KR20180006006A - Target selection apparatus and target selection method - Google Patents

Abstract

The present invention relates to a target selection device capable of accurately selecting a target, and a target selection method. The target selection device comprises: a receiving unit for receiving traveling information of a target vehicle positioned in front of a reference vehicle from an external sensor, which is a camera sensor, a radar sensor, or an ultrasonic sensor, to a target selection device selecting a target using a weight assigned to the target vehicle; an estimating unit that estimates the moving direction of the target vehicle based on the traveling information of the target vehicle; a determining unit for determining whether a first vehicle is out of the traveling path of the estimated reference vehicle based on the moving direction of the first vehicle selected in advance; and a setting unit determining that the first target vehicle is out of the traveling path of the reference vehicle, and setting a weight assigned to the first target vehicle to maintain the first target vehicle as a target when the difference between the movement direction of the first target vehicle and movement direction of the target vehicle falls within a predetermined range.

Description

[0001] TARGET SELECTION APPARATUS AND TARGET SELECTION METHOD [0002]

TECHNICAL FIELD [0002] The present invention relates to a technique for selecting a target as a reference in controlling a vehicle.

Recently, in the automobile industry, autonomous driving technology, which is a technology in which a motor vehicle travels by itself and travels to a destination, has been developed and put into practical use even if the driver does not operate the steering wheel, the accelerator pedal, or the brake.

Such an autonomous navigation technique can be put to practical use by using detailed technologies such as Adaptive Cruise Control (ACC), Autonomous Emergency Braking (AEB) and Traffic Jam Assist (TJA).

Such technologies as ACC, AEB, and TJA generally select a preceding vehicle that is traveling in the same lane as that of the subject vehicle, and select an acceleration device and a braking device of the vehicle in order to maintain a constant distance from the selected target vehicle As a technique to control, it is important to select an accurate target.

However, the road on which the vehicle travels has various environments including curved roads, and a problem that a target selected by various environments may change in an unintended situation may arise.

Due to such a problem, a vehicle applying the techniques such as ACC, AEB, and TJA may cause an undesired rapid braking or acceleration.

In view of the foregoing, it is an object of the present invention to provide a target selecting apparatus capable of selecting an accurate target in various road environments including curved roads in one aspect.

In one aspect, the present invention provides a method for selecting a target using a weight assigned to another vehicle from a camera sensor, a radar sensor, or an external sensor, which is an ultrasonic sensor, A receiver for receiving travel information; An estimating unit that estimates a moving direction of another vehicle based on the traveling information of the other vehicle; A judging unit for judging whether the first rider is out of the traveling path of the estimated rider based on the moving direction of the first rider selected in advance; And if the difference between the moving direction of the first riding vehicle and the moving direction of the other riding vehicle falls within a predetermined error range, it is determined that the first riding vehicle is in the target And a setting unit for setting a weight assigned to one vehicle.

In another aspect, the present invention provides a method for selecting a target using a weight assigned to another vehicle, the method comprising: A receiving step of receiving the data; An estimating step of estimating a moving direction of another vehicle based on the traveling information of the other vehicle; A determining step of determining whether the first target is out of the traveling path of the estimated target vehicle based on the traveling direction of the first target selected in advance; And if the difference between the moving direction of the first riding vehicle and the moving direction of the other riding vehicle falls within a predetermined error range, it is determined that the first riding vehicle is in the target And a setting step of setting a weight assigned to one vehicle.

As described above, according to the present invention, it is possible to provide a target selecting apparatus capable of selecting an accurate target even in various road environments including curved roads.

FIG. 1 is a diagram illustrating an example of a problem that can occur in an autonomous navigation apparatus for controlling a vehicle by selecting a target.
2 is a diagram illustrating a configuration of a target selecting apparatus according to an embodiment of the present invention.
3 is a diagram illustrating an example of operation of the target selection apparatus according to an embodiment of the present invention.
4 is a diagram illustrating an exemplary operation of the estimator according to an embodiment of the present invention.
5 is a diagram illustrating an example of operation of the determination unit according to an embodiment of the present invention.
6 is a flowchart illustrating a method of selecting a target according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail with reference to exemplary drawings. In the drawings, like reference numerals are used to denote like elements throughout the drawings, even if they are shown on different drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

In describing the components of the present invention, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the components from other components, and the terms do not limit the nature, order, order, or number of the components. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; intervening "or that each component may be" connected, "" coupled, "or " connected" through other components.

FIG. 1 is a diagram illustrating an example of a problem that can occur in an autonomous navigation apparatus for controlling a vehicle by selecting a target.

Recently, in the automobile industry, autonomous driving technology, which is a technology in which a motor vehicle travels by itself and travels to a destination, has been developed and put into practical use even if the driver does not operate the steering wheel, the accelerator pedal, or the brake. Such an autonomous navigation technique can be put to practical use by using detailed technologies such as Adaptive Cruise Control (ACC), Autonomous Emergency Braking (AEB) and Traffic Jam Assist (TJA).

Such technologies as ACC, AEB, and TJA generally select a preceding vehicle that is traveling in the same lane as that of the subject vehicle, and select an acceleration device and a braking device of the vehicle in order to maintain a constant distance from the selected target vehicle As a technique to control, it is important to select an accurate target. However, the road on which the vehicle travels has various environments including curved roads, and a problem that a target selected by various environments may change in an unintended situation may arise.

For example, referring to FIG. 1, when the vehicle 110a and the other vehicles 121a and 123a run straight (A); ACC, AEB, TJA, and the like select a first target 121a located directly ahead of the target vehicle 110a as a target, and adjust the distance between the target vehicle 121a and the first target 121a, The acceleration device and the braking device of the engine 110a can be controlled. However, in the case where the subject vehicle 110b is traveling straight or the other vehicles 121a and 123a curve (B) due to the road environment including the curved road, The ACC, AEB, TJA, and other technologies can target the second target 123b located in the straight ahead of the subject vehicle 110b.

Thus, in the case of including a curved line; The target to which the ACC, AEB, TJA, and other technologies operate may change. Therefore, there may arise a problem that the vehicle performs unexpected sudden braking or acceleration due to techniques such as ACC, AEB, and TJA.

Hereinafter, the target selecting apparatus and the target selecting method of the present invention will be described in detail with reference to FIGS. 2 to 6, which can solve the problem that the target is changed by the road environment as described above.

On the other hand, a general target selection technique can assign a weight according to the condition of another vehicle and select a target having a weight that is equal to or higher than a predetermined threshold value as a target. The target selecting apparatus and the target selecting method of the present invention can be applied in a state in which a weight is assigned to another vehicle according to conditions and a target having a weight value equal to or higher than a preset threshold value is selected as a target.

2 is a diagram illustrating a configuration of a target selecting apparatus according to an embodiment of the present invention.

Referring to FIG. 2, the target selecting apparatus 200 according to an embodiment of the present invention receives driving information of another vehicle located in front of the subject vehicle from a camera sensor, a radar sensor, or an external sensor 10 as an ultrasonic sensor A receiving unit 210 for receiving data; An estimator (220) for estimating a moving direction of another vehicle based on the running information of the other vehicle; A determination unit (230) for determining whether the first vehicle is out of the traveling path of the estimated vehicle based on the traveling direction of the first vehicle selected as the target in advance; And if the difference between the moving direction of the first riding vehicle and the moving direction of the other riding vehicle falls within a predetermined error range, it is determined that the first riding vehicle is in the target And a setting unit 240 for setting a weight assigned to one vehicle.

The camera sensor may include a light collecting part for receiving light, an image pickup unit for storing the received light as an image, and a control unit for controlling the state. The light-collecting unit is a component that accepts light to make an image on the imaging unit, and there are various methods ranging from a simple hole like a needle-hole camera to a complicated one using various kinds of multiple lenses. The light collecting part of a general camera includes a lens, an aperture and a device for adjusting the distance of the lens. The condenser is generally called a photographic lens. The image pickup unit is a part formed by light entered from the light collecting unit. The film camera captures a photosensitive film on the image pickup unit and develops and prints the image to form a picture. On the other hand, (CMOS, CCD, or the like) which converts an image signal into an electric signal, and stores the digital image converted into the electric signal into a storage medium in various types of image files. The adjustment device is a part that operates to obtain a desired image, and typically includes an aperture for adjusting the aperture size of the light collecting part, a shutter for accepting or blocking light, and the like. For example, in a bright place, the aperture can be narrowed to reduce the amount of light, and in dark places, an iris can be opened to increase the amount of light to obtain a proper image. In addition, it is possible to speed up the motion of the shutter with respect to the fast movement of the athlete and to shoot the still image. Other devices such as a flash for shooting in a dark place and a viewfinder for previewing an object to be photographed can also be included in the control device.

A radar sensor can measure the distance to an object by emitting an electromagnetic wave and analyzing the electromagnetic wave that is reflected by the reflected object. If the radar uses a low-frequency long-wave, the attenuation of the radio wave can be detected to a small distance, but it can not be precisely measured and the resolution is deteriorated. On the other hand, when a high-frequency wave having a short wavelength is used, It is possible to obtain high resolution although the attenuation is so large that it can not be detected to a far place. According to this characteristic, when it is necessary to quickly detect a remote target such as an air defense radar and a ground radar, it is necessary to precisely measure the shape and size of a target such as a shooting control radar while using a low frequency radio wave A radio wave of high frequency is used.

Ultrasonic sensors are characterized by the fact that the wavelength is shortened when the frequency is increased, the diffraction phenomenon is difficult to occur, the shade of the object is easily generated, and the ultrasonic wave is transmitted in one direction, And direction of the vehicle. In order to detect the distance, the ultrasonic sensor can detect the distance to the object based on the time from the ultrasonic wave of the pulse waveform to the time of returning after the ultrasonic wave is emitted.

By installing the external sensing sensor 10 capable of sensing an object by this method so as to monitor the front of the vehicle, the external sensor 10 can detect the position of the other vehicle positioned in front of the vehicle And the like), and the like.

The receiving unit 210 of the target selecting apparatus 200 according to an embodiment of the present invention can receive the traveling information of the other vehicle from the external sensing sensor 10. [

For example, the receiving unit 210 may receive driving information of the other vehicle from the external sensor 10 using a CAN (Controller Area Network). CAN is a message-based protocol that is a standard communication standard designed to communicate with microcontrollers or devices in a vehicle without a host computer. Such CAN is often used not only in vehicles but also in industrial automation equipment and medical equipment.

The estimating unit 220 of the target selecting apparatus 200 according to an embodiment of the present invention can estimate the moving direction of another vehicle based on the traveling information of the received other vehicle.

For example, when location information of another vehicle is received as travel information; The estimation unit 220 can estimate the moving direction, which is a vector, by subtracting the previously received position information from the currently received position information.

In another example, when image information of another vehicle is received as traveling information; The estimating unit 220 can estimate the moving direction of the other vehicle using the ratio of the side image and the rear image of the other vehicle.

The determination unit 230 of the target selection apparatus 200 according to the embodiment of the present invention determines whether the first target vehicle is out of the traveling path of the estimated vehicle based on the moving direction of the first target vehicle selected in advance .

For example, the determination unit 230 may determine that the first vehicle is out of the traveling path of the subject vehicle if the estimated traveling direction of the first vehicle does not coincide with the direction of the traveling path of the subject vehicle have. A certain allowable range may be applied in determining whether the moving direction of the first other vehicle coincides with the direction of the traveling path of the own vehicle.

Here, the running path of the subject vehicle may be set toward the front of the subject vehicle or may be estimated based on the running information of the subject vehicle received from the sensor capable of sensing the curved running of the subject vehicle. The sensor capable of sensing the curve running may be a yaw rate sensor, a steering angle sensor, a wheel speed sensor, or the like, which detects a curve running using the state of the vehicle. Alternatively, the sensor capable of detecting the curve running may be a sensor capable of detecting the curve running using the relationship between the vehicle and the fixed external object. The external object may be sensed by the external sensor 10.

The setting unit 240 of the target selecting apparatus 200 according to the embodiment of the present invention determines that the first rider is out of the running path of the own vehicle, It is possible to set a weight assigned to the first target so that the first target is maintained as the target. Here, the comparison between the moving direction of the first vehicle selected as the target vehicle and the moving direction of the other vehicle may be made to determine whether the first other vehicle is traveling on a shoulder or a detour road or along a curved road .

In the reliability of such a determination, the setting unit 240 can calculate the difference between the moving direction of the first vehicle and the moving direction of the other vehicle only when the number of the other vehicles is equal to or greater than a predetermined threshold number. That is, the higher the critical number, the more reliable the judgment can be, but the applied case can be reduced, so it can be compromised based on the experimental data.

In addition, the error range is intended to reflect this because there is a difference in the direction of travel even when traveling on the same road. Further, since the difference in the turning radius of the vehicles running on the curve is larger than the difference in the turning radius of the vehicles running on the straight line, the error range can be increased if the running path of the subject vehicle is estimated as a curve.

On the other hand, the setting unit 240 may reduce the amount of the weight assigned to the first target to be reduced or set to 0 (zero) so that the first target is maintained as the target.

As described above, the target selecting apparatus according to an embodiment of the present invention is configured such that the first target selected as the target runs on a curved line and is not positioned in the straight ahead of the vehicle, Can be solved.

In addition, the target selecting apparatus according to another embodiment of the present invention not only sets a weight assigned to a first target previously selected for a target (like a target selecting apparatus according to an embodiment of the present invention) It is possible to further set the weight assigned to the second target not selected as the second target.

For this, the determination unit of the target selection apparatus according to another embodiment of the present invention determines whether or not the second target vehicle enters the traveling path of the estimated target vehicle based on the moving direction of the second target vehicle that is not selected as the target can do.

For example, the determination unit may determine that the second vehicle enters the traveling path of the subject vehicle when the estimated traveling direction of the second vehicle approaches the traveling path of the subject vehicle.

In addition, the setting unit of the target selecting apparatus according to another embodiment of the present invention determines that the second riding vehicle enters the running path of the own vehicle, and the difference between the moving direction of the second riding vehicle and the moving direction of the other vehicle is an error It is possible to set a weight assigned to the second target so that the second target is not selected as the target. Here, the comparison between the moving direction of the second target not selected as the target vehicle and the moving direction of the other vehicle may be made to determine whether the second target changes the lane or travels along the curve.

In the reliability level of such a determination, the setting unit can calculate the difference between the moving direction of the second target vehicle and the moving direction of the other vehicle only when the number of the other vehicles is equal to or greater than a predetermined threshold number. That is, the higher the threshold number is, the more reliable the judgment can be made, but since the applied case can be reduced, it can be compromised and set based on the experimental data.

In addition, the error range may be to reflect the movement direction even when traveling on the same road.

On the other hand, the setting unit may reduce the amount by which the weight assigned to the second target increases, or may set it to 0 (zero) so that the second target is not selected as the target.

As described above, the target selecting apparatus according to another embodiment of the present invention is configured such that the target is not changed as the second target, which is not selected as the target, travels on the curved road and is positioned directly in front of the target vehicle Can be solved.

The operation of the target selecting apparatus according to one embodiment of the present invention and the target selecting apparatus according to another embodiment of the present invention will be described in detail with reference to FIG. 3 to FIG.

FIG. 3 is a view for explaining an operation of the target selecting apparatus according to an embodiment of the present invention. FIG. 4 is a diagram illustrating an operation of the estimating unit according to an embodiment of the present invention. FIG. 5 is a diagram illustrating an operation of the determination unit according to an exemplary embodiment of the present invention. Referring to FIG.

3, when the subject vehicle 310 is running on a straight line passing through a curve and the other vehicles 321, 323, 325, and 327 are traveling in a curve on the front side of the subject vehicle 310 to be.

In this situation, an external detection sensor installed to monitor the vehicle 310 in the forward direction detects the other vehicles 321, 323, 325, and 327 and generates driving information of the other vehicles 321, 323, 325, and 327 . Accordingly, the receiving unit according to the embodiment of the present invention can receive the traveling information from the external sensor.

Accordingly, the estimating unit according to the embodiment of the present invention can estimate the moving directions 421, 423, 425, and 427 of other vehicles based on the received traveling information as shown in FIG.

For example, when location information of another vehicle is received as travel information; The estimator can estimate the movement directions 421, 423, 425, and 427, which are vectors, by subtracting the previously received position information from the currently received position information.

In another example, when image information of another vehicle is received as traveling information; The estimating unit can estimate the moving directions 421, 423, 425, and 427 of the other vehicle using the ratio of the side image and the rear image of the other vehicle. That is, according to the situation of FIG. 3, the image information of the received other vehicles 321, 323, 325, and 327 may include respective left side images and rear side images. Accordingly, the estimation unit can estimate that the moving directions of the other vehicles 321, 323, 325, and 327 are directed to the left. Furthermore, the estimating unit can estimate the moving direction of the other vehicle using the ratio of the left side image and the rear side image that are received. In detail, the ratio of the left side image and the rear side image can be applied to the trigonometric function to estimate the angle of the correct moving direction of the other vehicle. For example, if the ratio of the left side image to the rear side image is equal to the ratio of the length of the full length of the other vehicle and the width of the other vehicle, the estimating unit can estimate the moving direction of the other vehicle at about 45 degrees.

If the moving direction is estimated as described above, the determination unit according to an embodiment of the present invention determines whether the first vehicle is traveling on the basis of the traveling direction 423 of the first target, It is possible to judge whether or not the road 510 is out of the way. Here, the traveling path 510 of the subject vehicle can be estimated based on the traveling information of the subject vehicle, which is set toward the front of the subject vehicle or received from a sensor capable of sensing the curve running of the subject vehicle.

5, the determination unit determines that the moving direction 423 of the first vehicle does not coincide with the direction 511 toward which the traveling path 510 of the subject vehicle is directed, so that the first vehicle leaves the traveling path 510 of the subject vehicle . Here, the permissible range can be applied to handle the same direction when comparing directions.

It is determined that the first other vehicle is out of the traveling path 510 of the own vehicle and the difference between the moving direction 423 of the first other vehicle and the moving directions 421, 425, and 427 of the other vehicle falls within a predetermined error range The setting unit can set a weight assigned to the first target so that the first target is maintained as the target. For example, the setting unit may reduce the amount of the weight assigned to the first target to be reduced or set to 0 (zero) so that the first target is maintained as the target.

Here, the setting unit sets the moving direction 423 of the first vehicle and the moving directions 421, 425, and 427 of the other vehicle only when the number of the other vehicles (three in the case of FIG. 4) The difference can be calculated. This may be to judge accurately whether the first rider is traveling on a shoulder or a bypass road or traveling along a curved road.

Meanwhile, the target selecting apparatus according to another embodiment of the present invention not only sets a weight assigned to a first target previously selected as a target (like a target selecting apparatus according to an embodiment of the present invention) It is possible to further set the weight assigned to the second target not selected as the second target.

5, the determination unit may determine that the second vehicle is traveling on the traveling path 510 of the own vehicle based on the moving direction 425 of the second vehicle not previously targeted, Quot; 5, the second rider means a vehicle that travels on the right lane on the basis of the vehicle 310, which may be a result of the vehicle lane being bent to the left. In other words, if the lane is bent to the right, the second lane may refer to another lane that runs on the left lane on the basis of the lane lane.

In addition, the setting unit according to another embodiment of the present invention determines that the second riding vehicle enters the running path 510 of the own vehicle, and the moving direction 425 of the second riding vehicle and the moving direction 421 , 423, and 427 is within the error range, the setting unit can set a weight assigned to the second target so that the second target is not selected as the target. For example, the setting unit may reduce the amount by which the weight assigned to the second target is increased or set the target to 0 (zero) so that the second target is not selected as the target.

Here, the setting unit sets the moving direction 425 of the second target and the moving directions 421, 423, and 427 of the other vehicle only when the number of the other vehicles (three in the case of FIG. 4) The difference can be calculated. This may be for accurately determining whether the second rider is changing lanes or traveling along a curve.

In FIGS. 4 and 5, the traveling direction of the other vehicle and the traveling path of the child vehicle can be expressed by introducing a grid map set so as to have an X-Y coordinate corresponding to the X-Y coordinate of the ground. In this case, the grid map can be updated to reflect the moving direction and distance of the vehicle. In other words, the update period of the grid map may be equal to or shorter than the period of estimating the travel information reception and movement direction.

As described above, the target selecting apparatus of the present invention can solve the problem that the target is changed due to the fact that the first target selected as the target runs on the curve and is not located on the straight ahead side of the vehicle, It is possible to solve the problem that the target is changed as the second vehicle, which is not selected as the first vehicle, travels on the curved road and is positioned on the straight ahead side of the vehicle.

Hereinafter, a target selecting method, which is an operation performed by the target selecting apparatus described with reference to FIGS. 2 to 5, will be briefly described.

6 is a flowchart illustrating a method of selecting a target according to an embodiment of the present invention.

Referring to FIG. 6, a target selecting method according to an embodiment of the present invention includes receiving, from a camera sensor, a radar sensor, or an external sensor 10 as an ultrasonic sensor, traveling information of another vehicle located in front of the subject vehicle Step 600; An estimation step (610) of estimating a moving direction of the other vehicle based on the running information of the other vehicle; A determination step (620) of determining whether the first target is out of the traveling path of the estimated own vehicle based on the moving direction of the first target previously selected as the target; And if the difference between the moving direction of the first riding vehicle and the moving direction of the other riding vehicle falls within a predetermined error range, it is determined that the first riding vehicle is in the target And a setting step 630 of setting a weight assigned to one vehicle.

The camera sensor may include a light collecting part for receiving light, an image pickup unit for storing the received light as an image, and a control unit for controlling the state. The light-collecting unit is a component that accepts light to make an image on the imaging unit, and there are various methods ranging from a simple hole like a needle-hole camera to a complicated one using various kinds of multiple lenses. The light collecting part of a general camera includes a lens, an aperture and a device for adjusting the distance of the lens. The condenser is generally called a photographic lens. The image pickup unit is a part formed by light entered from the light collecting unit. The film camera captures a photosensitive film on the image pickup unit and develops and prints the image to form a picture. On the other hand, (CMOS, CCD, or the like) which converts an image signal into an electric signal, and stores the digital image converted into the electric signal into a storage medium in various types of image files. The adjustment device is a part that operates to obtain a desired image, and typically includes an aperture for adjusting the aperture size of the light collecting part, a shutter for accepting or blocking light, and the like. For example, in a bright place, the aperture can be narrowed to reduce the amount of light, and in dark places, an iris can be opened to increase the amount of light to obtain a proper image. In addition, it is possible to speed up the motion of the shutter with respect to the fast movement of the athlete and to shoot the still image. Other devices such as a flash for shooting in a dark place and a viewfinder for previewing an object to be photographed can also be included in the control device.

A radar sensor can measure the distance to an object by emitting an electromagnetic wave and analyzing the electromagnetic wave that is reflected by the reflected object. If the radar uses a low-frequency long-wave, the attenuation of the radio wave can be detected to a small distance, but it can not be precisely measured and the resolution is deteriorated. On the other hand, when a high-frequency wave having a short wavelength is used, It is possible to obtain high resolution although the attenuation is so large that it can not be detected to a far place. According to this characteristic, when it is necessary to quickly detect a remote target such as an air defense radar and a ground radar, it is necessary to precisely measure the shape and size of a target such as a shooting control radar while using a low frequency radio wave A radio wave of high frequency is used.

Ultrasonic sensors are characterized by the fact that the wavelength is shortened when the frequency is increased, the diffraction phenomenon is difficult to occur, the shade of the object is easily generated, and the ultrasonic wave is transmitted in one direction, And direction of the vehicle. In order to detect the distance, the ultrasonic sensor can detect the distance to the object based on the time from the ultrasonic wave of the pulse waveform to the time of returning after the ultrasonic wave is emitted.

By installing the external sensing sensor 10 capable of sensing an object by this method so as to monitor the front of the vehicle, the external sensor 10 can detect the position of the other vehicle positioned in front of the vehicle And the like), and the like.

The receiving step (600) of the target selecting method according to an embodiment of the present invention may receive the traveling information of the other vehicle from the external sensing sensor (10).

For example, the receiving step 600 may receive the driving information of the other vehicle from the external sensor 10 using a CAN (Controller Area Network). CAN is a message-based protocol that is a standard communication standard designed to communicate with microcontrollers or devices in a vehicle without a host computer. Such CAN is often used not only in vehicles but also in industrial automation equipment and medical equipment.

The estimating step 610 of the target selecting method according to an embodiment of the present invention can estimate the moving direction of another vehicle based on the traveling information of the received other vehicle.

For example, when location information of another vehicle is received as travel information; Estimation step 610 may estimate the direction of movement, which is a vector, by subtracting previously received location information from the currently received location information.

In another example, when image information of another vehicle is received as traveling information; The estimating step 610 can estimate the moving direction of the other vehicle using the ratio of the side image and the rear image of the other vehicle.

The target selection method determination step 620 according to an embodiment of the present invention determines whether the first target vehicle is out of the traveling path of the estimated vehicle based on the moving direction of the first target vehicle selected in advance .

For example, the determining step 620 may determine that the first vehicle is out of the traveling path of the vehicle if the estimated traveling direction of the first vehicle does not coincide with the traveling direction of the vehicle have. A certain allowable range may be applied in determining whether the moving direction of the first other vehicle coincides with the direction of the traveling path of the own vehicle.

Here, the running path of the subject vehicle may be set toward the front of the subject vehicle or may be estimated based on the running information of the subject vehicle received from the sensor capable of sensing the curved running of the subject vehicle. The sensor capable of sensing the curve running may be a yaw rate sensor, a steering angle sensor, a wheel speed sensor, or the like, which detects a curve running using the state of the vehicle. Alternatively, the sensor capable of detecting the curve running may be a sensor capable of detecting the curve running using the relationship between the vehicle and the fixed external object. The external object may be sensed by the external sensor 10.

The setting step 630 of the target selecting method according to an embodiment of the present invention determines that the first rider is out of the running route of the own vehicle and the difference between the moving direction of the first rider and the moving direction of the other rider The weight assigned to the first rider can be set so that the first rider is kept as the target if it is within the predetermined error range. Here, the comparison between the moving direction of the first vehicle selected as the target vehicle and the moving direction of the other vehicle may be made to determine whether the first other vehicle is traveling on a shoulder or a detour road or along a curved road .

In the reliability level of this judgment, the setting step 630 can calculate the difference between the moving direction of the first vehicle and the moving direction of the other vehicle only when the number of the other vehicles is equal to or greater than a predetermined threshold number. That is, the higher the critical number, the more reliable the judgment can be, but the applied case can be reduced, so it can be compromised based on the experimental data.

In addition, the error range is intended to reflect this because there is a difference in the direction of travel even when traveling on the same road. Further, since the difference in the turning radius of the vehicles running on the curve is larger than the difference in the turning radius of the vehicles running on the straight line, the error range can be increased if the running path of the subject vehicle is estimated as a curve.

On the other hand, in the setting step 630, the amount by which the weight assigned to the first vehicle is decreased may be reduced or may be set to 0 (zero) so that the first target is maintained as the target.

As described above, the target selecting method according to an embodiment of the present invention is a method of selecting a target from a plurality of targets, the target being selected because the first target is not located in the straight ahead of the vehicle, Can be solved.

In addition, the target selecting method according to another embodiment of the present invention not only sets a weight assigned to a first target previously selected as a target (like a target selecting apparatus according to an embodiment of the present invention) It is possible to further set the weight assigned to the second target not selected as the second target.

For this, in the determination of the target selecting method according to another embodiment of the present invention, it is determined whether or not the second riding vehicle enters the traveling path of the estimated riding vehicle based on the moving direction of the second riding vehicle that is not selected as the target It can be judged.

For example, the determining step may determine that the second riding vehicle enters the traveling path of the subject vehicle when the estimated traveling direction of the second riding vehicle is directed to the traveling path of the subject vehicle.

According to another aspect of the present invention, there is provided a method of selecting a target, the method comprising: determining that a second vehicle enters a traveling path of the vehicle; and a difference between a moving direction of the second vehicle and a moving direction of the other vehicle If it is within the error range, the weight assigned to the second target may be set so that the second target is not selected as the target. Here, the comparison between the moving direction of the second target not selected as the target vehicle and the moving direction of the other vehicle may be made to determine whether the second target changes the lane or travels along the curve.

In the reliability level of such a determination, the setting step can calculate the difference between the moving direction of the second target vehicle and the moving direction of the other vehicle only when the number of the other vehicles is equal to or greater than a predetermined threshold number. That is, the higher the threshold number is, the more reliable the judgment can be made, but since the applied case can be reduced, it can be compromised and set based on the experimental data.

In addition, the error range may be to reflect the movement direction even when traveling on the same road.

On the other hand, in the setting step, the amount of increase of the weight assigned to the second target may be reduced or set to 0 (zero) so that the second target is not selected as the target.

As described above, the target selecting method according to another embodiment of the present invention is a method for selecting a target that is not selected as a target, Can be solved.

In addition, the target selecting method of the present invention can perform all the operations performed by the target selecting apparatus of the present invention described with reference to FIGS. 2 to 5.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the inventions. , Separation, substitution, and alteration of the invention will be apparent to those skilled in the art. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

Claims (10)

A target selecting apparatus for selecting a target using a weight assigned to another vehicle,
A receiving unit for receiving traveling information of the other vehicle located in front of the subject vehicle from an external sensor, which is a camera sensor, a radar sensor, or an ultrasonic sensor;
An estimating unit that estimates a moving direction of the other vehicle based on the running information of the other vehicle;
A determination unit for determining whether the first vehicle is out of the traveling path of the child vehicle based on the traveling direction of the first vehicle selected as the target in advance; And
If the difference between the moving direction of the first riding vehicle and the moving direction of the other riding vehicle falls within a predetermined error range, And a setting unit configured to set a weight assigned to the first rider so as to be maintained at the first target. The method according to claim 1,
Wherein,
Wherein the reduction amount of the weight assigned to the first target is reduced or set to 0 (zero) so that the first target is maintained as the target. The method according to claim 1,
Wherein,
And calculates the difference between the moving direction of the first vehicle and the moving direction of the other vehicle only when the number of the other vehicles is equal to or greater than a predetermined threshold number. The method according to claim 1,
Wherein the judging unit further judges whether the second riding vehicle enters the traveling path of the own vehicle based on the moving direction of the second riding vehicle,
Wherein,
When the difference between the moving direction of the second target vehicle and the moving direction of the other vehicle falls within the error range, the second target is determined as the target Wherein the weight setting unit sets a weight assigned to the second target so as not to be selected as the target. 5. The method of claim 4,
Wherein,
Wherein the amount of increase of the weight assigned to the second target is reduced or set to 0 (zero) so that the second target is not selected as the target. 5. The method of claim 4,
Wherein,
And calculates the difference between the moving direction of the second target vehicle and the moving direction of the other vehicle only when the number of the other vehicles is equal to or greater than a predetermined threshold number. The method according to claim 1,
Wherein the receiving unit further receives the running information of the subject vehicle from the running detection sensor included in the subject vehicle and capable of detecting a curved running,
Wherein the traveling path of the subject vehicle is estimated based on traveling information of the subject vehicle. 8. The method of claim 7,
Wherein the error range is increased when the running path of the subject vehicle is estimated as a curve. A target selecting method for selecting a target using a weight assigned to another vehicle,
A receiving step of receiving traveling information of the other vehicle positioned in front from an external sensor, which is a camera sensor, a radar sensor, or an ultrasonic sensor;
An estimating step of estimating a moving direction of the other vehicle based on the traveling information of the other vehicle;
A determining step of determining whether the first target is out of the traveling path of the estimated target vehicle based on a moving direction of the first target selected in advance; And
If the difference between the moving direction of the first riding vehicle and the moving direction of the other riding vehicle falls within a predetermined error range, And setting a weight assigned to the first target so as to be maintained at the first target. 10. The method of claim 9,
Wherein the determining further determines whether the second riding vehicle enters the traveling path of the own vehicle based on the traveling direction of the second riding vehicle,
Wherein, in the setting step,
When the difference between the moving direction of the second target vehicle and the moving direction of the other vehicle falls within the error range, the second target is determined as the target And setting a weight assigned to the second target so as not to be selected as the target.

Images