KR20150127522A - Method and system for detecting nearby vehicle using cooperative commmunication - Google Patents

Abstract

A system for detecting a nearby vehicle using cooperative communications according to the present specification includes a sensing part which has at least one sensor, detects moving bodies located in the detection range of the sensor, and generates sensing information, a communications part which transmits first local measurement information that represents the traffic information of the moving bodies generated based on the sensing information to the outside and receives at least one second local measurement information from the outside, and a fusion processing part which conflates previously generated expansion measurement information, the first local measurement information and the second measurement information and generates new expansion measurement information which includes the traffic information of the expansion measurement information, the traffic information of the first local measurement information, and the traffic information of the second local measurement information.

Description

TECHNICAL FIELD [0001] The present invention relates to a method and system for detecting a moving object using cooperative communication,

The present disclosure relates to a system and method for detecting nearby mobile objects using cooperative communications, and more particularly to a system and method for extending the scope of detection and improving accuracy through cooperative communications.

Recently, a variety of sensor based environmental recognition technologies have been utilized to ensure the safety of vehicles while driving. In such techniques, objects on the periphery of the vehicle, for example, via on-vehicle sensors capable of detecting omni-directional objects such as a laser scanner (LIDAR), radar, Or information on objects located in a blind spot of the vehicle.

Such sensor-based environment recognition technologies contribute to the safety of the vehicle in the sense that it provides the information of the object which is hard to see to the driver of the vehicle, but also has some technical limitations.

One such limitation is that conventional sensor based environmental technologies can not collect position information for objects located outside the detection area of the sensor. In addition, when displaying the position of the surrounding objects collected through the sensors on the map, there is a limitation that the global position of nearby objects is also displayed incorrectly due to the error of the GPS signal used when determining the global position of the vehicle.

Korean Registered Patent No. 10-1123737 (published on Mar. 16, 2012)

It is an object of the present invention to provide a peripheral moving object detection system and method with improved detection range so that even a moving object outside the detection range of the sensor can be detected.

It is another object of the present invention to provide a peripheral moving object detection system and method that can more accurately detect and track the speed, position, and the like of peripheral moving objects including itself even when an error occurs in a GPS signal or the like.

According to an embodiment of the present invention, a system for detecting a moving object using cooperative communication includes: a sensing unit having at least one sensor, sensing a moving object located within a detection range of the at least one sensor to generate sensing information; A communication unit for externally transmitting first area measurement information representing traffic information of the moving objects generated based on the sensing information and receiving at least one second area measurement information from outside; And a second geographical information acquisition unit for acquiring traffic information of the extended measurement information, traffic information of the first geographical measurement information, and traffic information of the second geographical measurement information, And a fusion processing unit for generating new extended measurement information including traffic information.

The apparatus may further include a preprocessor for extracting traffic information of the moving objects from the sensing information to generate the first area measurement information.

As an embodiment, the apparatus may further include an input / output interface for receiving a user input for controlling the communication unit.

In an embodiment, the moving object on which the one or more sensors are mounted can recognize the surrounding environment in all directions.

In an exemplary embodiment, the traffic information may include information indicating an absolute position, a relative position, a speed, or a direction of a moving object.

In an embodiment, the fusion processing unit estimates traffic information of the moving objects when the new extended measurement information is generated by fusing the previously generated extended measurement information, the first local measurement information, and the second local measurement information, Tracking improves position accuracy. In an embodiment, the fusion processing unit extracts the preliminarily generated extended measurement information, the first local measurement information, and the feature information appearing redundantly with the second local measurement information.

The convergence processing unit may compare the traffic information of the first mobile unit with the traffic information of the second mobile unit and compare the difference between the traffic information of the first mobile unit and the traffic information of the second mobile unit, Determining that the first moving object and the second moving object represent the same moving object and estimating a single state by setting traffic information of the first moving object and traffic information of the second moving object to a plurality of measured values, .

In one embodiment, the convergence processor may determine whether the first mobile is different from the other mobile by comparing the traffic information with the first mobile, and if the difference is less than the threshold, The moving object having the smallest traffic information difference with the first moving object is determined to be the same moving object as the first moving object.

If the first traffic information for the first area of the first area measurement information and the second traffic information for the second area of the second area measurement information are overlapped with each other, A first topology representing a distribution of moving objects in a first region and a second topology representing a distribution of moving objects in the second region and comparing the first topology and the second topology to a first topology, , It is determined that the moving objects in the first area constituting the first topology and the moving objects in the second area constituting the second topology represent the same moving objects.

In one embodiment, the fusion processing unit compares a first topology representing a distribution of moving objects in the first region with a second topology representing a distribution of moving objects in the second region, And the second topology is higher than a predetermined reference, the moving object having the most similar topology is determined to be the same moving object.

As an embodiment, if the mobile units in the first region constituting the first topology and the mobile bodies in the second region constituting the second topology represent the same moving bodies, the fusion processing unit may determine that the first topology and the 2 < / RTI > topologies are overlapped with each other to generate the extended measurement information.

As an embodiment, the similarity between the first topology and the second topology may be such that when the magnitude of an error vector representing a difference between the first topology and the second topology is less than or equal to a predetermined value, It is judged to be higher than the determined standard.

In an embodiment, when the new extension measurement information is generated by fusing the first local measurement information and the at least one second local measurement information, the fusion processing unit may hierarchically And fused to generate extended measurement information.

In one embodiment, the convergence processor may be configured to, when generating the extended measurement information by fusing the first local measurement information and the at least one second local measurement information, Compares positions or compares the at least one second area measurement information communication signal strength to preferentially converge the second area measurement information transmitted by a more adjacent mobile object.

In an embodiment, the convergence processing unit fuses the generated new extended measurement information with another second local measurement information received from another mobile unit so as to further include traffic information of the different second regional measurement information, Information or generates another extended measurement information in place of the new extended measurement information.

In an embodiment, the new extended measurement information is configured to have a wider detection range or more accurate traffic information for the moving object than the first local measurement information.

A method for detecting the position of peripheral moving objects of a moving object through a detection system mounted on the moving object according to embodiments of the present invention includes receiving second area measurement information of the other moving object through cooperation communication with other moving objects ; The first area measurement information generated by the detection system and the extended measurement information previously generated by the detection system to generate traffic information of the first area measurement information, Generating new extended measurement information configured to include traffic information of the information and traffic information of the previously generated extended measurement information; And outputting traffic information on the neighboring moving objects to the user based on the generated new extended measurement information.

As an embodiment, there is provided a method comprising: receiving another second area measurement information from another moving object; And updating the new extended measurement information to further include the traffic information of the second area measurement information by merging the received second area measurement information with the new extended measurement information, And generating extended measurement information.

According to the embodiments of the present invention, it is possible to detect the position or speed of a moving object located outside the detection range of the sensor through cooperative communication with other moving objects, and thereby the detection range of the surrounding moving object detection system can be dramatically widened And can accurately estimate the position information of the moving objects with reference to the received local measurement information.

In addition, since it is possible to establish a more safe and efficient driving strategy according to a wider detection range, problems such as traffic congestion can be avoided in advance, and information on a rectangular area that can not be detected by the sensors provided can be obtained. The risk can be reduced.

In addition, since the neighboring mobile object detection system uses open collaborative communication, unlike the conventional technologies in which accessibility to traffic information is limited, there is an advantage that anyone can always obtain necessary information without any specific limitation.

Further, since each moving object participating in the cooperative communication functions as both a receiver and a transmitting entity, it does not require a separate infrastructure dedicated to providing information on the mobile object, and establishes a cooperative communication system at a relatively low cost .

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram showing an outline of a peripheral mobile object detection system according to an embodiment of the present invention; Fig.
2 is a block diagram showing a detailed configuration of a peripheral mobile object detection system according to an embodiment of the present invention;
3 is a diagram conceptually showing a method in which the fusion processing unit 130 shown in FIG. 1 fuses a plurality of region measurement information to generate extended measurement information.
4 is a diagram for explaining an example of generating extended measurement information for a wide area using a cooperative communication 1000 between a plurality of mobile bodies.
FIG. 5 is a flowchart exemplarily showing a method of generating a local measurement information through a sensor of the surrounding moving object detection system and transmitting it to another moving object, according to an embodiment of the present invention.
FIG. 6 is a flowchart illustrating an exemplary method of detecting a location of nearby moving objects through cooperative communication with other moving objects, according to an embodiment of the present disclosure. FIG.

The following detailed description refers to the accompanying drawings which illustrate, by way of example, specific embodiments in which the invention may be practiced. Embodiments of the detailed description are provided for those of ordinary skill in the art to disclose the detailed description for carrying out the invention described herein.

Each of the embodiments of the present invention can describe different cases, but it does not mean that the embodiments are mutually exclusive. For example, the specific shapes, structures, and characteristics described in connection with one embodiment of the detailed description may be implemented in other embodiments without departing from the spirit and scope of the present invention. It is also to be understood that the location or arrangement of the individual components of the embodiments disclosed herein may be varied without departing from the spirit and scope of the invention.

On the other hand, in various embodiments, the same or similar reference numerals refer to the same or similar components. In the accompanying drawings, the sizes of the respective components may be exaggerated for explanatory purposes and need not be equal to or similar to the actual applied size.

BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a diagram showing an outline of a peripheral mobile object detection system according to an embodiment of the present invention; Fig. 1, a peripheral mobile object detection system 100 (hereinafter referred to as a detection system) is mounted on a mobile object 10 such as a vehicle and is provided with other mobile objects 21, 22, 23 And 24 to generate local measurement information (LI) around the mobile unit 10. [ Here, the local measurement information means traffic information such as the speed, location, direction, and the like of a moving object detection system (e.g., 100) itself or nearby moving objects measured or detected by using its sensor. Then, the detection system 100 receives the local measurement information from the other mobile (for example, 22) through the cooperative communication and then fuses the local measurement information with the local measurement information to obtain extended measurement information information. Here, the extended measurement information refers to newly generated traffic information so as to have a wider range or higher accuracy by comparing and combining some local measurement information and other regional measurement information. Meanwhile, the detection system 100 may provide the local measurement information generated by itself through the cooperative communication to other mobile terminals.

This detection system 100 detects surrounding moving objects 21, 22, 23, 24 (i.e., 360 degrees detection) with respect to all directions of the moving object 10. Further, the cooperative communication between the detection system 100 and another moving object (more precisely, a moving object detection system mounted on another moving object) is performed in the form of broadcast in both transmission and reception. That is, the local measurement information transmitted from a certain moving object is transmitted to a plurality of arbitrary moving objects without specifying a destination, and the receiving moving object also receives any of the local measurement information transmitted from other moving objects, Can be used to generate extended measurement information.

In particular, such a detection system 100 can be used to detect, for example, all mobile bodies 10, 21, 22, 23, 24 incorrectly know their location, In a limited situation in which information transmission is possible, the mobile unit 10 can be more advantageously used to newly acquire or more accurately estimate the positional information of the mobile unit itself or the neighboring mobile unit by referring to such local measurement information.

In the following, the specific configuration and operation method of the detection system 100 will be described in detail through embodiments, and the technical characteristics and effects of the detection system 100 will be described in more detail.

2 is a block diagram illustrating a detailed configuration of a detection system, in accordance with one embodiment of the present disclosure; 2, the detection system 100 includes a sensing unit 110, a preprocessing unit 120, a fusion processing unit 130, an input / output interface 140, and a communication unit 150.

The sensing unit 110 includes at least one sensor and detects sensing information such as the position, velocity, acceleration, direction, or size of the sensing system 100 itself and surrounding moving objects. The sensing unit 110 includes at least one sensor, such as a laser scanner (LiDAR), a GPS receiver, a RADAR, a camera, or the like, that can detect the sensing information of itself or a moving object. Here, the GPS receiver means a module that obtains global position information of the mobile object 10 or the detection system 100 through satellite information received from a GPS satellite.

As an embodiment, the sensing unit 110 includes at least one sensor for recognizing the surrounding environment in all directions of the moving object 10 (see FIG. 1), and when the sensor includes two or more sensors, Even if it is no longer possible for any one sensor to be located near another moving object so that the sensor can detect the moving object beyond the moving object, It can be configured to detect beyond the moving body through another sensor.

The sensing information detected by the sensing unit 110 through its sensors is transmitted to the preprocessing unit 120.

The preprocessing unit 120 processes the sensing information transmitted from the sensing unit 110 to generate local measurement information LI. First, the preprocessing unit 120 extracts traffic information related to the traffic of the moving object (for example, the position, speed, direction, etc. of the moving object) from the transmitted sensing information. The preprocessing unit 120 generates local measurement information (LI) indicating traffic of the mobile terminal itself and surrounding mobile terminal based on the extracted traffic information. In this way, the preprocessing unit 120 can selectively extract only the data necessary for generating the local measurement information (LI) among the sensing information and filter the remaining data, thereby minimizing the capacity of the traffic information to be processed.

As an embodiment, the preprocessing unit 120 may assign a unique ID to each of the detected moving objects based on the traffic information.

As an embodiment, the position of the moving object indicated by the area measurement information may include an absolute position such as the global coordinates of the moving object or a relative position between the moving object and another moving object (for example, relative distance between moving objects and possible relative directions) .

The regional measurement information LI generated by the preprocessing unit 120 is provided to the fusion processing unit 130 for generating extended measurement information EI or provided to the communication unit 150 for transmission to another mobile unit. The local measurement information LI generated by the preprocessing unit 120 may be provided to the communication unit 150 via the fusion processing unit 130. [

The fusion processing unit 130 receives local measurement information LI (hereinafter referred to as local region measurement information) generated by the preprocessing unit 120 and local measurement information (hereinafter, referred to as " Measurement information) is fused to generate extended measurement information (EI) whose detection range is extended or accuracy is improved compared to the self-local measurement information.

The fusion processing unit 130 fuses the existing extension measurement information EI and the local measurement information received from another mobile unit to the existing extension measurement information EI, It is possible to generate new extended measurement information whose detection range is widened or accuracy is improved than that of the EI.

Meanwhile, when a plurality of local measurement information is received from a plurality of neighboring moving objects, the fusion processing unit 130 fuses the local measurement information of the nearest mobile with its local measurement information, for example, And the second extended measurement information is generated by merging the first extended measurement information with the next area measurement information of the adjacent mobile object to generate second extended measurement information. In a hierarchical fusion method based on the proximity between itself and the surrounding mobile object, Can be fused together.

At this time, the fusion processing unit 130 may refer to the GPS position information or the intensity of the communication signal received from the surrounding moving objects to determine the proximity to the surrounding moving objects. For example, the convergence processing unit 130 may determine a neighboring mobile body that is displayed on the GPS position information more adjacent or transmits a stronger communication signal as a relatively more mobile body.

As an embodiment, the fusion processing unit 130 compares the local measurement information or the extended measurement information EI with the local measurement information received from another moving object to estimate the position information of the surrounding moving objects, have. For example, when merging the local measurement information or the extended measurement information EI with the received local measurement information of another moving object, the convergence processing unit 130 extracts the local measurement information or extended measurement information EI, Traffic information can be estimated and tracked to improve positional accuracy.

As an embodiment, the fusion processing unit 130 extracts feature information that is overlapped with the local measurement information or the extended measurement information EI of the received moving object and the received local measurement information to estimate the absolute coordinates and the relative coordinates of the surrounding moving objects can do.

In order to fuse the local area measurement information (or the previously generated extension measurement information) with other regional measurement information, the fusion processing unit 130 sets the state of each mobile body on the local area measurement information as a parameter such as position, And track the state of each moving object in such a manner that a change in the value of the parameter is recorded, and the result of tracking the state of each moving object in this way can be obtained by using different local measurement information (for example, Measurement information and other area measurement information) can be used to determine whether or not the moving objects are the same movement.

As an embodiment, the fusion processing unit 130 compares the traffic information of the first mobile unit on the local area measurement information (or the previously generated extension measurement information) with the traffic information of the second mobile unit on the other area measurement information, If the difference between the traffic information of the first mobile unit and the traffic information of the second mobile unit is within a threshold value, it can be determined that the first mobile unit and the second mobile unit represent the same mobile unit. At this time, the convergence processing unit estimates a single state by setting the traffic information of the first mobile unit and the traffic information of the second mobile unit as a plurality of measurement values, thereby improving the accuracy.

As an embodiment, the fusion processing unit 130 may compare the traffic information with the first mobile body described above to determine the identity of the first mobile body with other mobile bodies, The mobile body having the smallest traffic information difference with the first mobile body can be determined as the same mobile body as the first mobile body.

The convergence processor 130 may determine that the position of the first mobile object on the local area measurement information is different from the position of the first mobile object on the local area measurement information in the process of fusing the local area measurement information (or pre- The local area measurement information or the other area measurement information may be shifted so that the positions of the local area measurement information and the local area measurement information overlap each other. If the traffic information of the first mobile unit and the traffic information of the second mobile unit are overlapped with each other, the fusion processing unit 130 may determine that the first mobile unit and the second mobile unit represent the same mobile unit. At this time, the second moving object on the other area measurement information may represent the moving object that transmitted the other area measurement information.

Furthermore, if there is another moving object other than the first moving object and the second moving object, whose position on the local area measurement information overlaps the position on the other regional measurement information as a result of shifting the local area measurement information or other area measurement information, May be determined to represent the same moving object on the local area measurement information and other area measurement information, respectively. As an embodiment, the traffic information of the moving objects may be further referred to in order to determine whether the moving objects overlapping with each other in the area measurement information and the other area measurement information represent the same moving object.

As an embodiment, the fusion processing unit 130 may determine that the first traffic information for the first area on the local area measurement information (or the previously generated extended measurement information) and the second traffic information for the second area on the other area measurement information The first topology indicating the distribution of the moving object in the first area and the second topology indicating the distribution of the moving object in the second area are compared with each other, and when the similarity of the first topology and the second topology is greater than or equal to a predetermined reference It can be determined that the moving objects in the first area constituting the first topology and the moving objects in the second area constituting the second topology represent the same moving objects.

As an embodiment, the fusion processing unit 130 compares a first topology representing the distribution of moving objects in the first region and a second topology representing the distribution of moving objects in the second region, When there are two or more moving objects whose similarities between the topology and the second topology are higher than a predetermined reference, the moving object having the most similar topology can be determined as the same moving object.

For example, the degree of similarity between the first topology and the second topology can be determined by, for example, obtaining an error vector indicating a difference between the first topology and the second topology, calculating the size of the error vector, Threshold value, it may be determined that the degree of similarity between the first topology and the second topology is higher than a predetermined reference value. However, the present invention is not limited to this method, and it is possible to determine the degree of similarity between the first topology and the second topology, Common methods may be used in place of or in addition to the above method.

As an embodiment, the fusion processing unit 130 may determine that the first traffic information for the first area on the local area measurement information (or the previously generated extended measurement information) and the second traffic information for the second area on the other area measurement information It is determined whether the position of another moving body (transmitting mobile body) that has transmitted the other area measurement information is included in the detection area DR of the sensing unit 110, The extended measurement information can be generated by matching the positions of the transmitting mobile object and other mobile objects on other area measurement information based on the position of the transmitting mobile object detected through the sensing unit 110. [

On the other hand, the fusion processor 130 can more accurately correct traffic information (in particular, position information) of overlapping moving objects on each local measurement information by referring to the self-local measurement information and other received local measurement information. Specifically, when merging the local area measurement information (or the extended measurement information) with the other regional measurement information, the fusion processing unit 130 generates the extended measurement information by combining the local area measurement information and the other regional measurement information The traffic data can be integrated into one traffic data. For example, when the speed of a moving object is represented by 100 and 110 in the local area measurement information and the other area measurement information, the convergence processing unit 130 prioritizes information determined to be more accurate among the two data, (For example, the fusion processing unit 130 may prioritize the data on the self-local measurement information detected through the sensing unit 110 rather than the data on other local measurement information, It is determined that the speed of the moving object is 100, which is the data on the moving object. However, it should be understood that the present invention is not limited thereto. For example, the fusion processing unit 130 may take an average of traffic information (for example, (100 + 110) / 2 = 105), take an intermediate value of a plurality of traffic information, The integrated traffic information may be determined by taking the smallest traffic information.

As an example, the determined integrated traffic information may be used as traffic information of the generated extended measurement information.

The convergence processor 130 tracks the traffic information of the mobile body by referring to the self-area measurement information, the received other regional measurement information, or the extended measurement information (for example, tracking the change in the traffic information over time ), And the position, speed, or traveling direction of the moving object can be predicted from the result. Further, the fusion processing unit 130 can analyze and predict the difference in the traveling direction between the mobile body on which the detection system 100 is mounted and another mobile body.

As an embodiment, when the position information on a certain moving object is information indicated by a relative position, the fusion processing unit 130 may converge the local measurement information or extended measurement information including the traffic information of the moving object whose absolute position is known, The absolute position of the moving object can be estimated. For example, if the position of the A moving object on the first area measurement information is (x, y) = (10, 10) as the global coordinate and the relative position between the A moving object and the B moving object on the second area measurement information is' The fusion processing unit 130 fuses the first local measurement information and the second local measurement information to determine the absolute position of the B moving object on the second local measurement information as ( 10 + 10, 10) = (20, 10).

As an embodiment, the convergence processor 130 may assign a unique ID to a transmitting mobile body that has transmitted other area measurement information, identify its unique ID, and provide the unique ID to the specific moving object on the generated extended measurement information Can be matched. At this time, the unique ID can be given or identified by referring to the meta information (for example, the serial number of the product, the vehicle's chassis number, etc.) transmitted from the transmitting mobile unit.

The input / output interface 150 provides input / output means for controlling and outputting the detection system 100. For example, the detection system 100 may vary its cooperative communication radius in a manner that adjusts the strength of the communication signal to be transmitted or received, and such a change in cooperating communication radius may be detected by a user input . ≪ / RTI >

Alternatively, the detection system 100 may vary the direction or direction of the cooperative communication by adjusting the directionality of the cooperative communication signal in accordance with user input via the input / output interface 150.

Alternatively, the detection system 100 may set or change the period for transmitting the self-local measurement information or receiving other local measurement information according to user input through the input / output interface 150. [

Alternatively, the detection system 100 may display the current cooperative communication radius or area to the user, or limit the possible cooperative communication radius or area to within a certain range, in response to user input via the input / output interface 150.

The communication unit 150 performs cooperative communication between the detection system 100 and another moving object. The communication unit 150 receives the local area measurement information LI from the preprocessing unit 120 or the convergence processing unit 130 and transmits the local area measurement information LI to another mobile unit (for example, in a broadcasting format) And receives the other area measurement information and transmits it to the fusion processing unit 130. As an embodiment, the communication unit 150 can further transmit the extended measurement information EI generated by the convergence processing unit 130 to another moving object.

Meanwhile, the communication unit 150 may be configured to communicate with the surrounding environment (e.g., traffic or communication environment), traffic information of other mobile objects measured by the sensing unit 110, The cooperative communication radius can be changed by adjusting the signal strength of the cooperative communication with reference to the traffic information of the detection system 100 measured by the other mobile.

In addition, the communication unit 150 may be configured to communicate with the surrounding environment (e.g., traffic or communication environment), traffic information of other mobile objects measured by the sensing unit 110, By referring to the traffic information of the detection system 100 measured by another moving object, by adjusting the directionality of the cooperative communication signal.

Further, the communication unit 150 may restrict the possible cooperative communication radius or area to a certain range or less, for example, in accordance with user input through the input / output interface 150. [

As an embodiment, the communication unit 150 can transmit the ID of the mobile body on which the detection system 100 is mounted together with the local area measurement information LI. The ID of the moving object to be transmitted can be determined by referring to unique meta information (e.g., a serial number of a product, a vehicle's chassis number, etc.) associated with the moving object, a communication address used for cooperative communication, and the like.

As an embodiment, the communication unit 150 may prioritize other received local measurement information according to a predetermined criterion when there are two or more other local measurement information received from other mobile bodies. Then, it is possible to differently transmit the different area measurement information to the convergence processing unit 130 according to the assigned priority (for example, after passing the highest priority region measurement information to the convergence processing unit 130, And sequentially transmits the other area measurement information to the fusion processing unit 130 within a range that does not overlap with the other area measurement information.

At this time, a predetermined criterion for determining the priority among the other area measurement information is, for example, a shorter distance from the other mobile unit that has transmitted the other area measurement information, or a communication signal For example, as the intensity of a carrier is counted, it may be that a higher priority is given to the area measurement information.

According to the configurations described so far, the detection system 100 receives other area measurement information through cooperative communication with another mobile unit and fuses it with the self-area measurement information generated by itself, As shown in FIG. At this time, the traffic information of the extended measurement information is corrected to have a higher accuracy than the traffic information of the local area measurement information by referring to a plurality of local measurement information.

Accordingly, the detection system 100 can detect a position, a speed, a direction, and the like even for a moving object located outside the detection range of the sensor included in the detection system 100. Accordingly, the detection range of the surrounding moving object detection system 100 is greatly extended Can be.

In addition, since it is possible to establish a more safe and efficient driving strategy according to the wider detection range, the user can avoid troubles such as traffic congestion, and information about the rectangular area that can not be detected by the sensor provided can be obtained. The risk of occurrence is reduced.

In addition, since the peripheral mobile object detection system 100 uses open collaborative communication, unlike the conventional technologies in which accessibility to traffic information is limited, there is an advantage that anyone can obtain necessary information from other mobile objects without any particular limitation.

Further, since each moving object participating in the cooperative communication functions as both a receiver and a transmitting entity, it does not require a separate infrastructure dedicated to providing information on the mobile object, and establishes a cooperative communication system at a relatively low cost .

3 is a diagram conceptually showing a method in which the fusion processing unit 130 shown in FIG. 1 fuses a plurality of region measurement information to generate extended measurement information. In FIG. 3, a method of generating extended measurement information EI by merging two pieces of local measurement information LI1 and LI2 partially overlapping the topology is described.

The illustrated local measurement information LI1 and LI2 may be different local measurement information each received from another mobile, one of which is the local area measurement information generated by the detection system 100 and the other local measurement information Lt; / RTI >

Alternatively, one of them may be existing extension measurement information generated by the detection system 100 (although it is represented here as regional measurement information), and the other may be other regional measurement information. In this case, the extended measurement information EI generated through the fusion 131 becomes new or updated extended measurement information instead of the existing extended measurement information.

Referring to FIG. 3, in each of the local measurement information LI1 and LI2, the positions of the moving objects are displayed as small rectangles. Each region measurement information LI1 and LI2 has regions having similar topologies A and A '. In this case, the fusion processing unit 130 determines similarities between the topologies A and A 'of the respective regions, and then determines whether they are topologies representing the same moving objects. Since a specific method of determining the similarity between the topologies has already been described with reference to FIG. 2, a description thereof will be omitted here.

If it is determined that the topologies A and A 'represent the same moving objects, the convergence processing unit 130 determines that the topology A and A' LI2). Here, it is exemplified that the second area measurement information LI2 is shifted and overlapped with the first area measurement information LI1. The result of the convergence 131 of the local measurement information LI1 and LI2 is generated and outputted as the extended measurement information EI so that the positions of the corresponding moving objects overlap each other.

According to the above method, the extended measurement information EI can represent traffic information of moving objects over a wider range than individual regional measurement information LI1 and LI2. For example, the first area measurement information LI1 represents only the topology A and the three moving objects located on the left side thereof, the second area measurement information LI2 represents the topology A ' However, the extended measurement information may display all the moving objects displayed in the first area measurement information LI1 and the second area measurement information LI2 as one measurement information. Therefore, instead of referring to only one piece of local measurement information, it is possible to collect a wider range of traffic information by referring to the extended measurement information that they have fused.

Meanwhile, when the traffic information for the same moving object in each of the local measurement information LI1 and L2 is different from each other, a preferable value derived from the combination of them is determined as the traffic information of the extended measurement information.

4 is a diagram for explaining an example of generating extended measurement information for a wide area using a cooperative communication 1000 between a plurality of mobile bodies. Referring to FIG. 4, a plurality of mobile units 1010, 1020, and 1030 exchange their local measurement information with other mobile units through the cooperative communication 1000, And generates extended measurement information.

In FIG. 4, it is assumed that the three moving objects 1010, 1020, and 1030 are each provided with the detection system 100 of the present disclosure. It is assumed that the moving objects 1010, 1020, and 1030 equipped with the detection system 100 generate local measurement information using their sensors, and broadcast the generated local measurement information to other moving objects.

The individual area measurement information 1011, 1021, and 1031 generated by the mobile units 1010, 1020 and 1030 can display traffic information only within the detection range of the sensors provided in the mobile units 1010, 1020, and 1030 have. For example, the first area measurement information 1011 of the first moving object 1010 displays traffic information only for the three moving objects included in the first detection range 1012, including itself. Similarly, the second area measurement information 1021 of the second moving object 1020 displays traffic information only for the five moving objects included in the second detection range 1022, including itself, 3 area measurement information 1031 displays traffic information only for the four moving objects included in the third detection range 1032, including itself.

At this time, the first area measurement information 1011 and the second area measurement information 1021 commonly include traffic information for the moving object a, and the second area measurement information 1021 and the third area measurement information 1031 ) Commonly include traffic information for the moving object (b).

Each of the mobile units 1010, 1020, and 1030 transmits the local measurement information 1011, 1021, and 1031 generated by the mobile units 1010, 1020, and 1030 to other mobile units. At this time, the mobile units 1010, 1020, and 1030 transmit the area measurement information 1011, 1021, and 1031 through cooperative communication using the communication units 1013, 1023, and 1033, May be embedded in the detection system 100 or may be provided in the form of a communication terminal that is hardware independent from other modules of the detection system 100 (e.g., a smart phone carried by the user) have.

Any mobile device among the mobile devices 1010, 1020 and 1030 receives the local measurement information transmitted by other mobile devices and fuses with the local measurement information generated by the mobile device 1010, 1020, 1030, And generates extended measurement information 1100 covering the detection range. At this time, the convergence of the local measurement information 1011, 1021, and 1031 is performed based on the moving objects a and b commonly displayed in two or more regional measurement information. For example, the first or second area measurement information is shifted so that the moving object (a) on the first area measurement information 1011 overlaps with the moving object (a) on the second area measurement information 1021, One extended measurement information 1100 is generated by shifting the second or third area measurement information so that the moving object b on the measurement information 1021 and the moving object b on the third area measurement information 1031 overlap with each other do.

Meanwhile, in the process of generating the extended measurement information 1100 through fusion, other technical means described in FIGS. 1 to 3 may be further or additionally applied.

According to this method, by providing the local measurement information 1011, 1021, and 1031 between the moving objects 1010, 1020, and 1030 through the cooperative communication system 1000, the moving object located outside the detection range of the sensor It is possible to acquire traffic information for a rectangular area that has not been detected by the wider detection range, and also to establish a safer and more efficient driving strategy.

FIG. 5 is a flowchart exemplarily showing a method of generating a local measurement information through a sensor of the surrounding moving object detection system and transmitting it to another moving object, according to an embodiment of the present invention. Referring to FIG. 5, the method of generating and transmitting local measurement information includes steps S110 to S140.

In step S110, the detection system 100 detects the moving objects located within the detection range of the sensor through the sensing unit 110. [ The detection result is provided to the preprocessing unit 120 as sensing information.

In step S120, the preprocessing unit 120 extracts traffic information (e.g., location, speed, direction, etc.) of the mobile objects by filtering unnecessary data among the provided sensing information. Through the filtering process, the preprocessing unit 120 minimizes the capacity of the traffic information to be processed.

In step S130, the preprocessing unit 120 generates local measurement information based on the extracted traffic information. The generated area measurement information is provided to the fusion processing unit 130 or the communication unit 150.

In step S140, the communication unit 150 transmits the area measurement information received from the preprocessing unit 120 or via the fusion processing unit 130 through cooperative communication with another moving object. At this time, the transmission of the local measurement information can be performed in a broadcasting mode in which a plurality of arbitrary moving objects are simultaneously transmitted without specifying a destination. The transmitted local measurement information is referred to by the other mobile to generate extended measurement information.

Other details not described herein for the sensing unit 110, the preprocessing unit 120, and the communication unit 150 are the same as those described with reference to FIG. 1 to FIG.

According to the above method, a local measurement information providing means for generating extended measurement information is disclosed. At this time, since the communication of the local measurement information between the mobile units uses open collaborative communication, unlike the conventional technologies in which the accessibility to the traffic information is limited, there is an advantage that the local measurement information can be always obtained by anyone without any particular limitation.

In addition, since each mobile member participating in cooperative communication functions as a receiver and a transmitting entity, it does not require a separate infrastructure dedicated to providing information on the mobile, Can establish collaborative communication.

FIG. 6 is a flowchart illustrating an exemplary method of detecting a location of nearby moving objects through cooperative communication with other moving objects, according to an embodiment of the present disclosure. FIG. Referring to FIG. 6, a method of detecting a neighboring moving object includes steps S210 to S250.

In step S210, the communication unit 150 of the detection system 100 receives the area measurement information of the other mobile unit through the cooperative communication.

In step S220, the fusion processing unit 130 receives the received local measurement information from the communication unit 150 and generates extended measurement information by merging with the regional measurement information generated by the detection system 100. [

In step S230, the detection system 100 determines whether new geographic information has been received from another mobile. If new regional measurement information has been received, the method for detecting neighboring moving objects proceeds to step S240. Otherwise, the method of detecting nearby moving objects proceeds to step S250.

In step S240, the fusion processing unit 130 generates new extended measurement information to replace the existing extended measurement information by fusing the new local measurement information with the existing extended measurement information, or updates the existing extended measurement information. When the generation or update is completed, the method for detecting neighboring moving objects proceeds to step S250.

In step S250, the detection system 100 outputs traffic information including necessary geographical information or information of the moving object to the user based on the generated or updated extended measurement information. Alternatively, the detection system 100 may output the generated or updated extended measurement information itself.

Other details not described herein for the fusion processing unit 130 and the communication unit 150 are the same as those described in Figs.

According to the above method, by generating extended measurement information having a wider detection range by fusing the local measurement information with other moving objects, it is possible to detect the position, speed, etc. with respect to a moving object located outside the detection range of the sensor, The detection range of the surrounding moving object detection system can be dramatically widened.

In addition, since it is possible to establish a more safe and efficient driving strategy according to a wider detection range, problems such as traffic congestion can be avoided in advance, and information on a rectangular area that can not be detected by the sensors provided can be obtained. The risk can be reduced.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments.

In addition, although specific terms are used herein, they are used for the purpose of describing the present invention only and are not used to limit the scope of the present invention described in the claims or the claims. Therefore, the scope of the present invention should not be limited to the above-described embodiments, but should be determined as set forth in the appended claims.

10: traveling mobile body 21, 22, 23, 24: surrounding mobile body
100: surrounding moving object detection system 110:
120: preprocessing unit 130: fusion processing unit
140: input / output interface 150:
LI, LI1, LI2: Area measurement information EI: Extended measurement information
1000: cooperating communication system 1010, 1020, 1030:
1012, 1022, and 1032: detection areas 1011, 1021, and 1031: area measurement information of a moving object
1013, 1023, 1033: communication unit of the moving object 1100: extended measurement information

Claims (20)

A sensing unit having at least one sensor, sensing a moving object located within a detection range of the at least one sensor and generating traffic information;
A communication unit for transmitting the first area measurement information representing the traffic information to the outside and receiving at least one second area measurement information from the outside; And
The first area measurement information, and the second area measurement information to generate traffic information of the extended measurement information, traffic information of the first area measurement information, and traffic of the second area measurement information, And a fusion processing unit for generating new extended measurement information that includes information on the neighboring moving object. The method according to claim 1,
Further comprising: a preprocessor for extracting traffic information of the moving objects from the sensing information to generate the first area measurement information. The method according to claim 1,
And an input / output interface for receiving a user input for controlling the communication unit. The method according to claim 1,
The fusion processing unit
And estimating and tracking traffic information of the moving objects when the new extended measurement information is generated by fusing the pre-generated extended measurement information, the first local measurement information, and the second local measurement information to improve the position accuracy , A system for detecting neighboring moving objects using cooperative communication. The method according to claim 1,
The fusion processing unit
And extracting the preliminarily generated extended measurement information, the first area measurement information, and the feature information appearing redundantly with the second area measurement information. 6. The method of claim 5,
The fusion processing unit
And estimating an absolute coordinate and a relative coordinate of the moving objects using the characteristic information. The method according to claim 6,
The fusion processing unit
The second moving object of the first area measurement information and the second moving object of the second area measurement information indicate the same moving object, and the first moving object and the second moving object overlap each other, Wherein the second area measurement information is shifted to generate the extended measurement information by shifting the measurement information or the second area measurement information. The method according to claim 6,
The fusion processing unit
The first mobile body of the first area and the second mobile body of the second area measurement information are identical to each other and that the positions of the first mobile body and the second mobile body overlap with each other, Wherein the second local measurement information is generated by shifting the first local measurement information or the second local measurement information to generate the extended measurement information. 6. The method of claim 5,
The fusion processing unit
If the difference between the traffic information of the first moving object and the traffic information of the second moving object is within a threshold value as a result of the comparison, the first moving object and the second moving object are compared with the traffic information of the first moving object and the traffic information of the second moving object, Wherein the second mobile unit determines that the second mobile unit represents the same mobile unit and estimates a single state by setting traffic information of the first mobile unit and traffic information of the second mobile unit to a plurality of measurement values to improve accuracy, A system for detecting nearby moving objects. 6. The method of claim 5,
The fusion processing unit
When the identities of the first mobile and the other mobile are determined through comparison of traffic information with the first mobile and when there are two or more other mobile objects whose difference in traffic information with the first mobile is within a threshold value, Wherein the mobile terminal determines the mobile body having the smallest traffic information difference with the first mobile body as the same mobile body as the first mobile body. 6. The method of claim 5,
The fusion processing unit
When the first traffic information for the first area of the first area measurement information and the second traffic information for the second area of the second area measurement information are overlapped with each other, Comparing the topology with a second topology indicating a distribution of moving objects in the second region, and if the similarity between the first topology and the second topology is higher than a predetermined reference, And determines that the moving objects in the first area and the moving objects in the second area constituting the second topology represent the same moving objects with each other. 12. The method of claim 11,
The fusion processing unit
Wherein a similarity between the first topology and the second topology is determined by comparing a first topology representing a distribution of moving objects in the first region with a second topology representing a distribution of moving objects in the second region, Wherein the mobile station determines that the mobile station having the most similar topology is the same mobile station when there are two or more mobile stations having a higher level than the predetermined criterion. 12. The method of claim 11,
The fusion processing unit
When the moving objects in the first area constituting the first topology and the moving objects in the second area constituting the second topology represent the same moving objects, the first topology and the second topology overlap each other, 1 local measurement information or the second local measurement information to generate the extended measurement information. 12. The method of claim 11,
The degree of similarity between the first topology and the second topology,
A system for detecting a surrounding moving object using cooperative communication, wherein a determination is made that the magnitude of an error vector indicating a difference between the first topology and the second topology is less than or equal to a predetermined value, . The method according to claim 1,
The fusion processing unit
When generating the new extended measurement information by merging the first local measurement information and the at least one second local measurement information, the extended measurement information is generated by first hierarchically fusing the local measurement information of the neighboring moving object , A system for detecting neighboring moving objects using cooperative communication. 16. The method of claim 15,
The fusion processing unit
Comparing the GPS positions of the moving objects within the at least one second local measurement information when the first local measurement information and the at least one second local measurement information are merged to generate extended measurement information, A system for detecting a surrounding moving object by using cooperative communication in which a second area measurement information communication signal intensity is compared and a second area measurement information transmitted by a neighboring moving object is preferentially converged. The method according to claim 1,
The fusion processing unit
Updating the new extended measurement information so as to further include the traffic information of the different second area measurement information by fusing the generated new extended measurement information and other second regional measurement information received from another moving object, A system for detecting neighboring moving objects using cooperative communications, which generates another extended measurement information on behalf of the information. The method according to claim 1,
Wherein the new extended measurement information comprises:
Wherein the first area measurement information is configured to have a wider detection range or more accurate traffic information for the mobile object than the first area measurement information. A method for detecting the position of peripheral moving objects of a moving object through a detection system mounted on the moving object,
Receiving second area measurement information of the other mobile through cooperation communication with other mobile objects;
The first area measurement information generated by the detection system and the extended measurement information previously generated by the detection system to generate traffic information of the first area measurement information, Generating new extended measurement information configured to include traffic information of the information and traffic information of the previously generated extended measurement information; And
And outputting traffic information for the neighboring mobile objects to the user based on the generated new extended measurement information. 20. The method of claim 19,
Receiving second regional measurement information from another mobile entity; And
Updating the new extended measurement information to further include the traffic information of the second area measurement information by merging the received second area measurement information with the new extended measurement information, ≪ / RTI > wherein the method further comprises generating measurement information.

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