

A traveling speed measuring unit for measuring the vehicle speed information, which is the traveling speed of the subject vehicle;
A position information measuring unit which receives a GPS signal from a GPS satellite and measures car position information which is position information of the car;
A wireless communication unit for receiving at least one of surrounding vehicle location information, which is vehicle location information of at least one nearby vehicle located in the vicinity of the subject vehicle, and surrounding vehicle speed information, which is traveling speed information of the at least one nearby vehicle; And
Selecting one or more preceding vehicles located in front of the own vehicle among the one or more nearby vehicles using the one or more neighboring vehicle location information and the vehicle location information and storing the vehicle speed information, And a forward vehicle speed information which is information on the running speed of the preceding vehicle,
And the vehicle detection system. The method according to claim 1,
Wherein the vehicle detection control unit calculates a separation distance between the subject vehicle and the preceding vehicle using the subject vehicle position information and the preceding vehicle position information and calculates a distance between the subject vehicle and the preceding vehicle using the subject vehicle speed information and the forward vehicle speed information, And calculates a relative speed and a relative acceleration of the preceding vehicle. 3. The method of claim 2,
Wherein the vehicle detection control unit performs automatic travel control of the subject vehicle using the distance, the relative speed, and the relative acceleration. The method according to claim 1,
Wherein the vehicle detection control unit calculates an alignment angle between the subject vehicle and the at least one nearby vehicle using the child position information and the at least one vehicle position information, And the vehicle is selected by the front vehicle. 5. The method of claim 4,
Wherein the alignment angle is calculated by inputting position information of the at least one nearby vehicle to the bearing information of the GPS system. The method according to claim 1,
Wherein the vehicle detection control unit calculates an angle of alignment between the subject vehicle and the at least one nearby vehicle using the subject vehicle position information and at least one of the surrounding vehicle position information and calculates a distance between the subject vehicle and the at least one nearby vehicle And selecting one or more preceding vehicles as the one or more preceding vehicles among the one or more nearby vehicles, the sorting angle being within a predetermined angle and the separation distance being larger than the separation distance of the preceding vehicle, The vehicle detection system comprising: The method according to claim 1,
Wherein the wireless communication unit receives at least one of the surrounding vehicle location information and the surrounding vehicle speed information using any one of Vehicle to Infrastructure and Vehicle to Vehicle. Detection system. A method for detecting a forward vehicle in a vehicle detection system,
A vehicle position information measurement step of receiving a GPS signal from a GPS satellite and measuring position information of the vehicle;
A surrounding vehicle information receiving step of receiving at least one of surrounding vehicle location information which is vehicle location information of one or more nearby vehicles located in the vicinity of the subject vehicle and surrounding vehicle speed information which is traveling speed information of the at least one nearby vehicle;
A front vehicle selecting step of selecting a front vehicle located in front of the subject vehicle among the at least one nearby vehicle using one or more of the near vehicle location information and the vehicle location information; And
The forward vehicle position information which is the position information of the preceding vehicle and the forward vehicle speed information which is the traveling speed information of the preceding vehicle, Detecting Vehicle Detection Phase
Gt; a < / RTI > 9. The method according to claim 8,
Wherein the vehicle detection system calculates a separation distance between the subject vehicle and the preceding vehicle using the child position information and the forward vehicle position information and calculates a distance between the subject vehicle and the preceding vehicle using the child vehicle speed information and the forward vehicle speed information, And calculating a relative speed and a relative acceleration of the preceding vehicle. 10. The method of claim 9, further comprising:
An automatic driving control step of performing automatic driving control of the subject vehicle using the distance, the relative speed and the relative acceleration,
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