KR20170053124A - System for correcting vehicle position using beacons in shadow zone of satellite navigation system - Google Patents

Abstract

According to embodiments of the present invention, a system for correcting a vehicle position using a beacon comprises a wireless beacon transmitter and a vehicle position measurement terminal. The wireless beacon transmitter may generate a beacon message including coordinate and azimuth information on a position of a sign installed on the road, and a reference signal strength, and transmit a beacon signal carrying the beacon message in accordance with the reference signal strength. The vehicle position measurement terminal is mounted on the vehicle, detects the beacon signal, and can estimate the position of the vehicle on the basis of the coordinate and the azimuth information extracted from the beacon signal. The azimuth information may include an azimuth angle which views a detection start point on the road expected to be detected with an initial beacon signal when the vehicle enters a detection area of the beacon signal while the vehicle travels on the road at a position where the wireless beacon transmitter is installed.

Description

TECHNICAL FIELD [0001] The present invention relates to a system for compensating a vehicle position using a beacon in a shaded area of a satellite navigation system,

Field of the Invention The present invention relates to position measurement techniques, and more particularly, to a vehicle position measurement technique based on a satellite navigation system.

At the core of the intelligent transportation system is the autonomous navigation system, and the basis of the autonomous navigation system is the accurate positioning of the vehicle. An autonomous vehicle must be able to accurately measure its own position so that it can safely and automatically travel to its destination and travel while keeping in tandem with the surrounding vehicles.

Since satellite navigation systems such as Global Positioning System (GPS), Galileo, and GLONASS are systems that use satellite navigation signals emitted by navigation satellites to determine their position, essentially three, preferably at least four satellites If satellite navigation signals are weak, positioning can not be done properly. In addition, since the satellite navigation system relies on accurate time information, if the time is not accurate, the path error becomes large. Even if the signal is small, the satellite navigation system can not be used properly. In the underground traffic facilities such as tunnels, underground roads and underground parking lots, positioning errors are difficult due to weakness of the satellite navigation signals in the buildings, or positioning errors may be caused due to fading even if there is sufficient signal strength between the urban forests.

In order to compensate for the disadvantages of the vehicle positioning system based on the satellite navigation system, it is necessary to estimate the vehicle position using the speed measured in the vehicle speedometer in the shaded area, or to estimate the vehicle position using the gyro sensor, the acceleration sensor, Inertial navigation, which compensates or estimates the position of a vehicle using acceleration, is utilized. However, existing navigation systems based on speed and inertia can not resolve cumulative position errors until satellite positioning can be done, so if the satellite navigation signals are not received for a long time, the position error becomes larger.

A-GPS (Assisted GPS) or D-GPS (Differential GPS) are available as positioning methods to reduce the shadow area problem of satellite navigation signals. Using A-GPS, base stations and terminals can cooperate with each other to obtain the position of a mobile station by using the fact that mobile base stations and terminals operate based on accurate and precise time information, Is the positioning technique that can measure D-GPS can transmit DGPS signals to specific points on the ground so that DGPS signals similar to GPS signals can be transmitted. Thus, the terminal can precisely measure the terminal position using DGPS signals and GPS signals Positioning technique.

The A-GPS technique requires mobile base stations and it is difficult to use it for navigation of vehicles because the positioning speed is slow although accuracy is not so high. The D-GPS technique requires highly precise base stations, and these base stations must be installed in open open spaces where GPS signals can be received, making it difficult to use them in navigation of vehicles.

On the other hand, the satellite navigation system can perform positioning by deciphering the accurate time information from the satellite navigation signals, and it takes a considerably long time from several seconds to several minutes until the position can be determined from immediately after the start . Therefore, even if the vehicle is in a long shadow area and is in a non-shadow area, even if a sufficient number of satellite navigation signals are sufficiently received, the vehicle can not be positioned for a considerable period of time after the start of the vehicle. Is set.

Positioning techniques, such as A-GPS and D-GPS, which basically depend on satellite navigation systems, are difficult to solve. In addition, neither inertial navigation nor estimated navigation can solve this problem because these navigation systems can not measure the initial position of a vehicle starting from a shaded area.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle position correction system and method using a beacon in a shadow area of a satellite navigation system.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle position correcting system and method capable of accurately determining the position of a vehicle in a shadow area of a satellite navigation system without requiring an expensive and precise system such as DGPS base stations have.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle position correcting system and method that can precisely determine the position of a vehicle in a shaded area of a satellite navigation system by using beacons that are inexpensive and easy to maintain.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle position correcting system and method capable of locating a vehicle quickly at high speed and compensating for an error according to a speed in real time.

SUMMARY OF THE INVENTION It is an object of the present invention to provide a vehicle position correction system and method capable of relatively accurately determining the position of a vehicle in a shadow area of a satellite navigation system and using the determined position information together with inertial navigation or estimated navigation have.

The solution to the problem of the present invention is not limited to those mentioned above, and other solutions not mentioned can be clearly understood by those skilled in the art from the following description.

A vehicle position correction system using a beacon according to an aspect of the present invention generates a beacon message including coordinate information of a position installed on the road, azimuth information, and reference signal intensity, and outputs a beacon signal, A wireless beacon dispensing device for emitting according to the intensity; And a vehicle position measuring terminal mounted on the vehicle and detecting the beacon signal and estimating the position of the vehicle based on the coordinate information and the azimuth information extracted from the beacon signal, And an azimuth angle at which the vehicle is expected to detect the beacon signal when it enters the detection area of the beacon signal while the vehicle is traveling on the road at the position where the emission device is installed.

According to one embodiment, the detection area is defined as an area where a received signal strength (RSSI) of the beacon signal received by the vehicle position measuring terminal is higher than a predetermined threshold value, Extracting the beacon message from the first beacon signal detected over a detection start point, extracting the coordinate information, the azimuth information, and the reference signal strength from the extracted beacon message, Calculating an estimated distance to the wireless beacon dispatch apparatus based on the reference signal strength, and estimating a position of the vehicle based on the estimated distance, the coordinate information, and the azimuth information.

According to one embodiment, the detection area is defined as an area where a received signal strength (RSSI) of the beacon signal received by the vehicle position measuring terminal is higher than a predetermined threshold value, Detecting a plurality of beacon signals passing through the detection start point in the detection region, extracting the beacon message from one of the detected beacon signals, extracting the beacon message from the extracted beacon message, Extracting a signal strength from the received beacon signal and deriving a corrected received signal strength based on the received signal strength values of the detected plurality of beacon signals, and based on the corrected received signal strength and the reference signal strength, And calculates the estimated distance, the coordinate information, and the azimuth information And to estimate the position of the vehicle based on the position of the vehicle.

According to one embodiment, the corrected received signal strength may be obtained by smoothing received signal strength values of the plurality of beacon signals.

According to one embodiment, the vehicle position measuring terminal measures the speed of the vehicle while the vehicle passes the detection start point, and when the operation of estimating the position of the vehicle from the detection point of time when the beacon signal is detected is completed Calculating a moving distance of the vehicle during a time period between the vehicle and the vehicle, and considering the moving distance to recalibrate the position of the vehicle.

According to one embodiment, the azimuth information may include different azimuth angles set for each of the plurality of velocity sections.

According to one embodiment, the wireless beacon dispatcher is a Bluetooth low energy (BLE) device, and the beacon message may include latitude, longitude, at least one azimuth and a reference signal strength in a PDU (Protocol Data Unit).

According to another aspect of the present invention, there is provided a wireless beacon dispatcher comprising: a beacon controller for generating a beacon message including coordinate information, azimuth information, and reference signal strength of a location where a wireless beacon dispatcher is installed; And a wireless transmitting unit for transmitting a beacon signal carrying the beacon message according to the reference signal intensity, wherein the azimuth information is information indicating a position of the beacon signal in the position where the wireless beacon transmitting apparatus is installed, And an azimuth angle obtained by looking at the detection start point on the road that is supposed to detect the beacon signal when entering the detection area.

A vehicle position measurement terminal according to another aspect of the present invention includes: a wireless receiver for receiving a beacon signal and detecting the beacon signal when a received signal strength of the received beacon signal is greater than a predetermined threshold value; And a vehicle position estimating unit for estimating a position of the vehicle on the basis of coordinate information and azimuth information extracted from the beacon signal, wherein the beacon signal includes coordinate information of a position where the wireless beacon dispensing apparatus is installed on the road, azimuth information, Wherein the wireless beacon dispatching apparatus transmits the beacon message including the beacon message including the signal strength according to the reference signal strength by the wireless beacon dispatching apparatus, And an azimuth angle of the beacon signal when the beacon signal enters the detection area of the beacon signal.

According to one embodiment, the detection region is defined as an area where a received signal strength (RSSI) of the beacon signal received by the vehicle position measurement terminal is higher than a predetermined threshold, and the step of estimating the position of the vehicle includes Extracting the beacon message from a first beacon signal detected by the vehicle over the detection start point; Extracting the coordinate information, the azimuth information, and the reference signal strength from the extracted beacon message; Calculating an estimated distance to the wireless beacon dispatcher based on the received signal strength of the detected beacon signal and the reference signal strength; And estimating the position of the vehicle based on the estimated distance, the coordinate information, and the azimuth information.

According to one embodiment, the detection region is defined as an area where a received signal strength (RSSI) of the beacon signal received by the vehicle position measurement terminal is higher than a predetermined threshold, and the step of estimating the position of the vehicle includes Detecting a plurality of beacon signals as the vehicle passes the detection start point in the detection area and extracting the beacon message from one of the detected beacon signals; Extracting the coordinate information, the azimuth information, and the reference signal strength from the extracted beacon message; Deriving a corrected received signal strength based on received signal strength values of the plurality of detected beacon signals; Calculating an estimated distance to the wireless beacon dispatcher based on the corrected received signal strength and the reference signal strength; And estimating the position of the vehicle based on the estimated distance, the coordinate information, and the azimuth information.

According to one embodiment, a method for correcting a vehicle position using the beacon includes the steps of: measuring a speed of the vehicle while the vehicle passes the detection start point; estimating a position of the vehicle from a detection point at which the beacon signal is detected Calculating a travel distance of the vehicle during a time period between the completion of the calculation and repositioning the vehicle in consideration of the travel distance.

According to another aspect of the present invention, there is provided a vehicle position correcting method using a vehicle position correcting system including a wireless beacon dispatching apparatus mounted on a road and a vehicle position measuring terminal mounted on a vehicle, Generating a beacon message including information, azimuth information, and a reference signal strength; Transmitting the beacon signal with the beacon message according to the reference signal strength; The vehicle position measurement terminal detecting the beacon signal, extracting the coordinate information and the azimuth information from the beacon signal; And estimating a position of the vehicle on the basis of the coordinate information and the azimuth information extracted by the vehicle position measuring terminal, wherein the azimuth information is information indicating that the vehicle is located at a position where the wireless beacon dispensing apparatus is installed, And an azimuth angle of the road from the detection start point on the road that is supposed to detect the beacon signal when entering the detection area of the beacon signal while traveling on the road.

According to another aspect of the present invention, there is provided a method of driving a wireless beacon dispensing apparatus for transmitting a beacon signal, the method comprising: generating a beacon message including coordinate information, azimuth information, ; And transmitting the beacon signal with the beacon message according to the reference signal strength, wherein the azimuth information includes at least one of a detection of the beacon signal while the vehicle is traveling on the road, And an azimuth angle of the road from the detection start point on the road that is supposed to detect the first beacon signal when entering the area.

A driving method of a vehicle position measuring terminal for receiving a beacon signal according to another aspect of the present invention is characterized in that the vehicle position measuring terminal detects the beacon signal and extracts the coordinate information and the azimuth information from the beacon signal step; And estimating a position of the vehicle on the basis of the extracted coordinate information and the azimuth information, wherein the beacon signal includes coordinate information, azimuth information, and reference signal intensity of a location where the wireless beacon dispatcher is installed on the road And the beacon information is transmitted by the wireless beacon dispatching device in accordance with the reference signal strength, and the azimuth information is transmitted to the beacon transmitting device at a location where the wireless beacon dispatching device is installed, And an azimuth angle obtained by looking at a detection start point on the road that is supposed to detect the beacon signal when the beacon signal enters the detection area of the signal.

According to an aspect of the present invention, there is provided a vehicle position correcting system including: a beacon generating unit configured to generate a beacon message including coordinate information of a position installed on a road, at least two azimuth information, A wireless beacon dispensing device for transmitting a signal according to the reference signal strength; And a vehicle position measuring terminal mounted on the vehicle and detecting the beacon signal and estimating the position of the vehicle based on the azimuth information of either the coordinate information extracted from the beacon signal or the azimuth information of the at least two azimuths , When the vehicle enters the detection area of the beacon signal while the vehicle is traveling on the road at a speed corresponding to any one of a plurality of velocity sections at a position where the at least two azimuth information, And each different azimuth angle viewed from the detection start point on the road scheduled to detect the first beacon signal.

According to an aspect of the present invention, there is provided a wireless beacon dispatcher comprising: a beacon controller for generating a beacon message including coordinate information of a location where a wireless beacon dispatcher is installed, at least two azimuth information, and a reference signal strength; And a wireless transmitting unit for transmitting a beacon signal carrying the beacon message according to the reference signal intensity, wherein the at least two azimuth information, the location of the wireless beacon transmitting device, And may include a different azimuth angle from the detection start point on the road that is supposed to detect the first beacon signal when entering the detection area of the beacon signal while traveling on the road at a speed corresponding to one section.

A vehicle position measuring terminal according to the present invention for solving the above-mentioned problems is characterized in that the vehicle position measuring terminal according to the present invention is a terminal for detecting a beacon signal when the received signal strength of the received beacon signal is greater than a predetermined threshold, A receiving unit; And a vehicle position estimation unit for estimating a position of the vehicle based on the coordinate information extracted from the beacon signal and at least one azimuth information selected based on the azimuth information of the vehicle among the at least two azimuth information, At least two azimuth information, and a beacon message including a beacon message including at least two azimuth information and a reference signal strength, and is transmitted according to the reference signal strength by the wireless beacon dispatcher, When the vehicle enters the detection area of the beacon signal while the vehicle is traveling on the road at a speed corresponding to one of the plurality of velocity sections at a position where the wireless beacon dispatch apparatus is installed, The detection start point on the road scheduled to be detected Rabon may include each different azimuth angles.

A vehicle position correcting method according to the present invention for solving the above problems is a vehicle position correcting method using a vehicle position correcting system including a wireless beacon dispatching apparatus installed on a road and a vehicle position measuring terminal mounted on a vehicle, Generating a beacon message including coordinate information of a position at which the beacon dispatch apparatus is installed, at least two azimuth information, and a reference signal strength; Transmitting the beacon signal with the beacon message according to the reference signal strength; The vehicle position measurement terminal detecting the beacon signal, extracting the coordinate information and the azimuth information from the beacon signal; And estimating a position of the vehicle based on any one of the azimuth information selected based on the current speed of the vehicle among the coordinate information extracted by the vehicle position measuring terminal and the at least two azimuth information, When the vehicle enters the detection area of the beacon signal while the vehicle is traveling on the road at a speed corresponding to one of the plurality of velocity sections at a position where the wireless beacon dispatch apparatus is installed, And each different azimuth angle viewed from the detection start point on the road scheduled to be detected.

According to another aspect of the present invention, there is provided a method of driving a wireless beacon dispensing apparatus for dispensing a beacon signal, the method comprising: Generating a beacon message including azimuth information and a reference signal strength; And transmitting the beacon message with the beacon message according to the reference signal strength, wherein the at least two azimuth information, the location of the wireless beacon dispatch device, Each of the azimuth angles of each of the azimuth angles looking at the detection start point on the road that is supposed to detect the first beacon signal when entering the detection area of the beacon signal while traveling on the road at the speed corresponding to the interval.

According to another aspect of the present invention, there is provided a method for driving a vehicle position measuring terminal for receiving a beacon signal, the vehicle position measuring terminal detecting the beacon signal, Extracting the coordinate information and the azimuth information from a signal; And estimating a position of the vehicle on the basis of any one of the azimuth information selected in accordance with the current speed of the vehicle among the extracted coordinate information and the at least two azimuth information, And a beacon message including a beacon message including azimuth information and a reference signal strength, and is transmitted in accordance with the reference signal strength by the wireless beacon dispatching apparatus, wherein the at least two azimuth information, When the vehicle enters the detection area of the beacon signal while the vehicle is traveling on the road at a speed corresponding to one of the plurality of speed sections at the position where the delivery device is installed, Each of the different azimuth angles viewed from the detection start point .

According to the vehicle position correction system and method using the beacon in the shadow area of the satellite navigation system of the present invention, it is possible to accurately position the vehicle in the shadow area of the satellite navigation system without requiring an expensive and precise system such as DGPS base stations You can decide.

According to the vehicle position correction system and method using the beacon in the shaded area of the satellite navigation system of the present invention, it is possible to reduce the position of the vehicle in the shadow area of the satellite navigation system to be comparable to that of the commercial GPS by using cheap and easy- You can decide.

According to the vehicle position correcting system and method using beacons in the shadowed area of the satellite navigation system of the present invention, it is possible to position the vehicle quickly enough even at high-speed moving vehicles and to compensate the error according to the speed in real time.

According to the beacon-based vehicle position correction system and method in the shadowed area of the satellite navigation system of the present invention, the determined position information in the shadowed area of the satellite navigation system can be used together with the inertial navigation or the estimated navigation.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned can be clearly understood by those skilled in the art from the following description.

1 is a conceptual diagram illustrating a vehicle position correction system using a beacon according to an embodiment of the present invention.
2 is a conceptual diagram illustrating a structure of a beacon message mounted on a beacon signal transmitted by a beacon in a vehicle position correction system using a beacon according to an embodiment of the present invention.
3 is a conceptual diagram illustrating the intensity of a beacon signal at a point on a road where a beacon signal transmitted from a beacon is first received on a vehicle in a vehicle position correction system using a beacon according to an embodiment of the present invention.
FIG. 4 is a diagram illustrating a vehicle position correction system using a beacon according to an exemplary embodiment of the present invention. Referring to FIG. 4, when a vehicle continuously receives a beacon signal transmitted from a beacon according to the content of the beacon message and the intensity of the beacon, FIG. 2 is a conceptual diagram illustrating a process of estimating a position.
FIG. 5 is a conceptual diagram illustrating a process of compensating for errors caused by movement of a vehicle while the vehicle position estimation terminal estimates the position of the vehicle in a vehicle position correction system using a beacon according to an embodiment of the present invention. to be.
6 is a flowchart illustrating a vehicle position correction method using a beacon according to an embodiment of the present invention.

For the embodiments of the invention disclosed herein, specific structural and functional descriptions are set forth for the purpose of describing an embodiment of the invention only, and it is to be understood that the embodiments of the invention may be practiced in various forms, The present invention should not be construed as limited to the embodiments described in Figs.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The same reference numerals are used for the same constituent elements in the drawings and redundant explanations for the same constituent elements are omitted.

The object of the present invention is not to aim at highly precise position measurement but to correct the current position of the vehicle on the road with accuracy or accuracy comparable to that of a satellite navigation system while the satellite navigation system can not assist. Therefore, the specific embodiments described below can be understood based on the technical context corresponding to the object of the present invention. For example, it is important to note that terms such as "area" or "point" should be understood in real terms to account for errors comparable to satellite navigation systems, and that terms are used in such context.

1 is a conceptual diagram illustrating a vehicle position correction system using a beacon according to an embodiment of the present invention.

1, the vehicle position correcting system 10 may be composed of a wireless beacon dispatching apparatus 11 installed on the road 1 and a vehicle position measuring terminal 12 mounted on the vehicle 2. [

The wireless beacon dispatcher 11 may include a beacon controller 111 and a wireless dispatcher 112.

The beacon controller 111 generates a beacon message including coordinate information, azimuth information, and reference signal strength of a location where the wireless beacon dispatcher 11 is installed, and the wireless transmitting unit 112 transmits a beacon signal It can be transmitted according to the reference signal strength.

The coordinate information is information on the latitude and longitude of the location where the wireless beacon dispatcher 11 is installed adjacent to the road 1. [

According to the embodiment, the coordinate information may further include information on altitude in addition to latitude and longitude.

The azimuth information is the first beacon signal when the wireless beacon dispatch apparatus 11 enters the detection area 3 of the beacon signal while the vehicle 2 is traveling on the road 1 at the position where the wireless beacon dispatch apparatus 11 is installed on the road 1 And an azimuth angle of the detection start point 4 on the road 1 scheduled to be detected.

At this time, the detection area 3 means an area where the received signal strength (RSSI) measured when the vehicle position measuring terminal 12 receives the beacon signal is higher than a predetermined threshold value.

Further, the detection of the beacon signal takes place only when the beacon signal is first received at the vehicle position measuring terminal 12 with a received signal magnitude larger than a predetermined threshold value. That is, even if the beacon signal is received outside of the detection region 3 at a level lower than a predetermined threshold value, it is not regarded as the detection of the beacon signal.

2, a beacon signal transmitted from a beacon in a vehicle position correction system using a beacon according to an exemplary embodiment of the present invention is first transmitted to a vehicle Is a conceptual diagram illustrating the intensity of a beacon signal at a point on the road to be detected.

The reference signal strength of the beacon signal may be set to, for example, -19 dBm, -16 dBm, or -12 dBm as the strength of the wireless output when the beacon signal is transmitted.

If the reference signal strength is set to a fixed value, for example, -12 dBm, the received signal strength is generally reduced in inverse proportion to the reception distance, although it varies somewhat depending on the characteristics of the antenna. So that the reception distance can be estimated. Preferably, the greater the reference signal strength of the beacon signal, the more accurately the reception distance can be estimated.

2, the beacon signal transmitted from the wireless beacon dispatching apparatus 11 is uniformly attenuated according to the distance, so that the received signal strength of the beacon signal is determined based on the position where the wireless beacon dispensing apparatus 11 is installed It can be distributed with concentric contour lines. Since the reference signal intensity of the beacon signal is constant, the detection region 3 is also kept substantially constant.

For example, if the wireless beacon dispatching apparatus 11 is installed next to the road 1, the road 1 may slightly cross the center of the detection region 3 where the received signal strength of the beacon signal is larger than a predetermined threshold, The detection region 3 can be overlapped.

Since the vehicle 2 moves in a predetermined direction along the road 1, a point at which the vehicle 2 enters the detection area 3, that is, the vehicle position measurement terminal 12 mounted on the vehicle 2, Can be specified at a width that can cover a certain degree of error. This point is referred to as a detection start point 4 in the present invention.

The detection region 3 and the detection start point 4 are also substantially fixed as long as the form of the road 1, the position where the wireless beacon dispensing apparatus 11 is installed, and the reference signal intensity are both fixed and unchanged. Accordingly, the azimuth angle at which the wireless beacon dispensing apparatus 11 is installed is also fixed to the detection start point 4. The azimuth angle can be expressed on the basis of, for example, magnetic north or true north.

On the other hand, the beacon signal is a signal repeatedly transmitted in accordance with a predetermined beacon period set between several tens of milliseconds and several seconds, for example. Therefore, the wireless beacon dispatcher 11 transmits a beacon signal during a beacon dispatch interval of, for example, 1 ms or less, and does not transmit a beacon signal until the next beacon dispatch interval arrives. When the beacon dispatch interval arrives, Signal.

On the other hand, the beacon signal may be detected at different positions depending on the speed of the vehicle. Even if the reference signal strength is fixedly set to, for example, -12 dBm, the position where the beacon signal is detected may be closer to the beacon as the vehicle speed becomes faster. Therefore, with respect to the speed of the vehicle 2, a plurality of speed sections can be set. For example, it is in a section from 0 Km / h to 40 Km / h or less, 40 Km / h or more to 80 Km / h or less, 80 Km / h to 120 Km / h and 120 Km / h or more. And the azimuth angles may be set differently according to the velocity section as in the above example. That is, the azimuth angle included in the beacon message may include at least two azimuth information. The two or more azimuth angle information has respective azimuth angle information corresponding to a plurality of velocity sections that the vehicle can correspond to.

For the sake of understanding, it is assumed that there are two speed sections with a speed range of the vehicle exceeding 0 Km / h to 40 Km / h and a speed range of 40 Km / h to 80 Km / h or less. It is assumed that the azimuth information has two azimuth information corresponding to the velocity section. The wireless beacon dispatcher may generate a beacon message including two azimuth information. The vehicle position measuring terminal having received the two azimuth information can estimate the position of the vehicle using any one azimuth angle information selected according to the current speed of the two azimuth information.

3 is a block diagram illustrating a system for correcting a vehicle position using a beacon according to an exemplary embodiment of the present invention. Referring to FIG. 3, a beacon message including coordinates, azimuth information, FIG. 8 is a conceptual diagram illustrating a structure of a beacon message mounted on a beacon signal transmitted by the mobile station.

3, the wireless beacon dispatching apparatus 11 is a BLE (Bluetooth Low Energy) apparatus, whereby the beacon signal is a BLE beacon packet signal, for example, a 1-byte preamble, A 39-byte packet payload, and a 3-byte CRC.

The beacon message may be loaded into the packet payload. For example, the beacon message may be composed of a 2-byte header and a 37-byte PDU (Protocol Data Unit), and coordinate information, azimuth information, and reference signal strength may be loaded in the PDU.

Specifically, for example, the PDU of the beacon message may include a latitude value of 4 bytes, a hardness value of 4 bytes, two azimuth values of 2 bytes each, and a 1-byte reference signal strength value. According to an embodiment, the PDU of the beacon message may further comprise an altitude value of two bytes.

1, the vehicle position measuring terminal 12 may include a wireless receiving unit 121 and a vehicle position estimating unit 122. [

The radio receiving unit 121 may be mounted on the vehicle 2 to receive a beacon signal and detect a beacon signal when the received signal strength of the received beacon signal is greater than a predetermined threshold value.

The vehicle position estimating unit 122 may extract coordinate information and azimuth information from the beacon signal and estimate the position of the vehicle 2 based on the extracted coordinate information and azimuth information.

Specifically, the vehicle position estimating unit 122 extracts a beacon message from the first beacon signal detected by the radio receiving unit 121 when the vehicle 2 enters the detection region 3. [

The vehicle position estimation unit 122 extracts coordinate information, azimuth information, and reference signal strength from the extracted beacon message.

The vehicle position estimating unit 122 calculates an estimated distance to the beacon based on the received signal strength of the detected beacon signal and the reference signal strength, and calculates the position of the vehicle 2 based on the estimated distance, the coordinate information, and the azimuth information Can be estimated.

According to the embodiment, the vehicle position estimation unit 122 detects a predetermined plurality of beacon signals when the vehicle 2 passes the detection start point 4 or after the detection start point 4, and outputs the received signal strength values of the detected plurality of beacon signals Lt; RTI ID = 0.0 > a < / RTI > received signal strength.

4 is a block diagram of a vehicle position correction system using a beacon according to an exemplary embodiment of the present invention. Referring to FIG. 4, when a vehicle continuously detects a beacon signal transmitted from a beacon in a vehicle position correction system using a beacon according to an exemplary embodiment of the present invention, FIG. 4 is a conceptual diagram illustrating a process of estimating a direction and a position of a beacon based on a vehicle according to the intensity of the beacon signal. FIG.

The vehicle position estimation terminal 12 mounted on the vehicle 2 can repeatedly detect a plurality of beacon signals transmitted in each beacon period. Considering the beacon period and the moving speed of the vehicle 2, it is possible to know whether a beacon signal is detected every time the vehicle 2 moves.

Since the azimuthal angle extracted from the beacon message in the beacon signal is always the same, the position estimated to be the wireless beacon dispatcher 11 based on the azimuth angle each time the beacon signal is detected moves with the movement of the vehicle 2 .

If the beacon period is 20 ms and the speed of the vehicle 2 is 200 Km / h, the vehicle 2 can move about 1.1 meters during one beacon period. Based on the position of the wireless beacon dispatcher 11 estimated based on the beacon signal detected as soon as the vehicle position measuring terminal 12 enters the detection region 3 and the position of the wireless beacon dispatcher 11 estimated based on the beacon signal of the next cycle, And the position of the second housing 11 will have an error of about 1 meter.

Therefore, if the speed of the vehicle 2 is high, it may be preferable to calculate the estimated distance using only the received signal strength of the first detected beacon signal.

On the other hand, if the speed of the vehicle 2 is low, the distance over which the estimated position varies during the detection of a plurality of beacon signals will be limited, and used to more accurately determine the received signal strength and reduce the error in the estimated distance .

For example, if the beacon period is 20 ms and the speed of the vehicle 2 is 10 Km / h, the vehicle 2 can only move about 0.05 meters during one beacon period. Based on the position of the wireless beacon dispensing apparatus 11 estimated based on the beacon signal detected as soon as the vehicle position measuring terminal 12 enters the detection region 3 and the position of the wireless beacon dispensing apparatus 11 estimated based on the following nine beacon signals, The position of the delivery device 11 is only about 0.5 meter apart. Therefore, in this case, it may be desirable to calculate the estimated distance by correcting the received signal strength from the 10 beacon signals.

At this time, the received signal strength is corrected by smoothing the received signal strength values of a plurality of beacon signals through a smoothing technique such as a predetermined moving average, a Kalman filter, autoregressive, low-pass filtering or smoothing filtering, Can be performed by deriving representative values.

Accordingly, the vehicle position estimating unit 122 can calculate the estimated distance to the beacon based on the corrected received signal strength and the reference signal strength.

On the other hand, in order to illustrate the process of compensating for the error caused by the movement of the vehicle while the vehicle position measuring terminal 12 estimates the position of the vehicle 2 and the error thereof according to the speed of the vehicle 2, Can be referred to.

5, if the speed of the vehicle 2 is high, during a time period between the detection time point at which the vehicle position measuring terminal 12 has detected the beacon signal and the point at which the calculation for primarily estimating the position of the vehicle 2 is completed The vehicle 2 can move to such an extent as to affect the error.

The vehicle position measurement terminal 12 measures the speed of the vehicle 2 while the vehicle 2 passes the detection start point 4 and the beacon signal is detected It is possible to calculate the moving distance of the vehicle 2 during a period of time between the detection time point when the vehicle 2 is detected and the time point at which the calculation of estimating the position of the vehicle 2 is completed.

Then, the vehicle position measuring terminal 12 can recalibrate the position of the vehicle 2 at the current time, taking into account the calculated travel distance.

6 is a flowchart illustrating a vehicle position correction method using a beacon according to an embodiment of the present invention.

6, the vehicle position correcting method includes a vehicle position correcting system 10 including a wireless beacon dispatching apparatus 11 installed on the road 1 and a vehicle position measuring terminal 12 mounted on the vehicle 2 .

In step S61, the wireless beacon dispatcher 11 may generate a beacon message including coordinate information of the position where the wireless beacon dispatcher 11 is installed, azimuth information, and reference signal strength.

At this time, the coordinate information includes latitude and longitude, and may further include an altitude according to an embodiment.

According to the embodiment, the azimuth information is detected when the vehicle 2 enters the detection area 3 of the beacon signal while the vehicle 2 is traveling on the road 1 at the position where the wireless beacon dispatcher 11 is installed Is the information on the azimuth angle as seen from the detection start point 4 on the road 1 scheduled to be taken.

According to an embodiment, the azimuth information may comprise different azimuth angles set for each of the plurality of velocity sections.

According to an embodiment, the wireless beacon dispatcher 11 is a BLE device and the beacon message can be generated to include latitude, longitude, at least one azimuth and reference signal strength in the PDU.

In step S62, the wireless beacon dispatcher 11 can transmit a beacon signal carrying a beacon message according to the reference signal strength.

At the detection start point 4 at which the vehicle 2 travels on the road 1 and enters the detection area 3 of the wireless beacon dispatching apparatus 11 in step S63, The vehicle position measurement terminal 12 may detect the beacon signal and extract the coordinate information and the azimuth information from the beacon signal.

According to the embodiment, step S63 may comprise the step of the vehicle position measuring terminal 12 detecting the beacon signal when the received signal strength of the received beacon signal is greater than a predetermined threshold value.

According to the embodiment, step S63 comprises the steps of: the vehicle position measuring terminal 12 extracting a beacon message from the first beacon signal detected by the vehicle 2 over the detection start point 4; And extracting coordinate information, azimuth information, and reference signal strength from the message.

According to an embodiment, step S63 comprises the steps of the vehicle position measuring terminal 12 detecting a plurality of beacon signals as the vehicle 2 passes the detection start point 4, detecting one of the detected beacon signals Extracting a beacon message, and extracting coordinate information, azimuth information, and reference signal strength from the extracted beacon message.

In step S64, the vehicle position measuring terminal 12 can estimate the position of the vehicle 2 based on the extracted coordinate information and azimuth information.

According to the embodiment, the step S64 calculates the estimated distance to the beacon based on the received signal strength of the beacon signal detected by the vehicle position measuring terminal 12 and the reference signal strength, and outputs the estimated distance, the coordinate information and the azimuth information And estimating the position of the vehicle 2 based on the position information.

According to an embodiment step S64 comprises the steps of the vehicle position measuring terminal 12 detecting a plurality of beacon signals as the vehicle 2 passes the detection start point 4 in the detection area 3, Extracting a beacon message from one of the plurality of beacon signals, extracting coordinate information, azimuth information, and reference signal strength from the extracted beacon message, calculating a corrected received signal strength based on the received signal strength values of the detected plurality of beacon signals Calculates the estimated distance to the wireless beacon dispatcher 11 based on the corrected received signal strength and the reference signal strength, and calculates the position of the vehicle 2 based on the estimated distance, the coordinate information, and the azimuth information And a step of estimating.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. It will be understood that variations and specific embodiments which may occur to those skilled in the art are included within the scope of the present invention.

Further, the apparatus according to the present invention can be implemented as a computer-readable code on a computer-readable recording medium. A computer-readable recording medium includes all kinds of recording apparatuses in which data that can be read by a computer system is stored. Examples of the recording medium include ROM, RAM, optical disk, magnetic tape, floppy disk, hard disk, nonvolatile memory and the like. The computer-readable recording medium may also be distributed over a networked computer system so that computer readable code can be stored and executed in a distributed manner.

1 road 2 vehicles
3 Detection area 4 Detection start point
10 Vehicle position compensation system
11 Wireless Beacons
111 beacon control unit
112 wireless transmitting unit
12 vehicle position measuring terminal
121 wireless receiver
122 vehicle position estimating unit

Claims (3)

A wireless beacon dispatcher for generating a beacon message including coordinate information of a position installed on a road, at least two azimuth information, and a reference signal strength, and transmitting the beacon signal carrying the beacon message according to the reference signal strength; And
And a vehicle position measurement terminal mounted on the vehicle and detecting the beacon signal and estimating the position of the vehicle based on the azimuth information of the coordinate information extracted from the beacon signal and the azimuth information of the at least two azimuth information,
When the vehicle enters the detection area of the beacon signal while the vehicle is traveling on the road at a speed corresponding to one of the plurality of velocity sections at a position where the wireless beacon dispatch apparatus is installed, Wherein each of the azimuth angles includes a different azimuth angle from the detection start point on the road, the azimuth angle being different from the azimuth angle of the beacon signal. A beacon controller for generating a beacon message including coordinate information of a position at which the wireless beacon dispatcher is installed, at least two azimuth information, and a reference signal strength; And
And a wireless transmitting unit for transmitting a beacon signal carrying the beacon message according to the reference signal strength,
When the vehicle enters the detection area of the beacon signal while the vehicle is traveling on the road at a speed corresponding to one of the plurality of velocity sections at a position where the wireless beacon dispatch apparatus is installed, And each different azimuth angle viewed from the detection start point on the road scheduled to detect the beacon signal. A wireless receiving unit mounted on a vehicle and receiving a beacon signal and detecting the beacon signal when a received signal strength of the received beacon signal is greater than a predetermined threshold value; And
And a vehicle position estimation unit that estimates the position of the vehicle based on the coordinate information extracted from the beacon signal and one of the azimuth information selected based on the current velocity of the vehicle among the at least two azimuth information,
Wherein the beacon signal includes a beacon message including coordinates information of a location where the wireless beacon dispatcher is installed on the road, at least two azimuth information, and a reference signal strength, and the beacon message is transmitted by the wireless beacon dispatcher And,
When the vehicle enters the detection area of the beacon signal while the vehicle is traveling on the road at a speed corresponding to one of the plurality of velocity sections at a position where the wireless beacon dispatch apparatus is installed, Wherein each of the azimuth angles includes a different azimuth angle from a detection start point on the road that is intended to detect a beacon signal.

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