KR20170014026A - Vehicle, and control method for the same - Google Patents

Abstract

The present invention provides a vehicle capable of correcting a location of the vehicle estimated by a dead reckoning method based on a distance to a sensed obstacle around the vehicle and a control method thereof. A vehicle according to an embodiment of the present invention includes: a storing unit wherein a precise map including a location of the obstacle within a preset rotation section is stored; a first sensor unit sensing a driving state of the vehicle; a second sensor unit sensing the distance to the obstacle around the vehicle; and a control unit estimating the location of the vehicle based on the driving state of the vehicle sensed by the first sensor unit if the vehicle is located within the rotation section on the precise map and correcting the estimated location of the vehicle based on the distance to the obstacle within the rotation section sensed by the second sensor unit.

Description

VEHICLE, AND CONTROL METHOD FOR THE SAME

The present invention relates to a vehicle for carrying out a speculative navigation on the basis of driving information and a control method thereof.

A vehicle is a type of vehicle that travels along roads or tracks while moving people, objects, or animals from one location to another. Examples of the vehicle include a two-wheeled vehicle such as a three-wheeled or four-wheeled vehicle, a motorcycle, a construction machine, a bike for a prime mover, a train traveling on a bicycle and a track.

With the development of technology, researches on vehicles capable of autonomous driving are actively being carried out. The vehicle can confirm the position of the vehicle received via GPS for autonomous driving on a precise map, and set the traveling route based on the position.

On the other hand, since GPS is a kind of wireless communication between a satellite and a vehicle, there may be a shadow area of the GPS signal. If the vehicle is located in the shadow area of the GPS signal, the vehicle can estimate the position of the vehicle based on the driving information such as the traveling speed and the steering angle.

According to an embodiment of the disclosed invention, there is provided a vehicle that corrects a position of a vehicle estimated according to a speculative navigation based on a distance to a detected peripheral obstacle, and a control method thereof.

A vehicle according to an embodiment includes: a storage unit in which a precision map including an obstacle position within a predetermined rotation section is stored; A first sensor unit for sensing a running state of the vehicle; A second sensor unit for sensing a distance from an obstacle around the vehicle; And estimating a position of the vehicle based on a traveling state of the vehicle sensed by the first sensor unit when the vehicle is located in the rotation section on the precision map, A control unit for correcting the estimated position of the vehicle based on a distance distanced from the obstacle in the vehicle; . ≪ / RTI >

The controller estimates the distance from the obstacle in the rotation section at the estimated position of the vehicle and if the difference between the estimated distance and the distance sensed by the second sensor section is equal to or greater than the first threshold value, The estimated position of the vehicle can be corrected.

The control unit estimates a distance distant from the obstacle in the rotation section at each of a plurality of positions within the rotation section, compares the estimated distance with the distance sensed by the second sensor section, It is possible to correct the estimated position of the vehicle with either one.

In addition, the control unit may correct the estimated vehicle position to a position spaced from the obstacle by a distance closest to the distance sensed by the second sensor unit among the plurality of positions.

The control unit may correct the estimated position of the vehicle to any one of the plurality of positions that is within a predetermined distance from the estimated position of the vehicle.

In addition, the second sensor unit may be provided on a side surface of the vehicle so as to sense a distance from the side obstacle of the vehicle.

In addition, the second sensor unit may include at least one of an ultrasonic sensor, a radar sensor, and a lidar sensor.

The first sensor unit may sense the running state of the vehicle including at least one of the traveling speed of the vehicle, the yaw rate of the vehicle, and the steering angle of the vehicle.

A GPS receiver for receiving a GPS signal including position information of the vehicle; And the control unit can determine whether the vehicle is located in the rotation section on the precision map based on the received GPS signal.

The control unit may determine whether the vehicle is located in the rotation section on the precision map by referring to the state information of the vehicle sensed by the first sensor unit.

Further, the control unit refers to at least one of whether or not the steering angle of the vehicle is equal to or greater than a predetermined second threshold, and whether or not the yaw rate of the vehicle is equal to or greater than a predetermined third threshold, It can be determined whether it is located in the rotation section.

A display for displaying the position of the vehicle corrected by the control unit; As shown in FIG.

A method of controlling a vehicle according to an embodiment includes the steps of sensing a traveling state of the vehicle and a distance distanced from an obstacle around the vehicle, ; Estimating a position of the vehicle based on the sensed state of travel of the vehicle when the vehicle is located in the rotation section on the precision map; And correcting the estimated position of the vehicle based on the sensed distance separated from the obstacle in the rotation section; . ≪ / RTI >

The step of correcting the estimated position of the vehicle further includes: estimating a distance from the obstacle in the rotation section at the estimated position of the vehicle; And correcting the estimated position of the vehicle if the difference between the estimated distance and the sensed distance is equal to or greater than a first threshold value. . ≪ / RTI >

The step of correcting the estimated position of the vehicle further includes estimating a distance from the obstacle in the rotation section at each of the plurality of positions within the rotation section; And comparing the estimated distance with the sensed distance to correct the estimated position of the vehicle with any one of the plurality of positions; . ≪ / RTI >

The step of correcting the estimated position of the vehicle with any one of the plurality of positions may include correcting the estimated position of the vehicle to a position spaced from the obstacle by a distance closest to the sensed distance among the plurality of positions, can do.

The step of correcting the estimated position of the vehicle with any one of the plurality of positions may include correcting the estimated position of the vehicle to any one of the plurality of positions that is within a predetermined distance from the estimated position of the vehicle .

Further, the step of sensing the distance distanced from the obstacle around the vehicle may detect a distance distanced from the side obstacle of the vehicle.

In addition, the step of sensing the distance distanced from the obstacle around the vehicle may receive at least one of ultrasonic waves, radio waves, and laser reflected from the obstacle around the vehicle, thereby detecting a distance distanced from the obstacle.

The sensing of the running state of the vehicle may include sensing at least one of a running speed of the vehicle, a yaw rate of the vehicle, and a steering angle of the vehicle.

Receiving a GPS signal including position information of the vehicle; Wherein the step of estimating the position of the vehicle further comprises the steps of: determining whether the vehicle is located in the rotation section on the precision map based on the received GPS signal; And estimating a position of the vehicle based on the sensed state of travel of the vehicle when the vehicle is located in the rotation section on the precision map; . ≪ / RTI >

In addition, the step of determining whether the vehicle is located in the rotation section on the precision map can determine whether the vehicle is located in the rotation section on the precision map with reference to the state information of the vehicle.

The step of determining whether the vehicle is located in the rotation section on the precision map further includes determining whether the steering angle of the vehicle is equal to or greater than a predetermined second threshold value and whether the yaw rate of the vehicle is equal to or greater than a predetermined third threshold value And whether or not the vehicle is located in the rotation section on the precision map.

Displaying the corrected position of the vehicle; As shown in FIG.

According to one embodiment of the disclosed vehicle and its control method, when the vehicle is located in the rotation section, the position estimated based on the distance from the surrounding obstacle is corrected, so that the estimated position accuracy in the rotation section can be increased.

Particularly, even in a room with low GPS communication sensitivity, the position of the vehicle can be accurately estimated by using the distance from the surrounding obstacle.

1 is a view showing the appearance of a vehicle according to an embodiment.
2 is a view showing an internal configuration of a vehicle according to an embodiment.
3 is a control block diagram of a vehicle according to an embodiment.
4 is a view for explaining a position where an ultrasonic sensor is provided in a vehicle according to an embodiment.
5 is a diagram illustrating a rotation section on a precision map according to an embodiment.
6A to 6C are views for explaining a method of correcting the position of a vehicle according to an embodiment.
7 is a flowchart of a vehicle control method according to an embodiment.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a vehicle and a control method thereof will be described in detail with reference to the accompanying drawings.

1 is a view showing the appearance of a vehicle according to an embodiment.

1, an embodiment of a vehicle includes a body 10 for forming an outer appearance of the vehicle 100, wheels 21 and 22 for moving the vehicle 100, and a vehicle 100) (Front glass 17 for providing a driver's vision in front of the vehicle 100 to a driver in the vehicle 100), a side mirror 18 , 19).

The wheels 21 and 22 include a front wheel 21 provided at the front of the vehicle and a rear wheel 22 provided at the rear of the vehicle and the front wheel 21 or the rear wheel 22 is provided with a rotational force And can move the main body 10 forward or backward.

The door 14 is rotatably provided on the left and right sides of the main body 10 so that the driver can ride inside the vehicle 100 at the time of opening and shields the inside of the vehicle 100 from the outside at the time of closing .

The front glass 17 is provided on the front upper side of the main body 10 so that a driver inside the vehicle 100 can obtain time information in front of the vehicle 100. The windshield glass is also called a windshield glass.

The side mirrors 18 and 19 include a left side mirror 18 provided on the left side of the main body 10 and a right side mirror 19 provided on the right side. 100) side information and the rear-side time information.

2 is a view showing an internal configuration of a vehicle according to an embodiment.

2, the vehicle 100 includes a seat 110 on which a driver or the like is mounted, a dashboard 150 (see FIG. 2) provided with a gear box 120, a center pedestal 130, and a steering wheel 140 dashboard).

The gear box 120 may be provided with a shift lever 124 for shifting the vehicle 100 and a dial operating section 122 for controlling the performance of the vehicle 100. [

The steering wheel 140 provided on the dashboard 150 is a device for adjusting the running direction of the vehicle 100. The steering wheel 140 is connected to the rim 141 gripped by the driver and the steering device of the vehicle 100, And a spoke 142 connecting the hub of the rotary shaft for steering. According to the embodiment, the spokes 142 may be provided with operating devices 142a and 142b for controlling various devices in the vehicle 100, for example, an audio device and the like.

An air conditioner 131, a clock 132, an audio device 133, a display 134, and the like may be installed in the center fascia 130 provided on the dashboard 150.

The air conditioner 131 adjusts the temperature, humidity, air cleanliness, and air flow inside the vehicle 100 to comfortably maintain the interior of the vehicle 100. The air conditioner 131 may include at least one discharge port 131a provided in the center fascia 130 and discharging air. The center fascia 130 may be provided with buttons or dials for controlling the air conditioner 131 and the like. A passenger such as a driver can control the air conditioner 131 by using a button disposed on the center pacea 130. [

The clock 132 may be provided around a button or a dial for controlling the air conditioner 131. [

The audio device 133 may include an operation panel having a plurality of buttons for performing functions of the audio device 133. The audio device 133 may provide a radio mode for providing a radio function and a media mode for reproducing an audio file of various storage media containing the audio file.

The display 134 may display a UI (User Interface) that provides the driver with information related to the vehicle 100 in the form of images or text. For this, the display 134 may be embedded in the center fascia 130. However, the display 134 is not limited thereto, and the display 134 may be detachable from the center fascia 130 of the vehicle 100.

At this time, the display 134 may be implemented as a liquid crystal display (LCD), a light emitting diode (LED), a plasma display panel (PDP), an organic light emitting diode (OLED), or a cathode ray tube (CRT) But is not limited thereto.

The dashboard 150 may further include various instrument panels capable of displaying the traveling speed of the vehicle 100, the engine speed or the remaining amount of fuel, and a globe box capable of storing various items have. One

On the other hand, the vehicle can confirm the current position of the vehicle by matching the position included in the GPS signal received from the GPS satellite with the map stored in advance. The position of the vehicle thus confirmed can be provided to the user, or can be used for navigating the navigation route and further for autonomous navigation.

However, since the GPS signal is wireless communication between the GPS satellite and the vehicle, the accuracy of the current position of the vehicle, which is confirmed when the vehicle enters the area where reception sensitivity of the GPS signal is low, may be lowered. For example, when a vehicle is located in a shaded area of a GPS signal such as a tunnel or an indoor area, it is difficult to receive the GPS signal and thus it is difficult to confirm the accurate current position.

To solve this problem, the vehicle can detect the current driving state and estimate the current position based on the detected driving state. Such a method is called a speculative navigation, and a vehicle can selectively perform a speculative navigation according to the reception sensitivity of a GPS signal.

Hereinafter, a vehicle that estimates the current position by performing a speculative navigation will be described.

3 is a control block diagram of a vehicle according to an embodiment.

The vehicle according to one embodiment includes a storage unit 600 in which a precision map is stored; A GPS receiver 200 for receiving a GPS signal including positional information of the vehicle; A first sensor unit 300 for sensing a running state of the vehicle; A controller 500 for mapping the position of the vehicle, which is determined on the basis of the GPS signal received by the GPS receiver 200 and / or the traveling state of the vehicle sensed by the first sensor unit 300, on the precision map; A display 134 for displaying a precise map to which the current vehicle position is mapped; . ≪ / RTI >

The storage unit 600 may store the precise map in advance. Here, the precision map has high accuracy for safe and precise vehicle control, and includes not only the plane position of the road but also information about altitude, slope, curvature, lane and the like, and also information about road facilities such as traffic regulation signs and traffic lights As shown in FIG. Further, the precision map may include an obstacle position within a predetermined rotation section, which will be described later.

The storage unit 600 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (e.g., SD or XD memory), a RAM (Random Access Memory), SRAM (Static Random Access Memory), ROM (Read Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM A storage medium of at least one type of disk, optical disk, or the like.

The storage unit 600 may store an accurate map of all areas, but may store only a detailed map of some areas. At this time, the vehicle may receive a precise map from an external server or the like and store the precise map separately in the storage unit 600, or may update a previously stored precise map if necessary.

A GPS (Global Positioning System) receiving unit 200 can receive GPS signals from GPS satellites. The GPS signal received by the GPS receiving unit 200 may indicate position information including the current latitude and longitude coordinates of the vehicle. In addition, the GPS signal may further include various coordinate systems such as altitude and the like.

The GPS receiving unit 200 may be configured to receive a GPS signal by adopting a DGPS (Differential Global Positioning System) method. Here, DGPS may mean a method of obtaining more precise data by canceling common errors of GPS signals received by a plurality of GPS receiving units 200 at adjacent distances from each other.

The first sensor unit 300 can sense the driving state of the vehicle. Here, the running state of the vehicle may mean a numerical value of all operations of the vehicle related to the running such as the running speed of the vehicle, the yaw rate, and the steering angle. To this end, the first sensor unit 300 includes a vehicle speed sensor 310 for sensing a traveling speed of the vehicle; A yaw rate sensor 320 for detecting a yaw rate of the vehicle; And a steering angle sensor 330 for sensing a steering angle of the vehicle. . ≪ / RTI > In addition to these embodiments, the first sensor unit 300 may further include a geomagnetic sensor, an accelerometer, a distance meter, a gyroscope, a tilt sensor, and a gravity sensor.

The control unit 500 can acquire the position of the vehicle from the GPS signal received through the GPS receiver 200 and map the position of the acquired vehicle to a precise stored map. As described above, when the GPS signal includes the position of the vehicle in the form of latitude and longitude, the control unit 500 calls the pre-stored precise map and maps the received latitude and longitude on the precise map, Can be mapped.

Also, the controller 500 may estimate the position of the vehicle using the travel information of the vehicle sensed by the first sensor unit 300, and map the estimated position on the precision map. As described above, when the GPS reception sensitivity falls below a predetermined level, the control unit 500 can estimate the position of the vehicle by performing a guessing navigation.

를 추정할 수 있다.The control unit 500 may adopt any one of a plurality of known navigation-based position estimation methods. For example, the control unit 500 can estimate the current position of the vehicle using the speed and the yaw rate of the vehicle. Specifically, the control unit 500 calculates the current position of the vehicle according to Equation (1)

Can be estimated.

[Equation 1]

와

는 추정되는 차량 위치의 x좌표와 y좌표를 의미하고, V는 차량의 속도를 의미한다. 또한, Ψ는 차량의 요레이트의 적분값인 요각을 의미할 수 있다.here,

Wow

Means the x and y coordinates of the estimated vehicle position, and V means the vehicle speed. Further,? May mean a yaw angle which is an integral value of the yaw rate of the vehicle.

The control unit 500 can map the vehicle estimated through the above process by mapping the position on a previously stored precise map.

Further, the control unit 500 may map the position of the vehicle, and then search for a route to the destination on the accurate map. For example, the control unit 500 can search for the shortest distance among the routes from the position of the vehicle mapped on the precision map to the destination.

The display 134 may display a precision map to which the position of the vehicle is mapped. Thus, the occupant including the driver can visually confirm the current position of the vehicle. In addition, the display 134 may display the route to the destination searched by the control unit 500 together on the precision map.

On the other hand, in the case of estimating the position of the vehicle by performing the speculative navigation, the accuracy of the estimated position of the vehicle is relatively high because the variation in the longitudinal direction is large while the variation in the lateral direction is small. However, the position of the vehicle estimated in the rotation section may be inaccurate because the vehicle traveling in the rotation section is not only in the longitudinal direction but also in the lateral direction.

In order to solve this, the vehicle can correct the estimated position of the vehicle when entering the rotation section. The vehicle may perform position correction for every rotation section on the precision map, or may use a precision map in which the rotation section in which the position correction of the vehicle is required is set in advance.

Specifically, the vehicle includes a second sensor unit 400 that senses a distance from a surrounding obstacle; The control unit 500 may correct the position of the estimated vehicle based on the distance distanced from the obstacle in the rotation section sensed by the second sensor unit 400 when the vehicle is positioned on the rotation section on the precision map have.

The second sensor unit 400 can sense the distance to the nearest obstacle located within the detectable region. To this end, the second sensor unit 400 includes an ultrasonic sensor 410 for transmitting and receiving ultrasonic waves and sensing a distance to the obstacle; A radar sensor 420 for transmitting and receiving radio waves to sense a distance to an obstacle; A Lidar sensor 430 for transmitting and receiving a laser beam and detecting a distance to the obstacle; . ≪ / RTI > However, since this is only an embodiment of the second sensor unit 400, the second sensor may include only a part of the plurality of sensors described above, or may detect various distances from the obstacle in the vicinity of the vehicle, .

Hereinafter, it is assumed that the second sensor unit 400 is implemented as the ultrasonic sensor 410 for convenience of explanation.

Depending on the position where the ultrasonic sensor 410 is installed, the detectable region may be different, and the obstacle to be sensed may be different. Hereinafter, the position where the ultrasonic sensor 410 is provided will be described with reference to FIG.

4 is a view for explaining a position where an ultrasonic sensor is provided in a vehicle according to an embodiment. In FIG. 4, the area indicated by shading may refer to a detectable area of the ultrasonic sensor 410.

The ultrasonic sensor 410 is installed on a side surface of the vehicle, and can sense the distance from the obstacle on the side surface of the vehicle. FIG. 4 illustrates a position where the ultrasonic sensor 410 can be provided. Referring to FIG. 4, the ultrasonic sensor 410 may be installed in at least one of positions adjacent to four wheels.

When two ultrasonic sensors 410 are provided at positions 410L1 and 410L2 adjacent to the front wheels respectively or at positions 410L2 and 410L2 adjacent to the rear wheels respectively, It can detect obstacles and detect distances to detected obstacles.

The control unit 500 can correct the position of the estimated vehicle based on the distance distanced from the obstacle in the rotation section sensed by the second sensor unit 400 when the vehicle is positioned on the rotation section on the precision map. Hereinafter, a method of correcting the estimated position of the vehicle by the controller 500 will be described with reference to FIGS.

FIG. 5 illustrates a rotation section on a precision map according to an embodiment, and FIGS. 6A to 6C are views for explaining a method of correcting a position of a vehicle according to an embodiment. 6A to 6C are enlarged views of the rotation section shown in FIG. 5 and illustrate a case where the ultrasonic sensor 410 is provided on each of the front wheels of the vehicle.

When receiving sensitivity of the GPS signal is low, there is an advantage in estimating the position of the vehicle according to the speculative navigation. Therefore, the control unit 500 can perform the speculative navigation when the vehicle is located in the same room as the parking lot.

FIG. 5 illustrates a parking lot of precise maps stored in advance in the storage unit 600. FIG. In particular, the precision map of Fig. 5 has a rotation section in which the lateral positional change of the vehicle is large.

The control unit 500 can correct the estimated position when the vehicle is located in the rotation section. Accordingly, the control unit 500 can first confirm whether the vehicle is located in the rotation section. Specifically, the controller 500 maps the position of the vehicle on the precision map based on the GPS signal received by the GPS receiver 200, and confirms whether the mapped position exists in the predetermined rotation section.

If it is determined that the reception sensitivity of the GPS signal is low, the control unit 500 may refer to the state information of the vehicle sensed by the first sensor unit 300. [ For example, the control unit 500 can determine that the vehicle is located in the rotation section if the steering angle of the vehicle is equal to or greater than a predetermined second threshold value. Alternatively, the control unit 500 may determine that the vehicle is located in the rotation section if the yaw rate of the vehicle is equal to or greater than a predetermined third threshold value. Further, the control unit 500 may determine that the vehicle is located in the rotation section when both of the above-described two conditions are satisfied.

If it is confirmed that the vehicle is located in the rotation section, the control unit 500 can estimate the position of the vehicle based on the traveling state of the vehicle sensed by the first sensor unit 300. [ That is, when the vehicle is located in the rotation section, the control unit 500 can estimate the position according to the speculative navigation.

6A shows the position (P _v ) of the vehicle located in the rotation section estimated by the control section 500.

Then, the control unit 500 may estimate the distance away from the obstacle in the rotary section at the location of the estimated vehicle (P _v). Specifically, the control unit 500 may estimate the distance of the obstacles and adjacent relative to the position of the map on the map precisely the position (P _v) of the estimated vehicle, and mapping vehicle.

Control unit 500 may estimate the distance away from the obstacle by the second sensor unit the location of the vehicle (P _v) is estimated according to the position 400 is provided. The second since the sensor unit changes the 400 is provided sensing region relative to the location where the controller 500 is the location of the estimated vehicle (P _v) an obstacle located in the detection area of the second sensor unit 400 in the It is possible to estimate the distance distant from the vehicle.

In Figure 6b, estimates the distance from the obstacle in the detection area formed on each side of the vehicle from the ultrasonic sensor 410 is assumed to be provided on the front wheels on both sides of the vehicle, and the position of the vehicle estimated (P _v) As shown in FIG. As a result, the control unit 500 can estimate the distance U _{V_L} away from the left obstacle. In addition, since no obstacle exists on the right side, the controller 500 can estimate the maximum detectable distance U _{V_R} .

After estimating the distance from the obstacle away from the surrounding obstacle at the estimated position of the vehicle, the control units 500 and 500 compare the estimated distance and the distance obtained from the second sensor unit 400, It is possible to determine whether to correct the position. For example, the control unit 500 may determine to correct the estimated vehicle position if the difference between the estimated distance and the distance sensed by the second sensor unit 400 is equal to or greater than the first threshold value. In Figure 6b, a distance away from the obstacle in a left position of the estimated vehicle _V d _{_L} The first is the threshold or more, the controller 500 may decide to correct the position of the estimated vehicle.

If it is determined that the estimated position of the vehicle is to be corrected, the control unit 500 can estimate the distances from the obstacles in the rotation section at each of the plurality of positions within the rotation section. Specifically, the control unit 500 can set a plurality of virtual positions in the rotation section on the precision map and estimate the distance from the adjacent obstacle at the set virtual positions. At this time, the control unit 500 can be set so that a plurality of virtual positions are located within a predetermined distance from the estimated position of the vehicle.

Then, the control unit 500 can correct the position of the vehicle estimated to be located at a distance from the obstacle by a distance closest to the distance sensed by the second sensor unit 400 among a plurality of imaginary positions. Specifically, the controller 500 can select the closest distance to the distance sensed by the second sensor unit 400 among the plurality of estimated distances. After selecting the closest distance to the detected distance, the controller 500 can correct the estimated vehicle position to a virtual position spaced apart from the obstacle by the selected distance.

Figure 6c illustrates with the position (P _R) of the vehicle and the correction position (P _v) of the prior estimated vehicle. The controller 500 can estimate the distance from the both side obstacles at a plurality of virtual positions and compare the result with the actually sensed distances d _{R _R} , d _{R _L} at the second sensor unit 400. If the distance from both side obstacles at a specific virtual position P _R is estimated as d _{R _R} and d _{R _L} , the controller 500 sets the estimated vehicle position P _V to the virtual position P _R ). ≪ / RTI >

Finally, the control unit 500 can control the display 134 to display the precise map to which the corrected vehicle position is mapped, or search for the route from the corrected vehicle position to the destination.

7 is a flowchart of a vehicle control method according to an embodiment.

First, it can be confirmed whether or not the vehicle has entered the rotation section. (700) Specifically, the control section 500 of the vehicle can determine based on the GPS signal whether the vehicle has entered the rotation section. If the reception sensitivity of the GPS signal is low, the control unit 500 can check whether the vehicle has entered the rotation section by referring to the state information of the vehicle.

If the vehicle has not entered the rotation section, check it repeatedly.

On the other hand, if the vehicle enters the rotation section, the vehicle can sense the distance d _R between the vehicle and the obstacle adjacent to the vehicle through the ultrasonic sensor 410. At this time, the ultrasonic sensor 410 detects the distance So that it is possible to detect the distance d _R from the side adjacent to the obstacle.

Then, the vehicle can be estimated position P _V of the vehicle through a dead reckoning. 720, control unit 500 of the To this end, vehicles can estimate the position P _V of the vehicle by using the state information of the vehicle . For example, the control unit 500 can estimate the position P _V of the vehicle using the vehicle speed, yaw rate, steering angle, and the like.

After estimating the position of the vehicle P _V, the vehicle can be estimated distance d _V with the adjacent obstacle in the estimated position P _V. (730) Specifically, the controller 500 of the vehicle position of the estimated vehicle P _V can be mapped onto the precision map and the distance d _V between the position P _V and an obstacle present in the detectable area formed on the side by the ultrasonic sensor 410 can be estimated.

After estimating the distance d _V to the obstacle, the vehicle can confirm whether the difference between the estimated distance d _V and the distance d _R detected by the actual ultrasonic sensor 410 is less than the threshold K ₁ (740) , The threshold value K ₁ may be input at the time of manufacture or may be predetermined in hardware.

If, when the difference between the estimated distance d _V and the detected distance d _R threshold value K is less than _1, the position P _V of the estimated vehicle can see that the correction is unnecessary. Thus, the vehicle can determine the estimated vehicle position P _V as the actual vehicle position P _R (750)

On the other hand, the estimated distance d _V and if the difference between the detected distance d _R threshold than K _1, the control unit 500 of the vehicle is the n any virtual position P ₁ to P _n and the distance to the obstacle d _V1 to d may estimate the _Vn. (760) where in this case, any virtual may be configured to present within the predetermined distance from the position P _V of the estimated vehicle.

Finally, the control unit 500 of the vehicle can determine the virtual position P _R of the vehicle having a value closest to the distance d _R to the detected obstacle among the distances d _V1 to d _Vn to the estimated obstacle. (770)

100: vehicle
10: Body
134: Display
200: GPS receiver
300: first sensor unit
400: second sensor unit
500:
600:

Claims (24)

A storage unit for storing a precision map including an obstacle position within a predetermined rotation section;
A first sensor unit for sensing a running state of the vehicle;
A second sensor unit for sensing a distance from an obstacle around the vehicle; And
Estimating a position of the vehicle on the basis of a traveling state of the vehicle sensed by the first sensor unit when the vehicle is located in the rotation section on the precision map, A controller for correcting the estimated position of the vehicle based on the distance distanced from the obstacle; ≪ / RTI > The method according to claim 1,
Wherein,
Estimating a distance from the obstacle in the rotation section at the estimated position of the vehicle and estimating a position of the estimated vehicle if the difference between the estimated distance and the distance sensed by the second sensor section is equal to or greater than a first threshold value The vehicle to calibrate. The method according to claim 1,
Wherein,
Estimating a distance distant from the obstacle in the rotation section at each of a plurality of positions within the rotation section, comparing the estimated distance with the distance sensed by the second sensor section, Of the vehicle. The method of claim 3,
Wherein,
And corrects the estimated position of the vehicle to a position spaced from the obstacle by a distance closest to the distance sensed by the second sensor unit among the plurality of positions. The method of claim 3,
Wherein,
And corrects the estimated position of the vehicle to any one existing within a predetermined distance from the estimated position of the vehicle among the plurality of positions. The method according to claim 1,
Wherein the second sensor unit comprises:
The vehicle being provided on a side of the vehicle so as to sense a distance from the side obstacle of the vehicle. The method according to claim 1,
Wherein the second sensor unit comprises:
An ultrasonic sensor, a radar sensor, and a lidar sensor. The method according to claim 1,
Wherein the first sensor unit comprises:
A yaw rate of the vehicle, and a steering angle of the vehicle, based on the detected yaw rate of the vehicle. The method according to claim 1,
A GPS receiver for receiving a GPS signal including position information of the vehicle; Further comprising:
Wherein,
And determines whether the vehicle is located in the rotation section on the precision map based on the received GPS signal. 10. The method of claim 9,
Wherein,
And determines whether the vehicle is located in the rotation section on the precision map by referring to the state information of the vehicle detected by the first sensor section. 11. The method of claim 10,
Wherein,
Whether or not the vehicle is located in the rotation section on the precision map with reference to at least one of whether the steering angle of the vehicle is equal to or greater than a predetermined second threshold value and whether or not the yaw rate of the vehicle is equal to or greater than a predetermined third threshold value Determine whether the vehicle. The method according to claim 1,
A display for displaying the position of the vehicle corrected by the control unit; . ≪ / RTI > A control method of a vehicle in which a precision map including an obstacle position within a predetermined rotation section is stored,
Sensing a running state of the vehicle and a distance away from the obstacle around the vehicle;
Estimating a position of the vehicle based on the sensed state of travel of the vehicle when the vehicle is located in the rotation section on the precision map; And
Correcting a position of the estimated vehicle based on a distance distanced from the obstacle within the sensed rotational section; And controlling the vehicle. 14. The method of claim 13,
The step of correcting the estimated position of the vehicle comprises:
Estimating a distance from the obstacle in the rotation section at the estimated position of the vehicle; And
Correcting a position of the estimated vehicle if the difference between the estimated distance and the sensed distance is equal to or greater than a first threshold value; And controlling the vehicle. 14. The method of claim 13,
The step of correcting the estimated position of the vehicle comprises:
Estimating distances from the obstacles in the rotation section at each of a plurality of positions within the rotation section; And
Comparing the estimated distance with the sensed distance and correcting the estimated position of the vehicle with any one of the plurality of positions; And controlling the vehicle. 16. The method of claim 15,
Wherein the step of correcting the estimated position of the vehicle with any one of the plurality of positions comprises:
And corrects the estimated position of the vehicle to a position spaced from the obstacle by a distance closest to the sensed distance among the plurality of positions. 16. The method of claim 15,
Wherein the step of correcting the estimated position of the vehicle with any one of the plurality of positions comprises:
And corrects the estimated position of the vehicle to any one existing within a predetermined distance from the estimated position of the vehicle among the plurality of positions. 14. The method of claim 13,
The step of sensing a distance from the obstacle around the vehicle,
A method of controlling a vehicle that senses a distance from a side obstacle of the vehicle 14. The method of claim 13,
The step of sensing a distance from the obstacle around the vehicle,
Receiving at least one of an ultrasonic wave, a radio wave, and a laser reflected from an obstacle in the vicinity of the vehicle, and sensing a distance distanced from the obstacle. 14. The method of claim 13,
Wherein the step of sensing the running condition of the vehicle comprises:
A yaw rate of the vehicle, and a steering angle of the vehicle. 14. The method of claim 13,
Receiving a GPS signal including position information of the vehicle; Further comprising:
The step of estimating the position of the vehicle includes:
Determining whether the vehicle is located in the rotation section on the precision map based on the received GPS signal; And
Estimating a position of the vehicle based on the sensed state of travel of the vehicle when the vehicle is located in the rotation section on the precision map; And controlling the vehicle. 22. The method of claim 21,
Wherein the step of determining whether the vehicle is located in the rotation section on the precision map comprises:
And determines whether the vehicle is located in the rotation section on the precision map with reference to the state information of the vehicle. 23. The method of claim 22,
Wherein the step of determining whether the vehicle is located in the rotation section on the precision map comprises:
Whether or not the vehicle is located in the rotation section on the precision map with reference to at least one of whether the steering angle of the vehicle is equal to or greater than a predetermined second threshold value and whether or not the yaw rate of the vehicle is equal to or greater than a predetermined third threshold value Determining whether the vehicle is in a controlled manner. 14. The method of claim 13,
Displaying a position of the corrected vehicle; Further comprising the steps of:

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