KR20230101979A - Method for object recognition of a vehicle traveling on a multi-layer road and an electric device for the method - Google Patents

Abstract

The present invention provides the steps of receiving information on the lane on which the second vehicle travels from a second vehicle and information on the movement displacement of the second vehicle from a predetermined sharing point, information on the lane on which the second vehicle travels. determining whether the lane in which the first vehicle is traveling overlaps with the lane in which the second vehicle is traveling, based on In case of overlapping, determining whether the road on which the first vehicle is traveling and the road on which the second vehicle is traveling correspond to the same floor based on the information on the movement displacement of the second vehicle from the sharing point and recognizing the second vehicle as a nearby object of the first vehicle when the road on which the first vehicle is traveling and the road on which the second vehicle is traveling correspond to the same floor. A vehicle object recognition method is provided.

Description

Object recognition method of a vehicle traveling on a multi-layered road and electronic device therefor

The present invention relates to an object recognition method and an electronic device for detecting an object approaching nearby by recognizing driving lane and driving direction information of another vehicle by a vehicle traveling on a multi-story road.

Recently, interest in unmanned autonomous driving technology of automobiles is growing. Unmanned self-driving technology refers to technology that enables vehicles to drive automatically without driver intervention. Such unmanned autonomous driving is performed using information sensed through various sensors mounted on the vehicle. Among them, the lane change, etc., recognizes the lane using an image obtained through a camera and determines whether or not to change the lane.

On the other hand, since the lane recognized using the image obtained through the camera is generally limited to the lane in which the host vehicle is driving, it is difficult to recognize the location of the vehicle and lanes other than the lane in which the host vehicle is driving. Accordingly, sensors such as radar and lidar are installed on the unmanned self-driving vehicle to grasp the movement of surrounding vehicles, sense the surrounding environment in the longitudinal, lateral and vertical directions of the vehicle, and sensed By comparing and correcting the information with pre-stored actual information, the position of the unmanned vehicle is more precisely recognized and the surrounding situation is grasped.

On the other hand, with the arrival of the era of autonomous vehicles, technologies for recognizing objects by themselves are being actively developed. The object recognition method may include a process of collecting images of the target object, learning and storing the collected images, and comparing the stored information with the input image. Recently, object recognition technology has been developed. Deep learning methods are being used.

The deep learning method discovers patterns in countless images and learns the characteristics of images, which requires the collection of numerous images. However, since it takes a lot of time and money to collect a lot of images, there is a realistic limit to collecting a huge amount of images for recognizing all objects.

The present invention provides a method and apparatus capable of accurately recognizing an object approaching a vehicle without a separate sensor for object recognition, such as a camera or lidar sensor, by checking each other's positions through vehicle-to-vehicle communication.

The present invention relates to a method for recognizing an object of a first vehicle driving on a road composed of two floors, wherein information on a lane on which the second vehicle travels from a second vehicle and movement displacement of the second vehicle from a predetermined sharing point are provided. Receiving information; determining whether the lane in which the first vehicle is driving overlaps the lane in which the second vehicle is driving based on the information on the lane in which the second vehicle is driving; When the lane in which the first vehicle is traveling overlaps with the lane in which the second vehicle is traveling, the road in which the first vehicle is traveling and the road in which the first vehicle is traveling are determined based on the information on the movement displacement of the second vehicle from the common point. Determining whether the road on which the second vehicle is driving corresponds to the same floor, and when the road on which the first vehicle is driving and the road on which the second vehicle is driving correspond to the same floor, the second It provides a method for recognizing an object of a first vehicle including recognizing a vehicle as a nearby object of the first vehicle.

According to an embodiment, the information on the lane in which the second vehicle travels includes information on a direction in which a lane number is calculated, information on the total number of lanes on the road, information on a target lane of the second vehicle, and special purpose information. At least one of lane information may be included.

According to an embodiment, the information on the direction in which the lane number is calculated includes information on a rule for calculating a lane from the left side of the road, information on a rule for calculating a lane from the right side of the road, and information on a rule for calculating a lane from the right side of the road, starting from a preset center area of the road. Information on rules for calculating lanes and information on rules for calculating lanes from the shoulder may be included.

According to an embodiment, the information on the special-purpose lane includes at least one of information on a bus lane, information on a bicycle-only road, information on a pedestrian road, information on an overtaking lane, and information on an exclusive low-speed lane. can do.

According to an embodiment, the information on the movement displacement of the second vehicle is first movement displacement information on the displacement of the second vehicle moving east or west from the sharing point, and the information on the movement displacement of the second vehicle from the sharing point. It may include second movement displacement information about displacement to the north or south, and third movement displacement information about displacement of the second vehicle in the vertical direction to the sharing point.

According to an embodiment, the object recognition method of the first vehicle is based on bit information for activating an object recognition method based on information about a lane in which the second vehicle travels from the second vehicle and a moving displacement of the second vehicle. The method may further include receiving a message including bit information for activating an object recognition method based on information about the object.

The present invention is based on a transmission/reception unit that receives information about the lane on which the other vehicle travels from another vehicle and information on the movement displacement of the other vehicle from a predetermined sharing point and information about the lane on which the other vehicle travels. It is determined whether the lane in which the vehicle is traveling overlaps with the lane in which the other vehicle is traveling, and if the lane in which the vehicle is traveling overlaps with the lane in which the other vehicle is traveling, movement of the other vehicle from the sharing point. Based on the information on the displacement, it is determined whether the road on which the vehicle is traveling and the road on which the other vehicle is traveling correspond to the same floor. In this case, an electronic device including a processor recognizing the other vehicle as a nearby object is provided.

According to an embodiment, the information on the lane in which the other vehicle is traveling includes information on a direction in which a lane number is calculated, information on the total number of lanes on the roadway, information on a target lane of the other vehicle, information on a special purpose lane It may include at least one of information about.

According to an embodiment, the information on the direction in which the lane number is calculated includes information on a rule for calculating a lane from the left side of the road, information on a rule for calculating a lane from the right side of the road, and information on a rule for calculating a lane from the right side of the road, starting from a preset center area of the road. Information on rules for calculating lanes and information on rules for calculating lanes from the shoulder may be included.

According to an embodiment, the information on the special-purpose lane includes at least one of information on a bus lane, information on a bicycle-only road, information on a pedestrian road, information on an overtaking lane, and information on an exclusive low-speed lane. can do.

According to an embodiment, the information on the movement displacement of the second vehicle is first movement displacement information on the displacement of the second vehicle moving east or west from the sharing point, and the information on the movement displacement of the second vehicle from the sharing point. It may include second movement displacement information about displacement to the north or south, and third movement displacement information about displacement of the second vehicle in the vertical direction to the sharing point.

According to an embodiment, the transceiver receives bit information for activating an object recognition method based on information about a lane in which the other vehicle travels from the other vehicle and object recognition method activation based on information about a movement displacement of the other vehicle. It is possible to receive a message including bit information for

According to an embodiment disclosed in the present invention, since an object approaching a vehicle can be recognized in consideration of the location of a lane and a driving road in which a vehicle travels on a road composed of a plurality of floors, the accuracy of object recognition can be improved. can

In addition, according to an embodiment disclosed in the present invention, the safety of vehicle autonomous driving can be improved by checking information about the relative position of the vehicle and the driving lane of another vehicle through vehicle-to-vehicle communication.

1 is a diagram illustrating a scenario in the case where a vehicle travels on a road composed of multiple floors.
2 is a flowchart of a method for recognizing an object of a vehicle according to an embodiment of the present invention.
3 is a diagram illustrating a data structure included in information about a driving lane according to an embodiment of the present invention.
4 is a diagram illustrating a data structure included in information about a direction in which a lane number is calculated according to an embodiment of the present invention.
5 is a diagram for explaining a lane calculation rule according to an embodiment of the present invention.
6 is a diagram illustrating a data structure included in information about a special-purpose lane according to an embodiment of the present invention.
7 is a diagram illustrating a data structure included in information on a movement displacement of a vehicle according to an embodiment of the present invention.
8 is a diagram illustrating a case in which an object recognition method according to an embodiment of the present invention is applied.
9 is a diagram for explaining a vehicle location sharing method according to the first embodiment of the present invention.
10 is a diagram for explaining a vehicle location sharing method according to a second embodiment of the present invention.
11 is a diagram showing a data structure of a message transmitted and received between vehicles for relative positioning according to an embodiment of the present invention.
12 is a configuration diagram of an electronic device performing an object recognition method according to an embodiment of the present invention.

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention. Like reference numbers have been used for like elements throughout the description of each figure.

Terms such as first, second, A, and B may be used to describe various components, but the components should not be limited by the terms. These terms are only used for the purpose of distinguishing one component from another. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention. The terms and/or include any combination of a plurality of related recited items or any of a plurality of related recited items.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

Terms used in this application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as "comprise" or "having" are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, but one or more other features It should be understood that it does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present application, they should not be interpreted in an ideal or excessively formal meaning. don't

1 is a diagram illustrating a scenario in the case where a vehicle travels on a road composed of multiple floors.

Unlike a single-story road, a multi-story road may not correspond to a nearby object depending on the height of a road on which a vehicle travels even if it travels in the same lane. For example, a vehicle traveling on the second floor and a vehicle traveling on the first floor of the same road do not need to recognize each other as close objects because there is no possibility of collision even if they are traveling in the same lane.

However, even if they drive on different floors, if the vehicle 120 traveling on the first floor wants to move to the second floor, the vehicle 120 coming up from the first floor to the second floor approaches the vehicle 110 traveling on the second floor. may correspond to a proximity object that Accordingly, the vehicle 110 traveling on the second floor needs to detect the vehicle 120 moving from the first floor to the second floor in advance.

Accordingly, an object of the present invention is to provide a method and an electronic device for accurately detecting an object approaching the vehicle even when the vehicle moves between floors on a multi-story road. Through the embodiment disclosed in the present invention, the vehicle 120 moving from the first floor to the second floor can transmit information about the lane and movement displacement in which it intends to drive to nearby vehicles, and can move from the first floor to the second floor. Upon receiving the information transmitted by the moving vehicle 120, the second-floor driving vehicle 110 utilizes the received information to detect a vehicle approaching it even though it is not visually visible, thereby improving the autonomous driving performance of the vehicle. .

2 is a flowchart of a method for recognizing an object of a vehicle according to an embodiment of the present invention. According to one embodiment, the flowchart shown in FIG. 2 may be performed by the electronic device shown in FIG. 12 . In addition, the embodiment shown in FIG. 2 is a diagram for explaining an object recognition method by the first vehicle when the first vehicle and the second vehicle drive on a road composed of two floors.

According to an embodiment, in step S210, the first vehicle may receive information about a lane on which the second vehicle travels and information about a movement displacement of the second vehicle from a predetermined sharing point from the second vehicle. A detailed description of information on the lane on which the second vehicle travels will be described later with reference to FIG. 3 , and information on movement displacement of the second vehicle will be described later with reference to FIG. 7 . According to various embodiments, the preset sharing point may be a reference point previously shared by the first vehicle and the second vehicle.

According to an embodiment, the preset sharing point may be identified through an ID shared by the first vehicle or the second vehicle. According to various embodiments, the first vehicle may identify a share point on its own map using the preset share point, and measure the relative position of the second vehicle from the share point through the identified share point on the map. units can be identified.

According to an embodiment, in step S220, the first vehicle determines whether the lane in which the first vehicle is driving overlaps with the lane in which the second vehicle is driving, based on information on the lane in which the second vehicle is driving. can judge According to various embodiments, the first vehicle may check information about a lane in which the first vehicle is driving through an electronic control unit or a sensing unit constituting the first vehicle.

According to an embodiment, the first vehicle may identify the lane in which the second vehicle is driving based on the lane information received from the second vehicle. (For example, it may be identified that the second vehicle is driving in a first lane, or it may be determined that the second vehicle is driving in a first lane and wants to change lanes to a second lane.) The first vehicle determines whether the lane in which the first vehicle is traveling overlaps with the lane in which the second vehicle is traveling by comparing the identified driving lane or target lane of the second vehicle with the lane in which the first vehicle is driving. can judge

According to an embodiment, when the lane in which the first vehicle is traveling overlaps with the lane in which the second vehicle is traveling, in step S230, based on information about the movement displacement of the second vehicle from the preset sharing point, It may be determined whether the road on which the first vehicle is driving and the road on which the second vehicle is driving correspond to the same floor. According to various embodiments, the first vehicle converts information on vertical movement displacement included in the movement displacement information of the second vehicle to the vertical direction of the first vehicle from the predetermined sharing point. By comparing the directional displacement, it is possible to determine whether the road on which the first vehicle is driving and the road on which the second vehicle is driving correspond to the same floor.

For example, if the vertical movement displacement of the first vehicle from the common point is 100 meters and the vertical movement displacement of the second vehicle from the common point is 300 meters, the first vehicle and the second vehicle are on the road on different floors. It can be judged that it is driving. On the other hand, if the vertical displacement of the first vehicle is 100 meters and the vertical displacement of the second vehicle from the common point is 100 meters, it can be determined that the first vehicle and the second vehicle are driving on the same road. can

On the other hand, when the vertical displacement of the first vehicle from the common point is 100 meters, the vertical displacement of the second vehicle is 130 meters, and the tolerance is 50 meters, the vertical displacement of the first vehicle and the second Even if the vertical movement displacements of the vehicles are different from each other, since the difference between the vertical movement range of the first vehicle and the vertical movement range of the second vehicle is within the tolerance range, the first vehicle and the second vehicle drive on the same floor road. can be judged to be doing.

According to an embodiment, when the road on which the first vehicle is driving and the road on which the second vehicle is driving correspond to the same floor, the first vehicle may recognize the second vehicle as a nearby object in step S240. According to various embodiments, when it is determined in step S220 that the first vehicle driving lane and the second vehicle driving lane do not overlap, or in step S230, it is determined that the first vehicle driving road and the second vehicle driving road do not correspond to the same floor. In this case, the first vehicle may continuously monitor the information on the lane and the movement displacement of the adjacent vehicle through step S250.

According to an embodiment, when the information on the lane and the movement displacement of the adjacent vehicle are received through step S250, the first vehicle may return to step S210 and perform the process shown in FIG. 2 .

3 is a diagram illustrating a data structure included in information about a driving lane according to an embodiment of the present invention. The data structure shown in FIG. 3 may correspond to the LocationInformationOnLane data structure shown in FIG. 11 .

According to an embodiment, the information on the lane on which the vehicle travels includes information on the direction in which the lane number is calculated (LaneCountingConvention), information on the total number of lanes on the roadway (TotalNumberOfLanes), and information on the target lane of the vehicle (ObjectiveLaneNumber). , may include information on special-purpose lanes (SpecificLaneType). Information on the direction in which the lane number is calculated will be described later with reference to FIGS. 4 and 5 .

According to an embodiment, when the information on the target lane of the vehicle is 2 (ie, when ObjectiveLaneNumber = 2), the target lane of the vehicle may be 2 lanes. According to various embodiments, when information on the target lane of the vehicle is 2..3 (ObjectiveLaneNumber = 2..3), the target lane of the vehicle may be a space between the second and third lanes.

According to one embodiment, when the information on the target lane of the vehicle is 0 or less (ie, when ObjectiveLaneNumber ≤ 0) or greater than the total number of lanes on the roadway (ie, when ObjectiveLaneNumber > TotalNumberOfLanes), the target lane is set for normal driving. It may refer to the outer area of the road being used. According to various embodiments, information on special-purpose lanes may include two or more pieces of information as optional items, and information on special-purpose lanes will be described later with reference to FIG. 6 .

4 is a diagram illustrating a data structure included in information about a direction in which a lane number is calculated according to an embodiment of the present invention. The data structure shown in FIG. 4 may correspond to the LaneCountingConvention data structure shown in FIG. 11 .

According to an embodiment, the information on the direction in which the lane number is calculated includes information on a rule for calculating a lane from the left side of the road, information on a rule for calculating a lane from the right side of the road, and information on a lane from a preset center area of the road. It may include one of information about a rule for calculating , and information about a rule for calculating a lane from a shoulder.

According to an embodiment, when the information on rules for calculating lane numbers is configured with information on rules for counting lanes from the left side of the road (ie, when LaneCountingConvention = FromLeft), lane numbers are calculated from the left side of the road. do. According to various embodiments of the present disclosure, when information on a rule for calculating a lane number is configured with information on a rule for calculating a lane from a central region of a preset road (ie, when LaneCountingConvention = FromCentre), an area set in the center of the road A lane number can be calculated from Meanwhile, the central area of the predetermined road may be a variable area to a centrally set area in order to divide the traffic flow in both directions.

5 is a diagram for explaining a lane calculation rule according to an embodiment of the present invention.

According to an embodiment, when information on a rule for calculating a lane number according to FIG. 4 includes information on a rule for calculating a lane from the left (ie, when LaneCountingConvention = FromLeft), the lane in which the red vehicle travels It can be counted as one lane, and the lane in which the green vehicle travels can be counted as two lanes.

On the other hand, when the information on the rule for calculating the lane number according to FIG. 4 includes information on the rule for calculating the lane from the central area of the preset road (ie, when LaneCountingConvention = FromCentre), the lane in which the green vehicle travels can be calculated as two lanes, and the lane in which the red vehicle travels can be calculated as three lanes.

6 is a diagram illustrating a data structure included in information about a special-purpose lane according to an embodiment of the present invention. The data structure shown in FIG. 6 may correspond to the SpecificLaneType data structure shown in FIG. 11 .

According to an embodiment, the information on the special-purpose lane may include at least one of information about a bus lane, information about a bicycle lane, information about a pedestrian road, information about an overtaking lane, and information about a slow-only lane. can According to various embodiments, the information on the special-purpose lane may include information on two or more special-purpose lanes.

According to an embodiment, when the information on the special-purpose lane includes information on the bus lane (ie, when SpecificLaneType = Bus), it may be determined that the special-purpose lane includes the bus lane. According to various embodiments, when the information on the special-purpose lane includes the information on the full-vehicle lane (ie, when SpecificLaneType = HOV), it may be determined that the special-purpose lane includes the full-vehicle lane.

7 is a diagram illustrating a data structure included in information on a movement displacement of a vehicle according to an embodiment of the present invention. The data structure shown in FIG. 7 may correspond to the displacement data structure shown in FIG. 11 .

According to an embodiment, the information on the movement displacement of the vehicle may include first movement displacement information about a displacement of the vehicle moving east or west from a predetermined common point, and movement displacement of the vehicle moving north or south from the common point. It may include second movement displacement information for , and third movement displacement information about displacement of the vehicle in the vertical direction from the sharing point.

For example, if the first movement displacement information of the first vehicle is +500, the second movement displacement information is -800, and the third movement displacement information is +100, the first vehicle moves eastward from the preset sharing point. You can see that it is 500 meters, 800 meters south, +100 meters in the vertical direction (for example, it may be in the direction of increasing altitude).

8 is a diagram illustrating a case in which an object recognition method according to an embodiment of the present invention is applied.

According to an embodiment, the vehicle may determine a relative position of an approaching vehicle based on information about a driving lane of an approaching vehicle or information about a movement displacement of an approaching vehicle from a preset common point. For example, a vehicle driving in two lanes can identify a vehicle close to itself by receiving information about a driving lane, a target driving lane, and the like from a vehicle driving in an adjacent lane and checking relative positions between vehicles. On the other hand, since a lane must exist on the road on which the vehicle is traveling, it is possible to check the relative position of an approaching vehicle based on information on the lane, so a method for recognizing an approaching object based on information on the driving lane 1 may be used in area 810 .

On the other hand, in the second area 820, such as an intersection where lanes are not included, it is difficult to utilize an object recognition method based on information on driving lanes, so that the vehicle can be detected based on information on movement displacement from a preset common point. Approaching objects can be recognized.

According to various embodiments, a method for recognizing an object approaching the vehicle in the first area 810 and a method for recognizing an object approaching the vehicle in the second area 820 may be different from each other, and information about driving lanes may be different. Whether to recognize an object based on whether to recognize an object based on whether to recognize an object based on information on movement displacement from a preset common point, or use both information on a driving lane and information on movement displacement from a preset common point. Whether or not to recognize can be determined through the LocationReferencingMethod data structure among the message data structures shown in FIG. 11 . For example, in the case of LocationReferencingMethod = LaneNumberCounting, the vehicle may determine to recognize an object based on information about a driving lane, and in the case of LocationReferencingMethod = DisplacementFromAReferencePoint, the vehicle may determine based on information about displacement from a preset sharing point. It can be determined by recognizing the object.

9 is a diagram for explaining a vehicle location sharing method according to the first embodiment of the present invention. The vehicle location sharing method according to the first embodiment shown in FIG. 9 may be a process for performing the object recognition method based on the information about the driving lane described above. That is, FIG. 9 may represent a vehicle location sharing method performed in the first area 810 shown in FIG. 8 .

According to an embodiment, in step S910, the vehicle may check the location of the vehicle based on information on the lane on which the vehicle is driving. According to various embodiments, in step S920, the vehicle may transmit a location reference message including lane information to a nearby vehicle or base station. The message structure of the location reference message transmitted by the vehicle in step S920 may be as shown in FIG. 11 .

According to an embodiment, the vehicle receiving the transmitted location reference message may decode the received message through step S930 and determine the location of the vehicle transmitting the message using lane information included in the received message. According to various embodiments, the location reference message may be transmitted directly between vehicles through V2X communication or transmitted by relaying a base station.

10 is a diagram for explaining a vehicle location sharing method according to a second embodiment of the present invention. The vehicle location sharing method according to the second embodiment shown in FIG. 10 may be a process for performing the object recognition method based on the information on the movement displacement from the previously set sharing point. That is, FIG. 10 may represent a vehicle location sharing method performed in the second area 820 shown in FIG. 8 .

According to an embodiment, in step S1010, the vehicle may calculate dx, dy, and dh from the shared reference point (or share point) and encrypt the message. According to various embodiments, the dx may be displacement information about a displacement of a vehicle moving east or west from a shared reference point, and the dy may be displacement information about a displacement of a vehicle moving north or south from a shared reference point. , and the dz may be displacement information about displacement of the vehicle moving in the vertical direction from the shared reference point.

According to an embodiment, in step S1020, the vehicle may transmit a location reference message including dx, dy, and dh information to a nearby vehicle or base station. The message structure of the location reference message transmitted by the vehicle in step S1020 may be the same as that of FIG. 11 . According to various embodiments, the vehicle receiving the transmitted location reference message decodes the received message through step S1030 and uses dx, dy, and dh information included in the received message to determine the location of the vehicle that transmitted the message. can

11 is a diagram showing a data structure of a message transmitted and received between vehicles for relative positioning according to an embodiment of the present invention.

According to an embodiment, a structure of a message transmitted between vehicles or from a vehicle to a base station to determine a location of a vehicle may be as shown in FIG. 11 . According to various embodiments, the message may include a BasicDescription data field, and the BasicDescription data field may include a LocationReferencingMethod data field, which is a data field for a method used for location determination, and a ContentType data field, which is a data field for a content type to be referenced. can

According to one embodiment, the LocationReferencingMethod data field may include a LaneNumberCounting data field and a DisplacementFromAReferencePoint data field. Descriptions of the LaneNumberCounting data field and the DisplacementFromAReferencePoint data field are omitted since they have already been described in the description of FIG. 8 . According to various embodiments, the ContentType data field may include a data structure shown in Table 1 below.

[Table 1]

According to one embodiment, the LaneNumberCounting data field may include a RoadSectionInformation data field. According to various embodiments, the RoadSectionInformation data field is a data field used to indicate a distance from a starting point to an object, and may include a data structure shown in Table 2 below.

[Table 2]

The description of the LR_PositionExpression data field and the LROV_VectorOffsetDistacneExpression data field is replaced with the content disclosed in ISO 19158 6.2.2, and the description of the LocationInformationOnLane data field is replaced with the description of FIG. 3 .

12 is a configuration diagram of an electronic device performing an object recognition method according to an embodiment of the present invention.

According to an embodiment, the electronic device 1200 includes a transceiver 1210 that receives information about a lane in which the other vehicle travels from another vehicle and information about the movement displacement of the other vehicle from a predetermined sharing point, and It is determined whether the lane in which the vehicle is traveling overlaps with the lane in which the other vehicle is traveling based on the information on the lane in which the other vehicle is traveling, and the lane in which the vehicle is traveling overlaps with the lane in which the other vehicle is traveling. In this case, it is determined whether the road on which the vehicle is traveling and the road on which the other vehicle is traveling correspond to the same floor based on the information on the movement displacement of the other vehicle from the sharing point, and the road on which the vehicle is traveling and the other vehicle are traveling on the same floor. When the road on which the vehicle is traveling corresponds to the same floor, a processor 1220 may be configured to recognize the other vehicle as a nearby object.

According to various embodiments, the transmitter/receiver 1210 recognizes an object based on bit information for activating an object recognition method based on information about a lane on which the other vehicle travels from the other vehicle and information about the movement displacement of the other vehicle. A message including bit information for method activation may be received.

The above description is merely an example of the technical idea of the present invention, and various modifications and variations can be made to those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain, and the scope of the technical idea of the present invention is not limited by these embodiments. The protection scope of the present invention should be construed according to the claims below, and all technical ideas within the equivalent range should be construed as being included in the scope of the present invention.

Claims (12)

In the object recognition method of a first vehicle traveling on a road composed of multiple floors,
Receiving information about a lane in which the second vehicle travels from a second vehicle and information about a movement displacement of the second vehicle from a predetermined sharing point;
determining whether the lane in which the first vehicle is traveling overlaps with the lane in which the second vehicle is traveling, based on information about the lane in which the second vehicle is traveling;
When the lane in which the first vehicle is traveling overlaps with the lane in which the second vehicle is traveling, the road on which the first vehicle is traveling based on the information on the movement displacement of the second vehicle from the common point determining whether the second vehicle and the road on which the second vehicle is driving correspond to the same floor; and
Recognizing the second vehicle as a nearby object of the first vehicle when the road on which the first vehicle is traveling and the road on which the second vehicle is traveling correspond to the same floor,
Object recognition method of a first vehicle. According to claim 1,
The information on the lane on which the second vehicle travels is at least one of information on the direction in which the lane number is calculated, information on the total number of lanes on the road, information on the target lane of the second vehicle, and information on special purpose lanes. Characterized in that it includes one,
Object recognition method of a first vehicle. According to claim 2,
The information on the direction in which the lane number is calculated is information on a rule for calculating a lane from the left side of the road, information on a rule for calculating a lane from the right side of the road, and a rule for calculating a lane from the center area of a preset road. Characterized in that it includes one of information about information and information about rules for calculating lanes from the shoulder,
Object recognition method of a first vehicle. According to claim 2,
Characterized in that the information on the special-purpose lane includes at least one of information about bus lanes, information about bicycle lanes, information about pedestrian roads, information about overtaking lanes, and information about slow-only lanes.
Object recognition method of a first vehicle. According to claim 1,
The information on the movement displacement of the second vehicle is first movement displacement information about the displacement of the second vehicle moving east or west from the sharing point, and the movement displacement of the second vehicle north or south from the sharing point. Characterized in that it includes second movement displacement information about the displacement and third movement displacement information about the displacement of the second vehicle moving in the vertical direction to the sharing point,
Object recognition method of a first vehicle. According to claim 1,
Including bit information for activating the object recognition method based on information about the lane on which the second vehicle travels from the second vehicle and bit information for activating the object recognition method based on information about the movement displacement of the second vehicle Further comprising receiving the message,
Object recognition method of a first vehicle. In an electronic device including a processor for object recognition,
a transmission/reception unit for receiving information about a lane on which the other vehicle travels from another vehicle and information about a movement displacement of the other vehicle from a predetermined sharing point; and
Based on the information on the lane in which the other vehicle is traveling, it is determined whether the lane in which the vehicle is traveling overlaps with the lane in which the other vehicle is traveling, and the lane in which the vehicle is traveling and the lane in which the other vehicle is traveling are determined. In the case of overlapping, it is determined whether the road on which the vehicle is traveling and the road on which the other vehicle is traveling correspond to the same floor based on the information on the movement displacement of the other vehicle from the sharing point, and Including a processor recognizing the other vehicle as a nearby object when the road on which the other vehicle is traveling corresponds to the same floor,
electronic device. According to claim 7,
The information on the lane on which the other vehicle is driving includes at least one of information on the direction in which the lane number is calculated, information on the total number of lanes on the roadway, information on the target lane of the other vehicle, and information on special purpose lanes. characterized in that it contains,
electronic device. According to claim 8,
The information on the direction in which the lane number is calculated is information on a rule for calculating a lane from the left side of the road, information on a rule for calculating a lane from the right side of the road, and a rule for calculating a lane from the center area of a preset road. Characterized in that it includes one of information about information and information about rules for calculating lanes from the shoulder,
electronic device. According to claim 8,
Characterized in that the information on the special-purpose lane includes at least one of information about bus lanes, information about bicycle lanes, information about pedestrian roads, information about overtaking lanes, and information about slow-only lanes.
electronic device. According to claim 7,
The information on the movement displacement of the second vehicle is first movement displacement information about the displacement of the second vehicle moving east or west from the sharing point, and the movement displacement of the second vehicle north or south from the sharing point. Characterized in that it includes second movement displacement information about the displacement and third movement displacement information about the displacement of the second vehicle moving in the vertical direction to the sharing point,
electronic device. According to claim 7,
The transmitting and receiving unit includes bit information for activating an object recognition method based on information about a lane in which the other vehicle is traveling from the other vehicle and bit information for activating an object recognition method based on information about a movement displacement of the other vehicle Characterized in receiving a message
electronic device.

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