KR20190093531A - System and method for correcting position information of surrounding vehicle - Google Patents

System and method for correcting position information of surrounding vehicle Download PDF

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KR20190093531A
KR20190093531A KR1020190091124A KR20190091124A KR20190093531A KR 20190093531 A KR20190093531 A KR 20190093531A KR 1020190091124 A KR1020190091124 A KR 1020190091124A KR 20190091124 A KR20190091124 A KR 20190091124A KR 20190093531 A KR20190093531 A KR 20190093531A
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vehicle
information
surrounding
position information
driving
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KR102263729B1 (en
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구본욱
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현대모비스 주식회사
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • G01S17/895—
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/89—Lidar systems specially adapted for specific applications for mapping or imaging
    • G01S17/90—Lidar systems specially adapted for specific applications for mapping or imaging using synthetic aperture techniques
    • B60W2420/408—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/52—Radar, Lidar
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/62—Laser
    • B60W2550/14—
    • B60W2550/308—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2552/00—Input parameters relating to infrastructure
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • B60W2554/801—Lateral distance
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/08—Predicting or avoiding probable or impending collision
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/93185—Controlling the brakes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G01S2013/932—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles using own vehicle data, e.g. ground speed, steering wheel direction
    • G01S2013/9346—
    • G01S2013/9353—

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  • Engineering & Computer Science (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a system for providing position information of vehicles driving around a driving vehicle and a method thereof. According to one aspect of the present invention, a system for correcting position information of a surrounding vehicle comprises: a front vehicle information obtaining unit obtaining identification information of a second vehicle driving in front of a first vehicle on a curve road, measuring a distance between the first vehicle and the second vehicle, and determining a relative position of the second vehicle with respect to a current position of the first vehicle to determine position information of the second vehicle; a surrounding vehicle information reception unit receiving identification information and position information of the surrounding vehicle driving in the vicinity; and a position information correction unit comparing the determined position information of the second vehicle with position information of the surrounding vehicle having identification information matched with the identification information of the second vehicle and correcting the position information of the surrounding vehicle in accordance with the comparison result.

Description

주변차량의 위치정보 보정 시스템 및 방법 {SYSTEM AND METHOD FOR CORRECTING POSITION INFORMATION OF SURROUNDING VEHICLE}Position information correction system and method of nearby vehicles {SYSTEM AND METHOD FOR CORRECTING POSITION INFORMATION OF SURROUNDING VEHICLE}

본 발명은 주행중인 차량의 주변에서 주행하고 있는 차량들의 위치정보를 제공하는 시스템 및 방법에 관한 것으로서, 구체적으로는, 주변에서 주행하는 차량들의 위치정보의 오차를 보정하고 보정된 위치정보를 기준으로 주변차량들의 정보를 제공하는 시스템 및 방법에 관한 것이다.The present invention relates to a system and method for providing location information of vehicles running in the vicinity of a driving vehicle, and specifically, to correct an error in the location information of vehicles traveling in the vicinity and based on the corrected location information. A system and method for providing information of surrounding vehicles.

운전 지원 시스템(ADAS: Advanced Driver Assistance System)은 운전자의 안전과 편의를 위해 센서나 통신을 통해 획득한 정보를 기반으로 운전을 보조하는 시스템으로서, 전방에서 주행중인 차량과의 충돌을 방지하기 위한 시스템으로는 긴급 제동 시스템(AEB: Autonomous Emergency Braking), 전방 충돌 경고 시스템(FCW: Forward Collision Warning System) 등이 존재한다.Advanced Driver Assistance System (ADAS) is a system that assists driving based on information obtained through sensors or communication for the driver's safety and convenience. For example, there are an emergency braking system (AEB) and a forward collision warning system (FCW).

긴급 제동 시스템이나 전방 충돌 경고 시스템은 센서를 통해 획득한 정보에 따라 안전운전 서비스를 제공하거나, 차량간 통신(V2V)을 통해 주변차량으로부터 수신한 정보 중 전방에서 주행중인 차량의 감속, 긴급제동 등의 정보에 기초하여 운전자에게 경고를 주거나 차량 스스로 제어를 함으로써 사고 위험을 감소시킬 수 있도록 한다.The emergency braking system or the front collision warning system provides safe driving services according to the information obtained through the sensors, or deceleration of the vehicle running in front of the vehicle received from the surrounding vehicle through inter-vehicle communication (V2V), emergency braking, etc. The risk of accidents can be reduced by alerting the driver or by controlling the vehicle on the basis of the information.

이때, 긴급 제동 시스템, 전방 충돌 경고 시스템이 차량간 통신을 통해 수신된 정보에 기초하여 안전운전 서비스를 제공하는 경우, 전방에서 주행중인 차량의 정보인지 여부를 식별해야 하기 때문에, 주변차량으로부터 수신한 위치정보와 주행중인 도로정보에 기초하여 전방에서 주행중인 차량으로부터 수신한 정보를 식별한다.In this case, when the emergency braking system and the front collision warning system provide the safe driving service based on the information received through the inter-vehicle communication, whether the emergency braking system or the front collision warning system is the information of the vehicle driving in front is received. The information received from the vehicle traveling in front is identified based on the location information and the driving road information.

그런데 주변차량으로부터 수신한 위치정보는 주변차량의 GPS 신호에 기초한 것으로서 GPS 신호의 오차가 발생하게 되면 주변차량의 잘못된 위치정보를 수신할 수도 있는 문제점이 존재한다.However, the location information received from the surrounding vehicle is based on the GPS signal of the surrounding vehicle. When an error of the GPS signal occurs, there is a problem in that incorrect location information of the surrounding vehicle may be received.

도 1a와 도 1b는 주변차량으로부터 잘못된 위치정보를 수신하는 경우의 예시를 나타낸 것으로서, 도 1a는 차량과 주변(전방)차량의 실제 주행 위치를 나타낸 것이고 도 1b는 주변차량으로부터 수신한 GPS 신호에 기반하여 주변차량의 위치를 인식한 것으로서 GPS 신호의 오차로 인하여 잘못된 위치를 인식한 경우를 나타낸 것이다.1A and 1B illustrate an example of receiving wrong position information from a surrounding vehicle, in which FIG. 1A shows actual driving positions of a vehicle and a surrounding (front) vehicle, and FIG. 1B shows a GPS signal received from a surrounding vehicle. Based on the recognition of the position of the surrounding vehicle based on the error of the GPS signal shows the case where the wrong position is recognized.

즉, 실제로는 도 1a와 같은 상태에서 주행중이지만 주변차량으로부터 수신한 GPS 신호의 오차로 인하여 도 1b와 같은 주행상황으로 인식하게 되며, 주변차량으로부터 긴급제동 정보를 수신하더라도 동일한 차로에서 주행중인 전방차량으로 인식하지 않게 되어 운전 지원 시스템이 작동하지 않는 문제가 발생한다.That is, the vehicle is actually driving in the same state as in FIG. 1A, but is recognized as the driving situation as in FIG. 1B due to an error in the GPS signal received from the surrounding vehicle, and the front vehicle running in the same lane even when emergency braking information is received from the surrounding vehicle. The driving support system does not work because it is not recognized.

본 발명은 전술한 문제점을 해결하기 위하여, 커브 도로에서 전방차량의 정보를 획득하여 결정한 전방차량의 위치와 차량간 통신을 통해 수신한 전방차량의 위치정보를 비교함으로써, 주변차량으로부터 수신한 위치정보를 정확하게 보정할 수 있는 주변차량의 위치정보 보정 시스템 및 방법을 제공하는 것을 목적으로 한다.The present invention, in order to solve the above problems, by comparing the position information of the front vehicle determined by obtaining the information of the front vehicle on the curve road and the position information of the front vehicle received through the inter-vehicle communication, the position information received from the surrounding vehicle It is an object of the present invention to provide a system and method for correcting the position information of a surrounding vehicle that can accurately correct the accuracy.

본 발명에 따른 주변차량의 위치정보 보정 시스템은 커브 도로에서 제1 차량의 전방에서 주행중인 제2 차량의 식별 정보를 획득하고, 제1 차량 및 제2 차량 사이의 거리를 측정하고, 제1 차량의 현재 위치에 대한 제2 차량의 상대 위치를 결정하여 제2 차량의 위치 정보를 결정하는 전방차량정보획득부와, 주변에서 주행중인 주변차량의 식별 정보와 위치 정보를 수신하는 주변차량정보수신부 및 결정된 제2 차량의 위치 정보와, 제2 차량의 식별 정보와 일치하는 식별 정보를 가지는 주변차량의 위치 정보를 비교하고, 비교결과에 따라 주변차량의 위치 정보를 보정하는 위치정보보정부를 포함하는 것을 특징으로 한다. The position information correction system of the surrounding vehicle according to the present invention obtains identification information of the second vehicle running in front of the first vehicle on the curve road, measures the distance between the first vehicle and the second vehicle, A front vehicle information acquisition unit configured to determine a position of the second vehicle relative to a current position of the second vehicle to determine position information of the second vehicle, a peripheral vehicle information receiver that receives identification information and position information of the surrounding vehicle being driven around; And comparing the determined position information of the second vehicle with the position information of the surrounding vehicles having identification information that matches the identification information of the second vehicle, and including a position information correction unit for correcting the position information of the surrounding vehicles according to the comparison result. It features.

전방차량정보획득부는 레이더 또는 레이저스캐너를 통해 제1 차량 및 제2 차량 사이의 거리를 측정한다. The front vehicle information acquisition unit measures the distance between the first vehicle and the second vehicle through a radar or a laser scanner.

전방차량정보획득부는 주행 중인 커브 도로의 정보(도로의 전체 차선, 곡률)를 이용하여 제2 차량의 위치 정보를 계산한다. The front vehicle information acquisition unit calculates the position information of the second vehicle by using the information (the entire lane of the road, the curvature) of the curved road while driving.

전방차량정보획득부는 거리 및 제2 차량의 방향을 이용하여 제1 차량의 현재위치에 대한 제2 차량의 상대적인 위치를 결정한다. The front vehicle information acquisition unit determines the relative position of the second vehicle with respect to the current position of the first vehicle using the distance and the direction of the second vehicle.

위치정보 보정부는 보정된 주변차량의 위치정보를 운전자보조시스템(예: FCW)으로 전송한다. The position information correction unit transmits the corrected position information of the surrounding vehicle to the driver assistance system (eg, FCW).

위치정보 보정부는 계산된 제2 차량의 위치 정보와, 제2 차량의 식별 정보와 일치하는 식별 정보를 가지는 주변차량의 위치 정보의 차이로부터 보정값을 결정하고, 결정된 보정값에 따라 주변차량정보수신부에 의해 수신된 주변차량의 위치정보를 보정한다. The position information correction unit determines a correction value from the calculated difference between the position information of the second vehicle and the position information of the surrounding vehicle having the identification information that matches the identification information of the second vehicle, and the surrounding vehicle information receiver according to the determined correction value. Correcting the positional information of the surrounding vehicle received.

위치정보 보정부는 보정값을 이용하여 주변차량정보수신부에 의해 수신된 모든 주변차량의 위치정보를 보정한다. The position information correction unit corrects the position information of all the surrounding vehicles received by the surrounding vehicle information receiver by using the correction value.

위치정보 보정부는 보정된 위치정보에 따라 주변에서 주행중인 주변차량의 주행맵을 생성한다. The location information corrector generates a driving map of the surrounding vehicle that is driving around in accordance with the corrected location information.

본 발명에 따른 주변차량의 위치정보 보정 방법은 (a) 커브 도로에서, 제1 차량의 전방에서 주행하는 전방주행차량의 식별 정보를 획득하고, 제1 차량의 위치에 따라 전방주행차량의 상대적 위치를 결정하여, 전방주행차량의 위치 정보를 결정하는 단계와, (b) 주변에서 주행중인 주변차량의 식별 정보와 위치 정보를 수신하는 단계와, (c) 수신된 주변차량의 식별 정보 중 전방주행차량의 식별 정보와 일치하는 주변차량을 검색하는 단계 및 (d) 검색된 주변차량의 위치정보를 상기 전방주행차량의 위치에 따라 보정하는 단계를 포함하는 것을 특징으로 한다. The method for correcting the position information of the surrounding vehicle according to the present invention includes (a) acquiring identification information of the driving vehicle traveling in front of the first vehicle on a curved road, and determining the relative position of the driving vehicle according to the position of the first vehicle. Determining the location information of the vehicle in front of the vehicle; and (b) receiving the identification information and the location information of the surrounding vehicle running in the vicinity, and (c) the forward driving of the identification information of the received peripheral vehicle. And searching for a surrounding vehicle that matches the identification information of the vehicle, and (d) correcting the searched position information of the surrounding vehicle according to the position of the front driving vehicle.

(a) 단계는 전방주행차량과의 거리를 측정하고, 측정된 거리와 제1 차량의 현재 위치를 이용하여 상기 상대적 위치를 결정한다. Step (a) measures the distance from the vehicle ahead, and determines the relative position using the measured distance and the current position of the first vehicle.

(a) 단계는 전체 차선과 곡률을 포함하는 커브 도로의 정보를 이용하여 전방주행차량의 위치 정보를 결정한다. Step (a) determines the position information of the forward traveling vehicle using the information of the curve road including the entire lane and curvature.

본 발명에 따른 주변차량의 위치 정보 보정 방법은 (e) 보정된 위치 정보를 FCW인 운전 보조 시스템으로 제공하여 제1 차량과 전방주행차량과의 충돌을 방지하는 단계를 더 포함한다. The position information correction method of the surrounding vehicle according to the present invention further includes the step of (e) providing the corrected position information to the driving assistance system, which is an FCW, to prevent a collision between the first vehicle and the vehicle ahead.

(d) 단계는 결정된 전방주행차량의 위치 정보와, 검색된 주변차량의 위치 정보의 차이로부터 보정값을 결정하고, 결정된 보정값에 따라 검색된 주변차량의 위치 정보를 보정한다. Step (d) determines a correction value from the difference between the determined position information of the forward traveling vehicle and the position information of the found surrounding vehicle, and corrects the position information of the found surrounding vehicle according to the determined correction value.

(d) 단계는 보정값에 따라 모든 주변차량의 위치정보를 보정하고, 보정된 위치정보에 따라 주변차량의 주행맵을 생성한다. Step (d) corrects the position information of all surrounding vehicles according to the correction value, and generates a driving map of the surrounding vehicles according to the corrected position information.

본 발명에 따르면, 커브 도로에서 획득한 전방차량의 정보에 기초하여 주변차량의 위치정보를 보정할 수 있도록 함으로써 잘못된 차량 위치 인식을 방지하고 나아가 센서에 의해 감지되지 않는 영역에서 주행중인 차량의 위치정보도 보정할 수 있도록 한다.According to the present invention, it is possible to correct the position information of the surrounding vehicle based on the information of the front vehicle obtained on the curve road to prevent the wrong vehicle position recognition and further to the position information of the vehicle running in the area not detected by the sensor Also allow correction.

도 1a와 도 1b는 본 발명의 일실시예에 따른 주변차량의 위치정보 보정 시스템에 의하여 위치정보 보정이 요구되는 경우의 예시를 나타낸 도면.
도 2는 본 발명의 일실시예에 따른 주변차량의 위치정보 보정 시스템의 구조를 나타낸 블록도.
도 3은 본 발명의 일실시예에 따른 주변차량의 위치정보 보정 방법의 과정을 나타낸 흐름도.1A and 1B are views illustrating an example in which position information correction is required by a position information correction system of a surrounding vehicle according to an embodiment of the present invention.
Figure 2 is a block diagram showing the structure of the position information correction system of the surrounding vehicle according to an embodiment of the present invention.
3 is a flowchart illustrating a process of a method of correcting position information of a surrounding vehicle according to an embodiment of the present invention.

본 발명의 이점 및 특징, 그리고 그것들을 달성하는 방법은 첨부되는 도면과 함께 상세하게 후술 되어 있는 실시예들을 참조하면 명확해질 것이다. 그러나 본 발명은 이하에서 개시되는 실시예들에 한정되는 것이 아니라 서로 다른 다양한 형태로 구현될 것이며, 단지 본 실시예들은 본 발명의 개시가 완전하도록 하며, 본 발명이 속하는 기술분야에서 통상의 지식을 가진 자에게 발명의 범주를 완전하게 알려주기 위해 제공되는 것이며, 본 발명은 청구항의 기재에 의해 정의된다.Advantages and features of the present invention, and methods for achieving them will be apparent with reference to the embodiments described below in detail in conjunction with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various forms, and only the present embodiments are intended to complete the disclosure of the present invention, and the general knowledge in the art to which the present invention pertains. It is provided to fully convey the scope of the invention to those skilled in the art, and the invention is defined by the description of the claims.

한편, 본 명세서에서 사용된 용어는 실시예들을 설명하기 위한 것이며 본 발명을 제한하고자 하는 것은 아니다. 본 명세서에서, 단수형은 문구에서 특별히 언급하지 않는 한 복수형도 포함한다. 명세서에서 사용되는 "포함한다(comprises)" 및/또는 "포함하는(comprising)"은 언급된 구성소자, 단계, 동작 및/또는 소자에 하나 이상의 다른 구성소자, 단계, 동작 및/또는 소자의 존재 또는 추가함을 배제하지 않는다. 이하, 첨부된 도면을 참조하여 본 발명의 실시예를 상세히 설명하기로 한다.Meanwhile, the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, “comprises” and / or “comprising” refers to the presence of one or more other components, steps, operations and / or elements in the components, steps, operations and / or elements mentioned. Or does not exclude the addition. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

도 2는 본 발명의 일실시예에 따른 주변차량의 위치정보 보정 시스템의 구조를 나타낸 것이다.2 illustrates a structure of a position information correction system of a surrounding vehicle according to an embodiment of the present invention.

본 발명의 일실시예에 따른 주변차량의 위치정보 보정 시스템(100)은 전방차량정보획득부(101), 주변차량정보수신부(102), 위치정보보정부(103) 및 디스플레이부(104)를 포함한다.Position information correction system 100 of the surrounding vehicle according to an embodiment of the present invention is the front vehicle information acquisition unit 101, the peripheral vehicle information receiving unit 102, the position information correction unit 103 and the display unit 104 Include.

본 발명의 일면에 따른 주변차량의 위치정보 보정 시스템은 커브 도로에서 제1 차량의 전방에서 주행중인 제2 차량의 식별 정보를 획득하고, 제1 차량 및 제2 차량 사이의 거리를 측정하고, 제1 차량의 현재 위치에 대한 제2 차량의 상대 위치를 결정하여 제2 차량의 위치 정보를 결정하는 전방차량정보획득부(101)와, 주변에서 주행중인 주변차량의 식별 정보와 위치 정보를 수신하는 주변차량정보수신부(102) 및 결정된 제2 차량의 위치 정보와, 제2 차량의 식별 정보와 일치하는 식별 정보를 가지는 주변차량의 위치 정보를 비교하고, 비교결과에 따라 주변차량의 위치 정보를 보정하는 위치정보보정부(103)를 포함한다. The position information correction system of a surrounding vehicle according to an aspect of the present invention obtains identification information of a second vehicle running in front of the first vehicle on a curve road, measures a distance between the first vehicle and the second vehicle, and Receiving the front vehicle information acquisition unit 101 for determining the position of the second vehicle relative to the current position of the first vehicle to determine the position information of the second vehicle, and receiving the identification information and position information of the surrounding vehicle running around Comparing the position information of the surrounding vehicle information receiver 102 and the determined position information of the second vehicle with the position information of the surrounding vehicle having identification information that matches the identification information of the second vehicle, and corrects the position information of the surrounding vehicle according to the comparison result. It includes a position information correction section (103).

전방차량정보획득부(101)는 차량의 전방에서 주행중인 차량의 식별정보(번호)를 획득하고 전방차량과의 거리를 측정하며 측정된 거리를 이용하여 전방차량의 위치를 계산한다.The front vehicle information acquisition unit 101 obtains identification information (number) of the vehicle running in front of the vehicle, measures the distance with the front vehicle, and calculates the position of the front vehicle using the measured distance.

전방차량정보획득부(101)는 차량에 장착된 카메라(110) 또는 차량간 통신을 통해 전방차량의 번호를 식별한다. 즉, 전방차량의 번호를 획득하여 주변차량으로부터 수신되는 정보 중 전방에서 주행중인 차량으로부터 수신한 정보를 식별하는데 이용한다.The front vehicle information acquisition unit 101 identifies the number of the front vehicle through the camera 110 mounted on the vehicle or the communication between the vehicles. That is, the number of the front vehicle is obtained and used to identify the information received from the vehicle traveling in front of the information received from the surrounding vehicles.

전방차량정보획득부(101)는 차량에 장착된 레이더(120) 또는 레이저스캐너(130)을 통해 전방차량과의 거리를 측정한다.The front vehicle information acquisition unit 101 measures the distance to the front vehicle through the radar 120 or the laser scanner 130 mounted on the vehicle.

레이더(120) 또는 레이저스캐너(130)를 통해 측정된 전방차량과의 거리와 GPS(140) 신호를 통해 계산된 차량의 현재 위치 및 도로맵DB(150)로부터 획득한 주행중인 도로정보를 이용하여 전방차량의 위치를 계산할 수 있다. 이때 도로맵DB(150)는 주행중인 도로의 전체 차선, 곡률 등과 같은 정보를 제공한다.By using the distance from the front vehicle measured by the radar 120 or the laser scanner 130, the current position of the vehicle calculated by the GPS 140 signal and the driving road information obtained from the road map DB 150 The position of the front vehicle can be calculated. At this time, the road map DB 150 provides information such as the total lane, curvature, and the like of the driving road.

또는 전방차량과의 거리를 이용하여 차량의 현재 위치에 대한 상대적인 위치(예컨대, X축으로 00m, Y축으로 00m)로 계산할 수도 있으며, 곡선도로 주행시에는 전방차량과의 거리, 전방차량의 방향을 이용하여 전방차량의 상대적인 위치(상대 위치)를 계산할 수도 있다.Alternatively, the distance to the vehicle in front of the vehicle may be calculated as a position relative to the current position of the vehicle (for example, 00m in the X axis and 00m in the Y axis). The relative position (relative position) of the front vehicle can also be calculated.

전방차량정보획득부(101)는 획득한 전방차량의 번호와 계산된 전방차량의 위치를 위치정보보정부(103)로 전달한다.The front vehicle information acquisition unit 101 transmits the obtained number of front vehicles and the calculated position of the front vehicle to the location information correction unit 103.

주변차량정보수신부(102)는 차량간 통신을 통해 차량과 통신 가능한 영역에서 주행중인 주변차량들로부터 주변차량의 주행정보를 수신하며, 주행정보는 주변차량의 번호와 주변차량의 위치정보를 포함한다.The surrounding vehicle information receiving unit 102 receives the driving information of the surrounding vehicle from the surrounding vehicles running in the area capable of communicating with the vehicle through the inter-vehicle communication, and the driving information includes the number of the surrounding vehicle and the position information of the surrounding vehicle. .

주변차량정보수신부(102)는 수신된 주변차량의 번호, 위치정보를 위치정보보정부(103)로 전달한다.The surrounding vehicle information receiver 102 transmits the received number of the surrounding vehicle and the location information to the location information correction unit 103.

위치정보보정부(103)는 전방차량정보획득부(101)로부터 전달받은 전방차량의 정보와 주변차량정보수신부(102)로부터 전달받은 주변차량의 정보를 비교하고 주변차량의 위치정보를 보정하며 보정된 위치정보에 따라 주변차량의 주행맵을 생성한다.The position information correction unit 103 compares the information of the front vehicle received from the front vehicle information acquisition unit 101 with the information of the surrounding vehicle received from the surrounding vehicle information receiver 102, corrects and corrects the position information of the surrounding vehicle. The driving map of the surrounding vehicle is generated according to the location information.

위치정보보정부(103)는 주변차량정보수신부(102)로부터 전달받은 주변차량의 정보에서 전방차량의 번호와 동일한 차량번호를 포함하는 주변차량의 정보를 검색한다.The location information correction unit 103 searches for the information of the surrounding vehicle including the same vehicle number as the number of the front vehicle in the information of the surrounding vehicle received from the surrounding vehicle information receiver 102.

전방차량의 번호와 동일한 번호를 포함하는 주변차량의 정보가 확인되면 확인된 주변차량의 정보는 실제 전방에서 주행중인 차량이 전송한 정보임을 알 수 있으므로, 해당 주변차량으로부터 수신된 위치정보를 전방차량정보획득부(101)로부터 전달받은 전방차량의 위치와 비교한다.When the information of the surrounding vehicle including the same number as the number of the front vehicle is confirmed, the information of the confirmed neighboring vehicle is actually transmitted by the vehicle driving in front of the vehicle, and thus the position information received from the surrounding vehicle is determined. It compares with the position of the front vehicle received from the information acquisition unit 101.

전방차량으로 인식된 주변차량으로부터 수신한 위치정보가 전방차량정보획득부(101)에 의해 계산된 전방차량의 위치와 동일하거나 전방차량의 위치로부터 일정한 범위 이내이면, 주변차량으로부터 수신된 위치정보가 오차가 없는 정확한 정보로 볼 수 있으므로 주변차량으로부터 수신된 위치정보에 따라 차량의 주변에서 주행중인 주변차량의 주행맵을 생성한다.If the position information received from the surrounding vehicle recognized as the front vehicle is the same as the position of the front vehicle calculated by the front vehicle information acquisition unit 101 or is within a certain range from the position of the front vehicle, the position information received from the surrounding vehicle is Since accurate information can be viewed without errors, a driving map of the surrounding vehicle driving around the vehicle is generated according to the position information received from the surrounding vehicle.

주변차량으로부터 수신된 위치정보와 전방차량정보획득부(101)에 의해 계산된 위치의 차이가 일정한 범위를 벗어나면 주변차량으로부터 수신된 위치정보가 GPS의 오차로 인한 부정확한 정보임을 알 수 있다.When the difference between the position information received from the surrounding vehicle and the position calculated by the front vehicle information acquisition unit 101 is out of a certain range, it can be seen that the position information received from the surrounding vehicle is incorrect information due to the GPS error.

따라서 위치정보보정부(103)는 주변차량으로부터 수신된 위치정보와 전방차량정보획득부(101)에 의해 계산된 위치의 차이에 따른 보정값을 산출하고 산출된 보정값에 따라 주변차량으로부터 수신된 위치정보를 보정한다.Therefore, the position information correction unit 103 calculates a correction value according to the difference between the position information received from the surrounding vehicle and the position calculated by the front vehicle information acquisition unit 101 and receives the received correction from the surrounding vehicle according to the calculated correction value. Correct the position information.

이때 산출된 보정값에 따라 전방차량으로 인식된 주변차량으로부터 수신된 위치정보만 보정할 수도 있으나, 주변차량정보수신부(102)에 의해 수신된 모든 주변차량의 위치정보를 산출된 보정값에 따라 보정할 수도 있다.In this case, the position information received from the surrounding vehicle recognized as the front vehicle may be corrected according to the calculated correction value, but the position information of all the surrounding vehicles received by the surrounding vehicle information receiver 102 is corrected according to the calculated correction value. You may.

위치정보보정부(103)는 보정된 위치정보에 기초하여 차량의 주변에서 주행중인 주변차량의 주행맵을 생성하고, 생성된 주행맵을 디스플레이부(104)를 통해 표시함으로써 운전자에게 주변에서 주행중인 주변차량의 정확한 위치정보를 제공할 수 있다.The position information correction unit 103 generates a driving map of the surrounding vehicle driving around the vehicle based on the corrected position information, and displays the generated driving map on the display unit 104 to drive to the driver. It can provide accurate location information of surrounding vehicles.

또한, 위치정보보정부(103)는 보정된 주변차량의 위치정보 또는 생성된 주행맵을 운전지원시스템(200)으로 전달하여 운전지원시스템(200)이 전방차량의 정보를 식별하는데 이용할 수 있도록 한다.In addition, the position information correction unit 103 transmits the corrected position information of the surrounding vehicle or the generated driving map to the driving support system 200 so that the driving support system 200 may use the information of the front vehicle. .

따라서 본 발명에 따르면, 차량간 통신을 통해 수신된 주변차량의 위치정보 중 전방차량으로 인식된 주변차량으로부터 수신된 위치정보를 센서를 통해 획득된 정보에 기반하여 계산된 전방차량의 위치와 비교하고 보정함으로써, 차량간 통신을 통해 수신된 위치정보에 오차가 있는 경우에도 정확한 위치정보를 운전자 또는 운전지원시스템(200)에 제공할 수 있도록 한다.Accordingly, according to the present invention, the position information received from the surrounding vehicle recognized as the front vehicle among the position information of the surrounding vehicles received through the inter-vehicle communication is compared with the position of the front vehicle calculated based on the information obtained through the sensor. By correcting, even when there is an error in the position information received through the inter-vehicle communication, it is possible to provide accurate position information to the driver or the driving support system 200.

도 3은 본 발명의 일실시예에 따른 주변차량의 위치정보 보정 방법의 과정을 나타낸 것이다.3 is a flowchart illustrating a method of correcting position information of a surrounding vehicle according to an exemplary embodiment of the present invention.

본 발명에 따른 주변차량의 위치정보 보정 방법은 커브 도로에서, 제1 차량의 전방에서 주행하는 전방주행차량의 식별 정보를 획득하고, 제1 차량의 위치에 따라 전방주행차량의 상대적 위치를 결정하여, 전방주행차량의 위치 정보를 결정하는 단계와, 주변에서 주행중인 주변차량의 식별 정보와 위치 정보를 수신하는 단계와, 수신된 주변차량의 식별 정보 중 전방주행차량의 식별 정보와 일치하는 주변차량을 검색하는 단계 및 검색된 주변차량의 위치정보를 상기 전방주행차량의 위치에 따라 보정하는 단계를 포함한다. In the method for correcting the position information of the surrounding vehicle according to the present invention, the identification information of the driving vehicle traveling in front of the first vehicle on the curve road is obtained, and the relative position of the driving vehicle is determined according to the position of the first vehicle. Determining the location information of the driving vehicle, receiving the identification information and the location information of the surrounding vehicle driving in the vicinity, and the surrounding vehicle that matches the identification information of the driving vehicle among the received identification information of the surrounding vehicle. And searching for and correcting the position information of the found surrounding vehicle according to the position of the front driving vehicle.

주변차량의 위치정보 보정 시스템은 전방에서 주행중인 차량의 번호를 인식하고(S300), 레이더 등을 통해 전방차량과의 거리를 측정한다(S310). 그리고 전방차량과의 거리, 차량의 현재 위치 및 주행중인 도로정보에 기초하여 전방차량의 위치를 계산한다(S320).The position information correction system of the surrounding vehicle recognizes the number of the vehicle running in front (S300), and measures the distance with the front vehicle through the radar (S310). Then, the position of the front vehicle is calculated based on the distance from the front vehicle, the current position of the vehicle, and the driving road information (S320).

즉, 본 발명은 전방차량의 정보를 기준으로 차량간 통신을 통해 수신된 위치정보의 정확성을 판단함으로써 센서에 의해 감지되지 않는 영역에서 주행중인 차량들의 위치정보도 보정할 수 있도록 한다.That is, the present invention can also correct the position information of the vehicle running in the area not detected by the sensor by determining the accuracy of the position information received through the inter-vehicle communication based on the information of the front vehicle.

주변차량의 위치정보 보정 시스템은 전방차량의 정보를 획득하면서 주변차량으로부터 주변차량의 번호, 위치정보를 포함하는 주행정보를 수신한다(S330).The position information correction system of the surrounding vehicle receives the driving information including the number and the position information of the surrounding vehicle from the surrounding vehicle while acquiring the information of the front vehicle (S330).

그리고 주변차량으로부터 수신된 정보 중 전방차량의 번호와 동일한 번호를 포함하는 정보를 검색한다(S340).In operation S340, information including the same number as that of the front vehicle is searched among the information received from the surrounding vehicles.

주변차량으로부터 수신된 정보 중 전방차량의 번호와 동일한 번호를 포함하는 정보가 식별되면, 식별된 주변차량이 전방에서 주행중인 차량임을 인식할 수 있으므로 식별된 주변차량의 위치정보를 센서를 통해 획득된 전방차량의 위치와 비교한다(S350).When information including the same number as that of the front vehicle is identified among the information received from the surrounding vehicles, since the identified surrounding vehicle can be recognized as a vehicle driving in front, the position information of the identified surrounding vehicle is acquired through the sensor. It is compared with the position of the front vehicle (S350).

식별된 주변차량의 위치정보가 획득된 전방차량의 위치와 동일하거나 그 차이가 일정한 범위 이내이면(S360), 주변차량으로부터 수신된 위치정보가 오차가 없는 정보로 볼 수 있으므로 수신된 위치정보를 운전지원시스템에 제공하거나 수신된 위치정보를 기준으로 주변차량의 주행맵을 생성한다(S390).If the location information of the identified surrounding vehicle is the same as the position of the obtained front vehicle or the difference is within a certain range (S360), the location information received from the surrounding vehicle can be viewed as error-free information, so the received location information is driven. The driving map of the surrounding vehicle is generated based on the location information provided to the support system (S390).

식별된 주변차량의 위치정보와 획득된 전방차량의 위치의 차이가 일정한 범위를 벗어나면(S360), 주변차량으로부터 수신된 위치정보는 GPS 정보의 오차로 인해 정확하지 않은 정보로 볼 수 있으므로 수신된 위치정보와 전방차량의 위치의 차이에 기초하여 보정값을 산출한다(S370).When the difference between the location information of the identified surrounding vehicle and the position of the acquired front vehicle is out of a certain range (S360), the location information received from the surrounding vehicle may be viewed as inaccurate information due to an error of GPS information. A correction value is calculated based on the difference between the position information and the position of the front vehicle (S370).

그리고 산출된 보정값에 따라 수신된 위치정보를 보정한다(S380). 이때 산출된 보정값에 따라 수신된 주변차량의 위치정보를 모두 보정함으로써 차량과 통신 가능한 영역에서 주행 중이지만 센서에 의해 감지되지 않는 영역에서 주행중인 주변차량의 위치정보도 보정할 수도 있다.The received position information is corrected according to the calculated correction value (S380). At this time, by correcting all the position information of the peripheral vehicle received according to the calculated correction value may also correct the position information of the peripheral vehicle driving in the area that can be communicated with the vehicle but not detected by the sensor.

따라서 본 발명에 따르면 주변차량으로부터 수신된 위치정보의 오차를 보정함으로써 운전자에게 정확한 주변차량의 위치정보를 제공하며, 운전지원시스템이 차량간 통신을 통해 수신된 전방차량의 정보를 정확하게 식별할 수 있도록 함으로써 전방차량의 주행상황에 따라 정확한 운전지원 서비스를 제공할 수 있도록 한다.Therefore, according to the present invention, by correcting the error of the position information received from the surrounding vehicle to provide the driver with accurate position information of the surrounding vehicle, the driving support system to accurately identify the information of the front vehicle received through the inter-vehicle communication Therefore, it is possible to provide accurate driving support services according to the driving situation of the front vehicle.

이상의 설명은 본 발명의 기술적 사상을 예시적으로 설명한 것에 불과한 것으로서, 본 발명이 속하는 기술 분야에서 통상의 지식을 가진 자라면, 본 발명의 본질적 특성을 벗어나지 않는 범위에서 다양한 수정 및 변형이 가능하다. 따라서, 본 발명에 표현된 실시예들은 본 발명의 기술적 사상을 한정하는 것이 아니라, 설명하기 위한 것이고, 이러한 실시예에 의하여 본 발명의 권리범위가 한정되는 것은 아니다. 본 발명의 보호 범위는 아래의 특허청구범위에 의하여 해석되어야 하고, 그와 동등하거나, 균등한 범위 내에 있는 모든 기술적 사상은 본 발명의 권리범위에 포함되는 것으로 해석되어야 할 것이다.The above description is merely illustrative of the technical idea of the present invention, and those skilled in the art to which the present invention pertains may make various modifications and changes without departing from the essential characteristics of the present invention. Therefore, the embodiments represented in the present invention are not intended to limit the technical spirit of the present invention, but to describe the present invention, and the scope of the present invention is not limited to these embodiments. The protection scope of the present invention should be interpreted by the following claims, and all technical ideas that are equivalent to or equivalent to the equivalent scope should be construed as being included in the scope of the present invention.

100: 주변차량의 위치정보 보정 시스템100: position information correction system of surrounding vehicles

Claims (16)

커브 도로에서 제1 차량의 전방에서 주행중인 제2 차량의 식별 정보를 획득하고, 상기 제1 차량 및 제2 차량 사이의 거리를 측정하고, 상기 제1 차량의 현재 위치에 대한 상기 제2 차량의 상대 위치를 결정하여 상기 제2 차량의 위치 정보를 결정하는 전방차량정보획득부;
주변에서 주행중인 주변차량의 식별 정보와 위치 정보를 수신하는 주변차량정보수신부; 및
상기 결정된 제2 차량의 위치 정보와, 상기 제2 차량의 식별 정보와 일치하는 식별 정보를 가지는 상기 주변차량의 위치 정보를 비교하고, 비교결과에 따라 상기 주변차량의 위치 정보를 보정하는 위치정보보정부
를 포함하는 주변차량의 위치정보 보정 시스템.
Acquire identification information of a second vehicle running in front of the first vehicle on a curve road, measure a distance between the first vehicle and the second vehicle, and measure the distance of the second vehicle with respect to a current position of the first vehicle A front vehicle information acquisition unit determining the relative position to determine position information of the second vehicle;
Peripheral vehicle information receiving unit for receiving the identification information and location information of the surrounding vehicle running in the vicinity; And
Comparing the determined position information of the second vehicle with the position information of the surrounding vehicle having identification information matching the identification information of the second vehicle, and correcting the position information of the surrounding vehicle according to the comparison result. government
Position information correction system of the surrounding vehicle including a.
제1항에 있어서,
상기 전방차량정보획득부는 레이더 또는 레이저스캐너를 통해 상기 제1 차량 및 제2 차량 사이의 거리를 측정하는 것
인 주변차량의 위치정보 보정 시스템.
The method of claim 1,
The front vehicle information acquisition unit measures the distance between the first vehicle and the second vehicle through a radar or laser scanner.
Location information correction system of a nearby vehicle.
제1항에 있어서,
상기 전방차량정보획득부는 주행 중인 커브 도로의 정보를 이용하여 상기 제2 차량의 위치 정보를 계산하는 것
인 주변차량의 위치정보 보정 시스템.
The method of claim 1,
Wherein the front vehicle information acquisition unit calculates location information of the second vehicle by using information of a driving curve road;
Location information correction system of a nearby vehicle.
제3항에 있어서,
상기 커브 도로의 정보는 도로의 전체 차선, 곡률을 포함하는 것
인 주변차량의 위치정보 보정 시스템.
The method of claim 3,
The curve road information includes the entire lane and curvature of the road.
Location information correction system of a nearby vehicle.
제1항에 있어서,
상기 전방차량정보획득부는 상기 거리 및 상기 제2 차량의 방향을 이용하여 상기 제1 차량의 현재위치에 대한 상기 제2 차량의 상대적인 위치를 결정하는 것
인 주변차량의 위치정보 보정 시스템.
The method of claim 1,
Wherein the front vehicle information acquisition unit determines the relative position of the second vehicle with respect to the current position of the first vehicle using the distance and the direction of the second vehicle.
Location information correction system of a nearby vehicle.
제1항에 있어서,
상기 위치정보 보정부는 보정된 주변차량의 위치정보를 운전자보조시스템으로 전송하는 것
인 주변차량의 위치정보 보정 시스템.
The method of claim 1,
The position information correction unit transmits the corrected position information of the surrounding vehicle to the driver assistance system.
Location information correction system of a nearby vehicle.
제6항에 있어서,
상기 운전자보조시스템은 FCW를 포함하는 것
인 주변차량의 위치정보 보정 시스템.
The method of claim 6,
The driver assistance system includes an FCW
Location information correction system of a nearby vehicle.
제1항에 있어서,
상기 위치정보 보정부는
상기 계산된 제2 차량의 위치 정보와, 상기 제2 차량의 식별 정보와 일치하는 식별 정보를 가지는 상기 주변차량의 위치 정보의 차이로부터 보정값을 결정하고, 결정된 보정값에 따라 상기 주변차량정보수신부에 의해 수신된 주변차량의 위치정보를 보정하는 것
인 주변차량의 위치정보 보정 시스템.
The method of claim 1,
The location information correction unit
A correction value is determined from a difference between the calculated position information of the second vehicle and the position information of the peripheral vehicle having identification information that matches the identification information of the second vehicle, and the peripheral vehicle information receiving unit is determined according to the determined correction value. Correcting the positional information of the surrounding vehicles received by
Location information correction system of a nearby vehicle.
제8항에 있어서,
상기 위치정보 보정부는 상기 보정값을 이용하여 상기 주변차량정보수신부에 의해 수신된 모든 주변차량의 위치정보를 보정하는 것
인 주변차량의 위치정보 보정 시스템.
The method of claim 8,
Wherein the position information correcting unit corrects the position information of all surrounding vehicles received by the surrounding vehicle information receiving unit using the correction value.
Location information correction system of a nearby vehicle.
제9항에 있어서,
상기 위치정보 보정부는 상기 보정된 위치정보에 따라 상기 주변에서 주행중인 주변차량의 주행맵을 생성하는 것
인 주변차량의 위치정보 보정 시스템.
The method of claim 9,
The location information correction unit generates a driving map of the surrounding vehicle driving in the vicinity according to the corrected location information.
Location information correction system of a nearby vehicle.
(a) 커브 도로에서, 제1 차량의 전방에서 주행하는 전방주행차량의 식별 정보를 획득하고, 상기 제1 차량의 위치에 따라 상기 전방주행차량의 상대적 위치를 결정하여, 상기 전방주행차량의 위치 정보를 결정하는 단계;
(b) 주변에서 주행중인 주변차량의 식별 정보와 위치 정보를 수신하는 단계;
(c) 상기 수신된 주변차량의 식별 정보 중 상기 전방주행차량의 식별 정보와 일치하는 주변차량을 검색하는 단계; 및
(d) 상기 검색된 주변차량의 위치정보를 상기 전방주행차량의 위치에 따라 보정하는 단계
를 포함하는 주변차량의 위치정보 보정 방법.
(a) acquiring identification information of the front driving vehicle traveling in front of the first vehicle on the curve road, determining a relative position of the front driving vehicle according to the position of the first vehicle, and then positioning the front driving vehicle Determining information;
(b) receiving identification information and location information of the surrounding vehicle driving in the vicinity;
(c) searching for surrounding vehicles that match the identification information of the front driving vehicle among the received identification information of the surrounding vehicles; And
(d) correcting the position information of the found surrounding vehicle according to the position of the front driving vehicle;
Position information correction method of the surrounding vehicle comprising a.
제11항에 있어서, 상기 (a) 단계는,
상기 전방주행차량과의 거리를 측정하고, 상기 측정된 거리와 상기 제1 차량의 현재 위치를 이용하여 상기 상대적 위치를 결정하는 것
인 주변차량의 위치정보 보정 방법.
The method of claim 11, wherein step (a) comprises:
Measuring a distance between the vehicle ahead and determining the relative position using the measured distance and the current position of the first vehicle;
Location information correction method for a nearby vehicle.
제11항에 있어서, 상기 (a) 단계는,
전체 차선과 곡률을 포함하는 상기 커브 도로의 정보를 이용하여 상기 전방주행차량의 위치 정보를 결정하는 것
인 주변차량의 위치정보 보정 방법.
The method of claim 11, wherein step (a) comprises:
Determining position information of the forward traveling vehicle using information of the curve road including the entire lane and curvature.
Location information correction method for a nearby vehicle.
제11항에 있어서,
(e) 보정된 위치 정보를 FCW인 운전 보조 시스템으로 제공하여 상기 제1 차량과 상기 전방주행차량과의 충돌을 방지하는 단계
를 더 포함하는 주변차량의 위치정보 보정 방법.
The method of claim 11,
(e) providing the corrected position information to the driving assistance system, which is an FCW, to prevent a collision between the first vehicle and the vehicle ahead;
Position information correction method of the surrounding vehicle further comprising.
제11항에 있어서, 상기 (d) 단계는
상기 결정된 전방주행차량의 위치 정보와, 상기 검색된 주변차량의 위치 정보의 차이로부터 보정값을 결정하고, 결정된 보정값에 따라 상기 검색된 주변차량의 위치 정보를 보정하는 것
인 주변차량의 위치정보 보정 방법.
The method of claim 11, wherein step (d)
Determining a correction value from a difference between the determined position information of the forward traveling vehicle and the position information of the found surrounding vehicle, and correcting the position information of the found surrounding vehicle according to the determined correction value.
Location information correction method for a nearby vehicle.
제11항에 있어서, 상기 (d) 단계는,
상기 보정값에 따라 모든 주변차량의 위치정보를 보정하고, 보정된 위치정보에 따라 주변차량의 주행맵을 생성하는 것
인 주변차량의 위치정보 보정 방법.The method of claim 11, wherein step (d)
Correcting the position information of all surrounding vehicles according to the correction value, and generating a driving map of the surrounding vehicle according to the corrected position information.
Location information correction method for a nearby vehicle.
KR1020190091124A 2014-11-11 2019-07-26 System and method for correcting position information of surrounding vehicle KR102263729B1 (en)

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