WO2021015418A1 - Appareil pour déterminer la position d'un véhicule de test de conduite sur la base d'un gnss rtk - Google Patents

Appareil pour déterminer la position d'un véhicule de test de conduite sur la base d'un gnss rtk Download PDF

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Publication number
WO2021015418A1
WO2021015418A1 PCT/KR2020/007770 KR2020007770W WO2021015418A1 WO 2021015418 A1 WO2021015418 A1 WO 2021015418A1 KR 2020007770 W KR2020007770 W KR 2020007770W WO 2021015418 A1 WO2021015418 A1 WO 2021015418A1
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Prior art keywords
vehicle
gnss
rtk
rtk gnss
driver
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PCT/KR2020/007770
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English (en)
Korean (ko)
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이은규
안성학
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(주)네오정보시스템
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    • G—PHYSICS
    • G09—EDUCATION; CRYPTOGRAPHY; DISPLAY; ADVERTISING; SEALS
    • G09B—EDUCATIONAL OR DEMONSTRATION APPLIANCES; APPLIANCES FOR TEACHING, OR COMMUNICATING WITH, THE BLIND, DEAF OR MUTE; MODELS; PLANETARIA; GLOBES; MAPS; DIAGRAMS
    • G09B9/00—Simulators for teaching or training purposes
    • G09B9/02—Simulators for teaching or training purposes for teaching control of vehicles or other craft
    • G09B9/04—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles
    • G09B9/052—Simulators for teaching or training purposes for teaching control of vehicles or other craft for teaching control of land vehicles characterised by provision for recording or measuring trainee's performance

Definitions

  • the present invention relates to a vehicle position determination technology, and more particularly, to an RTK GNSS-based driver's license test vehicle position determination apparatus capable of accurately grasping the vehicle position using real-time high-precision GNSS.
  • the driver's license scoring system is a system that allows you to take a test through fully automated scoring without human intervention when taking a test to obtain a driver's license.It enables an objective and fair test without the subjective judgment of the examiner. Even difficult to judge can be accurately determined through various sensors.
  • the driver's license scoring system had a problem that it was complicated to install and took a long time due to the need to embed a sensor in the test site, and there was a problem that it was difficult to accurately grasp the movement of the test target vehicle due to environmental influences.
  • the driver's license scoring system if the movement of the vehicle, especially the direction and location of the vehicle, is not accurately identified, a problem that a normal driver cannot pass may occur due to incorrect scoring, which is very fatal in the operation of the driver's license scoring system. In that sense, technology development is necessary to improve this.
  • Korean Patent Publication No. 10-2014-0050161 (2014.04.29) relates to a road driving test electronic scoring device and method using a driving posture, and is being tested for road driving through a camera that can be installed in a vehicle to photograph a driver.
  • Road driving test score according to driving posture by inputting the image of the driver, analyzing the input image, extracting image information about multiple driving postures related to the score of the road driving test, and comparing it with the scoring standard information for each driving posture. It discloses a technology that can automatically calculate and provide.
  • Korean Patent Registration No. 10-0439632 (2004.06.30) relates to a pressure detection system and a test system using the same. It is highly reliable by using an optical fiber sensor to detect whether a moving object is off-course, and it is easy to determine whether the sensor is broken. It discloses a technology capable of constructing a system at relatively low cost.
  • An embodiment of the present invention is to provide an RTK GNSS based driver's license test vehicle position determination apparatus capable of accurately grasping a vehicle position using real-time high-precision GNSS.
  • An embodiment of the present invention provides an RTK GNSS-based driver's license test vehicle position determination apparatus capable of accurately providing scoring of a driver's license test by measuring a vehicle position composed of the position and direction of a vehicle for a driver's license test in various ways. I want to provide.
  • An embodiment of the present invention provides an RTK GNSS-based driver's license test vehicle position determination apparatus capable of determining a vehicle position by correcting a floating GNSS signal based on the driving data of the vehicle when the operation mode of the RTK GNSS receiver is the floating mode. I want to.
  • the device for determining the position of the RTK GNSS-based driver's license test vehicle includes first and second RTK Real Time Kinematic Global Navigation Satellite System (GNSS) receivers respectively installed at first and second positions of the vehicle,
  • GNSS Real Time Kinematic Global Navigation Satellite System
  • the operation mode of one of the first and second RTK GNSS receivers is set to a floating mode
  • a floating GNSS signal is received from the RTK GNSS receiver set to the floating mode, and based on the driving data and vehicle sensor information of the vehicle, the An RTK GNSS processing unit that corrects a floating GNSS signal
  • a vehicle position determining unit that determines a vehicle position by determining a direction of the vehicle based on at least the corrected flow GNSS signal
  • a vehicle information display unit that displays the vehicle position on an electronic map.
  • the RTK GNSS processing unit may receive a fixed GNSS signal from an RTK GNSS receiver set in a fixed mode and recalibrate the floating GNSS signal.
  • the RTK GNSS processor may generate first and second RTK GNSS signals based on the fixed GNSS signal and the recalibrated floating GNSS signal.
  • the vehicle position determiner may determine the vehicle position by determining the position and direction of the vehicle based on the first and second RTK GNSS signals.
  • the RTK GNSS processing unit determines the relative positions of each of the first and second RTK GNSS receivers when the operation modes of both of the first and second RTK GNSS receivers are set to the floating mode, and when an error of more than a specific reference occurs, based on the driving data of the vehicle One position can be corrected.
  • the vehicle information display unit may automatically calculate a vehicle driver's license score by calculating a continuous change in direction regarding the attitude of the vehicle in a vehicle driver's license test scoring course determined based on the position of the vehicle.
  • the vehicle information display unit displays a warning provided from a control room through a wireless communication module in the vehicle on the electronic map when an accident is predicted in the vehicle due to a continuous change in direction regarding the attitude of the vehicle, and displays the warning. Can be output audio.
  • the disclosed technology can have the following effects. However, since it does not mean that a specific embodiment should include all of the following effects or only the following effects, it should not be understood that the scope of the rights of the disclosed technology is limited thereby.
  • the RTK GNSS-based driver's license test vehicle position determination apparatus can accurately provide scoring of the driver's license test by measuring the vehicle position composed of the position and direction of the vehicle for the driver's license test in various ways. have.
  • the apparatus for determining the position of an RTK GNSS-based driver's license test vehicle may determine a vehicle position by correcting a floating GNSS signal based on driving data of the vehicle when the operation mode of the RTK GNSS receiver is a floating mode. .
  • FIG. 1 is a diagram illustrating a vehicle position determination system according to an embodiment of the present invention.
  • FIG. 2 is a block diagram illustrating the system configuration of the vehicle position determining apparatus in FIG. 1.
  • FIG. 3 is a block diagram illustrating a functional configuration of the vehicle position determining apparatus in FIG. 1.
  • FIG. 4 is a flowchart illustrating a vehicle position determination process performed by the vehicle position determination apparatus of FIG. 1.
  • FIG. 5 is a diagram illustrating an RTK GNSS driver's license system.
  • FIG. 6 is a diagram illustrating a configuration of an RTK GNSS driver's license system.
  • FIG. 7 is a diagram for explaining the configuration of an RTK GNSS vehicle system.
  • FIG. 8 is a diagram illustrating a scoring process for a driver's license test based on a vehicle position.
  • first and second are used to distinguish one component from other components, and the scope of rights is not limited by these terms.
  • a first component may be referred to as a second component, and similarly, a second component may be referred to as a first component.
  • the identification code (for example, a, b, c, etc.) is used for convenience of explanation, and the identification code does not describe the order of each step, and each step has a specific sequence clearly in context. Unless otherwise stated, it may occur differently from the stated order. That is, each of the steps may occur in the same order as specified, may be performed substantially simultaneously, or may be performed in the reverse order.
  • the present invention can be embodied as computer-readable codes on a computer-readable recording medium, and the computer-readable recording medium includes all types of recording devices storing data that can be read by a computer system.
  • Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, and optical data storage devices.
  • the computer-readable recording medium is distributed over a computer system connected by a network, so that the computer-readable code can be stored and executed in a distributed manner.
  • FIG. 1 is a diagram illustrating a vehicle position determination system according to an embodiment of the present invention.
  • the vehicle position determination system 100 may include a vehicle 110, a vehicle position determination apparatus 130, and a database 150.
  • the vehicle 110 is a transportation means for transporting passengers or cargo using power produced by an engine, and may correspond to a vehicle as a representative example.
  • the vehicle 110 may include not only automobiles, but also ships and airplanes, but is not necessarily limited thereto, and may include various transport means capable of moving using power.
  • the vehicle 110 may be implemented including a plurality of sensors capable of measuring related data to monitor the state of various parts.
  • the vehicle 110 includes an accelerator pedal sensor, a brake pedal sensor, a timing belt vibration sensor, a wheel acceleration sensor, a vehicle body acceleration sensor, a vehicle body tilt angle sensor, a vehicle body vibration sensor, a GPS (Global Positioning System) sensor, a flow meter, and engine rotation. It may include a water sensor, a vehicle speed sensor, a knuckle vibration sensor, and a steering angle sensor.
  • the vehicle 110 may be implemented by including a sensor interface module (SIM) that provides a sensor interface for communication with a plurality of sensors, and the vehicle position determining device 130 transmits sensing information through the SIM.
  • SIM sensor interface module
  • the vehicle position determining apparatus 130 may be implemented as a computer or a server corresponding to a program that can be displayed through a display panel by determining a posture of a vehicle including a direction and a position.
  • the vehicle position determining device 130 may be wirelessly connected to the vehicle 110 through Bluetooth, WiFi, or the like, and may exchange data with the vehicle 110 through a network.
  • the vehicle position determining device 130 may be included in the vehicle 110 and implemented.
  • the vehicle position determining device 130 may be connected to a sensor interface module providing a sensor interface through USB or RS-232C communication, and periodically transmits sensing information from a plurality of sensors installed inside the vehicle through the sensor interface module. Or it can be collected in real time.
  • the vehicle position determining apparatus 130 may be implemented including the database 150 or may be implemented independently of the database 150. When implemented independently of the database 150, the vehicle position determining apparatus 130 may be connected to the database 150 by wire or wirelessly to exchange data.
  • the database 150 is a storage device capable of storing information necessary to display vehicle attitude information.
  • the database 150 may store information about the vehicle 110 and may store a plurality of sensing information received from the vehicle 110, but is not limited thereto, and determines the vehicle direction and position based on the GNSS signal. During the process, information collected or processed in various forms can be stored.
  • FIG. 2 is a block diagram illustrating the system configuration of the vehicle position determining apparatus in FIG. 1.
  • the vehicle position determination apparatus 130 may be implemented by including a processor 210, a memory 230, a user input/output unit 250, and a network input/output unit 270.
  • the processor 210 may execute a procedure for processing each motion in the process of determining the attitude of the vehicle including the position and direction of the vehicle based on the GNSS signal received from the RTK GNSS receivers.
  • the memory 230 that is read or written can be managed, and a synchronization time between the volatile memory and the nonvolatile memory in the memory 230 can be scheduled.
  • the processor 210 can control the overall operation of the vehicle position determining device 130, and is electrically connected to the memory 230, the user input/output unit 250, and the network input/output unit 270 to control data flow between them. can do.
  • the processor 210 may be implemented as a CPU (Central Processing Unit) of the vehicle position determining apparatus 130.
  • CPU Central Processing Unit
  • the memory 230 may include an auxiliary memory device that is implemented as a nonvolatile memory such as a solid state drive (SSD) or a hard disk drive (HDD), and is used to store all data required for the vehicle position determining device 130. , And a main memory device implemented as a volatile memory such as random access memory (RAM).
  • SSD solid state drive
  • HDD hard disk drive
  • RAM random access memory
  • the user input/output unit 250 may include an environment for receiving a user input and an environment for outputting specific information to a user.
  • the user input/output unit 250 may include an input device including an adapter such as a touch pad, a touch screen, an on-screen keyboard, or a pointing device, and an output device including an adapter such as a monitor or a touch screen.
  • the user input/output unit 250 may correspond to a computing device that is connected through a remote connection, and in that case, the vehicle position determining device 130 may be performed as a server.
  • the network input/output unit 270 includes an environment for connecting to an external device or system through a network, and includes, for example, a local area network (LAN), a metropolitan area network (MAN), a wide area network (WAN), and a VAN ( Value Added Network) may include an adapter for communication.
  • LAN local area network
  • MAN metropolitan area network
  • WAN wide area network
  • VAN Value Added Network
  • FIG. 3 is a block diagram illustrating a functional configuration of the vehicle position determining apparatus in FIG. 1.
  • the vehicle position determining device 130 includes an RTK GNSS receiver 310, an RTK GNSS processing unit 330, a vehicle position determining unit 350, a vehicle information display unit 370, and a control unit 390. I can.
  • the RTK GNSS receiver 310 may correspond to an RTK GNSS antenna capable of receiving a GNSS signal.
  • the RTK GNSS receiver 310 may be installed at the first and second positions of the vehicle 110, respectively, and may operate independently of each other. Accordingly, the RTK GNSS receiver 310 may simultaneously receive GNSS signals from two or more satellites.
  • the first and second positions of the vehicle 110 may be determined to be appropriate positions that can increase the accuracy of directional recognition with respect to the vehicle 110, for example, a straight line passing through the center of the vehicle 110 It may correspond to a predetermined area formed in front and rear of the image, respectively.
  • the RTK GNSS receiver 310 may receive a GNSS signal from a satellite as well as a position correction signal from a reference station.
  • the base station may perform an operation of calculating a signal for position correction, and based on the GNSS signal received from the base satellite antenna installed at the position as the reference point and the position of the reference point.
  • the position correction signal for correction can be calculated.
  • the reference station can be installed and operated independently, and can be implemented by being integrated with the Control Room for scoring driver's licenses as needed.
  • the RTK GNSS receiver 310 may determine an operation mode for receiving a GNSS signal, and more specifically, may be divided into a fixed mode and a floating mode.
  • the fixed mode may correspond to an operation mode in which the RTK GNSS receiver 310 can provide fixed location information, and for example, it may correspond to a case where communication with a sufficient number of satellites is possible. have.
  • the floating mode may correspond to an operation mode in which the RTK GNSS receiver 310 can provide only flexible location information, and for example, communication with a sufficient number of satellites is impossible or various environmental requirements. This may be the case in which the communication is unstable.
  • the RTK GNSS receiver 310 can calculate accurate position information using the GNSS signal received when operating in a fixed mode, the GNSS received when operating in a floating mode The accuracy of location information cannot be guaranteed by signals.
  • the RTK GNSS processing unit 330 receives a floating GNSS signal from the RTK GNSS receiver 310 set to the floating mode when one of the first and second RTK GNSS receivers 310 is set to a floating mode. And, based on the driving data of the vehicle 110 and vehicle sensor information, the flow GNSS signal may be corrected. That is, when any one of the two RTK GNSS receivers 310 is operated in the floating mode, the RTK GNSS processing unit 330 can correct the GNSS signal by the corresponding RTK GNSS receiver 310 and utilize it to calculate accurate location information.
  • the driving data may correspond to various pieces of information collected related to driving of the vehicle 110 except for vehicle sensor information received from a plurality of sensors attached to the vehicle 110.
  • the RTK GNSS processing unit 330 may receive a flow GNSS signal from the RTK GNSS receiver 310 set in the flow mode, and apply driving data and vehicle sensor information of the vehicle 110 to the flow GNSS signal. To perform the correction.
  • the correction operation is a first step of checking the validity of the floating GNSS signal, a second step of correcting based on the driving data if valid according to the validity check result, and if not valid, a new GNSS based on driving data and vehicle sensor information This can be done through a third step of substituting a signal.
  • Validity check for the floating GNSS signal is performed based on whether the position based on the floating GNSS signal is included in the estimated driving area according to the vehicle speed and direction based on the driving data and vehicle sensor information in the most recent fixed mode. Can be. That is, if the location calculated according to the flow GNSS signal is included in the area where the vehicle 110 is expected to move according to the previous driving record, the corresponding flow GNSS signal is determined to be valid despite the flow mode. It can be used to calculate location information.
  • the RTK GNSS processing unit 330 may receive a fixed GNSS signal from the RTK GNSS receiver 310 set in a fixed mode and recalibrate the floating GNSS signal. That is, as a first step, the RTK GNSS processing unit 330 may correct the corresponding floating GNSS signal when any one of the two RTK GNSS receivers 310 is in the floating mode, and as a second step, the corrected floating GNSS signal is Recalibration based on the fixed GNSS signal may be performed.
  • the correction operation may be performed by applying the information of the vehicle 110 and the relative information between the first and second positions in which the RTK GNSS receivers 310 are installed, based on the fixed GNSS signal, to the corrected floating GNSS signal.
  • the first RTK GNSS receiver 310 is in the flow mode, the position information calculated based on the corrected flow GNSS signal, the length of the vehicle 110, and the first and second positions of the vehicle 110
  • a stepwise correction may be performed on the floating GNSS signal. That is, in the stepwise correction, the grade may be classified according to the distance difference, and the flow GNSS signal may be corrected so that it approaches the first position according to the corresponding grade.
  • the RTK GNSS processing unit 330 may generate first and second RTK GNSS signals based on the fixed GNSS signal and the recalibrated floating GNSS signal.
  • the RTK GNSS processing unit 330 may use the received GNSS signal as it is in consideration of the operation mode of the RTK GNSS receiver 310 or may replace it with a GNSS signal newly generated by correction.
  • the GNSS signals received by each RTK GNSS receiver 310 may be provided as first and second RTK GNSS signals as they are, and in the case of only one fixed mode, the fixed mode RTK GNSS receiver The GNSS signal received by 310 may be used as it is, but the GNSS signal received by the RTK GNSS receiver 310 in the floating mode may be corrected to generate and provide a new GNSS signal. If all are in the floating mode, new first and second RTK GNSS signals may be generated and provided based on previous driving data.
  • the RTK GNSS processing unit 330 determines the relative positions of all of the first and second RTK GNSS receivers 310 when the operation modes of all of the first and second RTK GNSS receivers 310 are set to the floating mode, and when an error of more than a specific reference occurs, Any one position may be corrected based on the driving data of the vehicle 110.
  • the RTK GNSS processing unit 330 may check the validity of the GNSS signal based on the relative location information, and if an error exceeding a specific reference occurs, it may determine that it is not valid and determine a new location from the driving data of the vehicle 110. .
  • the RTK GNSS processing unit 330 uses a distance sensor and a wheel angle sensor among sensor information received from the vehicle 110 to determine the movement path of the vehicle 110 based on the location information measured in the most recent fixed mode. Can be predicted and a new location can be determined by applying the corresponding movement path.
  • the vehicle position determiner 350 may determine the vehicle position by determining the direction of the vehicle 110 based on at least the corrected flow GNSS signal.
  • the vehicle position may be expressed as the position and direction of the vehicle, and the vehicle position determination unit 350 may determine the direction of the vehicle 110 according to the relative position based on the fixed GNSS signal and the corrected floating GNSS signal. If, when the first RTK GNSS receiver 310 is installed at the front of the vehicle 110 and the second RTK GNSS receiver 310 is installed at the rear of the vehicle 110, the vehicle position determining unit 350 is the first RTK A direction from the position of the GNSS receiver 310 to the position of the second RTK GNSS receiver 310 may be determined as the direction of the vehicle 110.
  • the vehicle position determiner 350 may determine the vehicle position by determining the position and direction of the vehicle 110 based on the first and second RTK GNSS signals.
  • the vehicle position determiner 350 may determine the first position of the vehicle 110 based on the first RTK GNSS signal, and may determine the second position of the vehicle 110 based on the second RTK GNSS signal.
  • the vehicle position determiner 350 may determine the current position of the vehicle 110 by using the determined first and second positions. For example, the vehicle position determiner 350 may determine an intermediate value or an average of the first and second positions as the current position of the vehicle 110. Also, the vehicle position determiner 350 may determine the direction of the vehicle 110 based on the relative positions between the first and second positions.
  • the vehicle information display unit 370 may display a vehicle position on an electronic map.
  • the vehicle information display unit 370 may be implemented by separately including a navigation system, and may display a vehicle position using an electronic map provided through the navigation system.
  • the vehicle information display unit 370 may be implemented including a display panel to output an electronic map and a vehicle position.
  • the vehicle information display unit 370 automatically calculates the vehicle driver's license score by calculating a continuous change in direction regarding the posture of the vehicle 110 in the vehicle driver's license test scoring course determined based on the position of the vehicle 110. Can be calculated as
  • the vehicle driver's license test scoring course may be stored in the database 150 in advance, and a series of course information may be sorted and stored in advance according to whether it is an on-site exam or an on-site exam.
  • the vehicle information display unit 370 may determine any one of a plurality of pre-set test scoring courses based on the current position of the vehicle 110, and based on a continuous change in direction regarding the attitude of the vehicle 110 in the course.
  • the vehicle driver's license score can be calculated automatically. In this case, the vehicle information display unit 370 may perform an operation related to automatic score calculation in connection with the driver's license scoring module.
  • the vehicle information display unit 370 may automatically calculate a vehicle driver's license score according to the time point of the direction change of the vehicle 110 and the number and order of direction change in a specific test scoring course. For each test scoring course, point-by-point data regarding a direction change time point, direction change frequency, and order may be previously established, and the vehicle information display unit 370 may calculate a vehicle driver's license score based on this.
  • the vehicle information display unit 370 is a control room (control room) through a wireless communication module in the vehicle 110 when an accident is predicted in the vehicle 110 due to a continuous change in direction regarding the posture of the vehicle 110. room) on the electronic map, and the warning can be printed out.
  • the control room may correspond to a control center that controls the vehicle driver's license test, and communication by a wireless communication module may be performed between the control room and the vehicle 110.
  • the vehicle information display unit 370 may report the occurrence of an accident to the control room, receive a warning provided from the control room, and display it on an electronic map. In some cases, the vehicle information display unit 370 may display pre-set warning contents on an electronic map, and may voice pre-set warning contents through a speaker.
  • the vehicle information display unit 370 corrects the direction of the vehicle 110 according to the road direction when the angle between the road direction on the electronic map and the direction corresponding to the position of the vehicle 110 exceeds a threshold angle. Can be displayed. For example, even though the vehicle 110 is traveling along the road, if the direction of the vehicle 110 is deviated by a certain angle or more from the road direction, the vehicle information display unit 370 indicates that the direction of the vehicle 110 is the road direction.
  • the direction correction may be performed to be less than a certain angle of and may be displayed on an electronic map based on this.
  • the control unit 390 controls the overall operation of the vehicle position determination device 130, and a control flow between the RTK GNSS receiver 310, the RTK GNSS processing unit 330, the vehicle position determination unit 350, and the vehicle information display unit 370 Or you can manage the data flow.
  • FIG. 4 is a flowchart illustrating a vehicle position determination process performed by the vehicle position determination apparatus of FIG. 1.
  • the vehicle position determining apparatus 130 may receive a GNSS signal from each of the first and second RTK GNSS receivers 310 (step S410).
  • the first and second RTK GNSS receivers 310 select a position correction signal, but may apply different selection periods of the position correction signal according to the most recently determined position of the vehicle 110.
  • the reference station may transmit the position correction signal in real time or periodically, and the first and second RTK GNSS receivers 310 may sequentially store the received position correction signal.
  • the first and second RTK GNSS receivers 310 may select and utilize only some of the stored position correction signals as needed.
  • the first and second RTK GNSS receivers 310 may apply different selection periods of the position correction signals according to the most recently determined posture of the vehicle 110. For example, according to the rotation direction of the most recent vehicle 110, the selection period of the first RTK GNSS receiver 310 may be applied to be larger than the selection period of the second RTK GNSS receiver 310, and additionally the most The direction of the recent vehicle 110 may be considered together.
  • the vehicle position determining device 130 may be received and the floating GNSS signal may be corrected based on the driving data of the vehicle 110 and vehicle sensor information (step S430).
  • the vehicle position determining apparatus 130 may determine the vehicle position by determining the direction of the vehicle 110 based on at least the corrected flow GNSS signal through the vehicle position determining unit 350 (step S450).
  • the vehicle position determining device 130 may display the vehicle position on the electronic map through the vehicle information display unit 370 (step S470).
  • FIG. 5 is a diagram illustrating an RTK GNSS driver's license system.
  • the RTK GNSS driver's license system uses a real-time high-precision Global Navigation Satellite System (GNSS) to perform accurate automatic scoring of a driver's license test only by installing a vehicle system without installing a sensor at a vehicle driver's license test site.
  • GNSS Global Navigation Satellite System
  • the RTK GNSS driver's license system can increase the accuracy of vehicle location identification by receiving two or more satellite signals at the same time and correcting the location through a base station.
  • the usable satellites may include GPS, GLONAS, BEIDOU, GALILEO, and the like.
  • BASE and ROVER may each receive two or more satellite signals simultaneously through RTK GNSS antennas, respectively.
  • a position correction signal for position correction can be calculated using the ground position of the reference point and the received satellite signal, and a position correction signal (Position Correction) for position correction can be transmitted to the ROVER in real time or periodically.
  • ROVER can accurately calculate its current position based on the satellite signal and the position correction signal from the BASE.
  • FIG. 6 is a diagram illustrating a configuration of an RTK GNSS driver's license system.
  • the RTK GNSS driver's license system may include a control room, a waiting room, and a vehicle system.
  • the Control Room can manage the entire vehicle driver's license test, and can perform overall control on the vehicle driver's license test by communicating with the waiting room and vehicle system.
  • the control room may be implemented including a reference station (RTK Base), in which case the control room may communicate with the vehicle system through a wireless communication module, for example, a Wi-Fi module.
  • the Waiting Room may correspond to a space in which drivers for a vehicle driver's license can wait, and may provide functions such as test reception and test progress status.
  • the control room and the waiting room can be connected through the L2 Switch, and data can be exchanged through Ethernet.
  • the vehicle system may be installed in the vehicle 110 to determine the position of the vehicle 110 and perform an operation of calculating a scoring score during the vehicle driver's license process.
  • a plurality of sensors may be installed inside the vehicle 110 for scoring a score, and the vehicle system may collect sensor information through a sensor interface module (SIM) providing a center interface.
  • SIM sensor interface module
  • the vehicle system can receive two or more satellite signals simultaneously through the RTK Rover module, and can be connected to the control room through a wireless communication module.
  • FIG. 7 is a diagram for explaining the configuration of an RTK GNSS vehicle system.
  • the RTK GNSS vehicle system includes Vehicle Wi-Fi, two RTK Rovers, an embedded PC, a sensor interface module (SIM), a plurality of sensors, an HMI display, and a power module ( DC/DC power supply).
  • Two RTK GNSS antennas can be installed in the vehicle 110, and the RTK Rover module can calculate accurate location information by combining the location information received from each RTK GNSS antenna and the correction signal received from the RTK Base of the control room. It can be transferred to an embedded PC through USB communication.
  • the scoring program of the embedded PC can calculate the attitude of the vehicle based on two location information, and perform real-time scoring by combining the vehicle sensor received from the SIM based on the location information.
  • the scored result data may be transmitted to the control room in real time, and may be output through a display panel (HMI Display) installed inside the vehicle 110.
  • the vehicle system may also output sensing information collected through the display panel by relaying of the SIM.
  • FIG. 8 is a diagram illustrating a scoring process for a driver's license test based on a vehicle position.
  • the vehicle position determining apparatus 130 may determine a vehicle position using GNSS signals received from the RTK GNSS receivers 310.
  • a plurality of RTK GNSS receivers 310 may be installed in the vehicle 110, and the attitude and direction of the vehicle 110 may be determined using GNSS signals received from each of the plurality of RTK GNSS receivers 310.
  • the vehicle position determining apparatus 130 may determine a vehicle position based on a GNSS signal.
  • the vehicle position determining apparatus 130 may determine a vehicle position based on a fixed GNSS signal when any one of the RTK GNSS receivers 310 is in a floating mode. For example, when the first RTK GNSS receiver 310 is in the floating mode, the vehicle position may be determined based on the GNSS signal by the second RTK GNSS receiver 310, and the second RTK GNSS receiver 310 is in the floating mode. In the case of, the vehicle position may be determined based on the GNSS signal by the first RTK GNSS receiver 310.
  • the vehicle position determining apparatus 130 may determine the vehicle position using the fixed GNSS signal and the most recent driving data. If all of the RTK GNSS receivers 310 are in the floating mode, the vehicle position determining device 130 applies sensing information measured through the distance sensor and the wheel angle sensor based on the vehicle position determined in the most recent fixed mode. You can determine the vehicle position at the current point in time.
  • the vehicle position determining apparatus 130 may use various algorithms to determine a vehicle position based on the GNSS signal from the RTK GNSS receivers 310 and provide scoring for a driver's license test based on this. For example, Bezier Curve algorithm, line segment intersection algorithm, length calculation algorithm between line segments, Cubic Spline Interpolation algorithm, Kalman Filter algorithm, latitude and longitude distance calculation algorithm, This may include a point rotation algorithm, an algorithm for determining a point inside a polygon, and an algorithm for calculating a position and an angle using a sensor.
  • vehicle 130 vehicle position determining device
  • processor 230 memory
  • RTK GNSS receiver 330 RTK GNSS processing unit
  • vehicle position determination unit 370 vehicle information display unit

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Abstract

La présente invention concerne un appareil servant à déterminer la position d'un véhicule de test de conduite sur la base d'un GNSS RTK. L'appareil comprend : un premier et un second récepteur GNSS RTK installés au niveau d'un premier et d'un second site dans le véhicule, respectivement ; une unité de traitement GNSS RTK qui, lorsque le mode de fonctionnement de l'un des premier et second récepteurs GNSS RTK est réglé en mode flottant, reçoit un signal GNSS flottant provenant du récepteur GNSS RTK réglé en mode flottant, et qui corrige le signal GNSS flottant sur la base de données de déplacement et d'informations de capteur de véhicule du véhicule ; une unité de détermination de position de véhicule qui détermine la direction du véhicule au moins sur la base du signal GNSS flottant corrigé pour déterminer la position du véhicule ; et une unité d'affichage d'informations de véhicule qui affiche la position du véhicule sur une carte électronique.
PCT/KR2020/007770 2019-07-24 2020-06-16 Appareil pour déterminer la position d'un véhicule de test de conduite sur la base d'un gnss rtk WO2021015418A1 (fr)

Applications Claiming Priority (2)

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KR1020190089551A KR102209422B1 (ko) 2019-07-24 2019-07-24 Rtk gnss 기반 운전면허시험 차량의 포지션 결정 장치
KR10-2019-0089551 2019-07-24

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WO2021015418A1 true WO2021015418A1 (fr) 2021-01-28

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US20230035856A1 (en) * 2021-07-20 2023-02-02 Cambridge Mobile Telematics Inc. Identifying unreliable global navigation satellite system (gnss) data
KR102594135B1 (ko) * 2021-10-15 2023-10-26 (주)네오정보시스템 Gnss 기반의 차량 운전주행 시험 장치
KR102588455B1 (ko) * 2021-10-15 2023-10-13 (주)네오정보시스템 경사도 보정을 이용한 gnss 기반의 차량 운전주행 시험 장치

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KR20100083024A (ko) * 2009-01-12 2010-07-21 엠로그씨주식회사 차량 모니터링 서버, 장치 및 그 시스템
KR20150069224A (ko) * 2013-12-13 2015-06-23 한국제이에스데이터시스템즈(주) 도로주행 및 운전적성정밀검사가 가능한 출장 pc 학과시스템
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