WO2021182810A1 - Procédé d'estimation de mouvement de véhicule en utilisant un dispositif électronique, et dispositif électronique associé - Google Patents

Procédé d'estimation de mouvement de véhicule en utilisant un dispositif électronique, et dispositif électronique associé Download PDF

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Publication number
WO2021182810A1
WO2021182810A1 PCT/KR2021/002794 KR2021002794W WO2021182810A1 WO 2021182810 A1 WO2021182810 A1 WO 2021182810A1 KR 2021002794 W KR2021002794 W KR 2021002794W WO 2021182810 A1 WO2021182810 A1 WO 2021182810A1
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WIPO (PCT)
Prior art keywords
vehicle
electronic device
acceleration
vector
sensor
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PCT/KR2021/002794
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English (en)
Korean (ko)
Inventor
박남준
김진익
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삼성전자 주식회사
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Publication of WO2021182810A1 publication Critical patent/WO2021182810A1/fr

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    • 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
    • B60W40/10—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 vehicle motion
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B60W2050/0001—Details of the control system
    • B60W2050/0043—Signal treatments, identification of variables or parameters, parameter estimation or state estimation
    • B60W2050/0052—Filtering, filters
    • B60W2050/0054—Cut-off filters, retarders, delaying means, dead zones, threshold values or cut-off frequency
    • B60W2050/0056—Low-pass filters
    • 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
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/10—Longitudinal speed
    • B60W2520/105—Longitudinal acceleration
    • 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
    • B60W2556/00—Input parameters relating to data
    • B60W2556/45—External transmission of data to or from the vehicle
    • B60W2556/50—External transmission of data to or from the vehicle for navigation systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/301—Sensors for position or displacement
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2400/00—Special features of vehicle units
    • B60Y2400/30—Sensors
    • B60Y2400/304—Acceleration sensors

Definitions

  • Various embodiments disclosed in this document relate to a method for estimating motion of a vehicle using an electronic device and an electronic device thereof.
  • the vehicle may include a cluster (eg, an instrument panel) capable of displaying information related to driving information.
  • the vehicle may include an in-vehicle infotainment (IVI) system for reproduction of various information and multimedia.
  • IVI in-vehicle infotainment
  • a center information display CID is widely used.
  • information that can be provided to users by vehicles may be limited.
  • a user since a user has a very limited time to use a vehicle, it may be difficult for the vehicle to collect user information and provide information according to the user's context.
  • an electronic device capable of providing information to a user may not be provided. In order to provide information more appropriate to the user's context, the information may be provided using the user's portable device.
  • Information about the vehicle may be provided using a portable device such as a user's smart phone.
  • the portable device may provide information about the movement of the vehicle.
  • the portable device may provide navigation using motion information.
  • the portable device may acquire vehicle motion information using a satellite positioning system (eg, global navigation satellite system, GNSS) of the portable device.
  • GNSS global navigation satellite system
  • the portable device may not be able to obtain the vehicle's motion information based on the satellite positioning system.
  • the portable device may include an acceleration sensor for measuring acceleration. For example, methods for acquiring motion information of a vehicle using an acceleration sensor of a portable device are being studied.
  • the portable device When the portable device is located in a vehicle, for example, the portable device may be temporarily secured in the vehicle by means of a portable device holder. Since the coordinate system of the acceleration sensor of the portable device does not match the coordinate system of the vehicle, motion information of the vehicle using the acceleration sensor of the portable device may include an error.
  • Various embodiments disclosed in this document may provide a method for acquiring vehicle motion information using a portable device.
  • An electronic device includes an acceleration sensor, a positioning sensor configured to acquire positioning information based on a satellite signal, a processor operatively connected to the acceleration sensor and the positioning sensor, and an operation with the processor and a memory coupled to the memory, wherein, when executed, the processor obtains first sensor information using the acceleration sensor, obtains second sensor information using the positioning sensor, and obtains the first sensor information.
  • the electronic device may improve the accuracy of vehicle motion information.
  • the electronic device may improve the user experience by providing a service that matches the context of a related user based on vehicle motion information.
  • FIG. 1 is a block diagram of an electronic device in a network environment according to various embodiments of the present disclosure
  • FIG. 2 illustrates a vehicle and a usage environment of electronic devices in the vehicle according to various embodiments of the present disclosure.
  • FIG. 3 is a diagram illustrating a change state of a vehicle coordinate system according to acceleration and deceleration of a vehicle.
  • FIG. 4 is a block diagram of an electronic device according to an exemplary embodiment.
  • FIG. 5 is a flowchart illustrating a method for obtaining vehicle motion information according to an embodiment.
  • FIG 6 illustrates an example of first sensor information according to an embodiment.
  • FIG. 7 illustrates a timing difference between first sensor information and second sensor information according to an example.
  • FIG. 8 is a flowchart illustrating a method for acquiring vehicle motion information according to an embodiment.
  • FIG. 10 illustrates vehicle movement in a parking lot according to an example.
  • FIG. 11 illustrates a vehicle movement situation in an urban area according to an example.
  • FIG. 12 illustrates a vehicle information providing user interface according to an exemplary embodiment.
  • FIG. 1 is a block diagram of an electronic device 101 in a network environment 100 according to various embodiments of the present disclosure.
  • the electronic device 101 communicates with the electronic device 102 through a first network 198 (eg, a short-range wireless communication network) or a second network 199 . It may communicate with the electronic device 104 or the server 108 through (eg, a long-distance wireless communication network). According to an embodiment, the electronic device 101 may communicate with the electronic device 104 through the server 108 .
  • a first network 198 eg, a short-range wireless communication network
  • a second network 199 e.g., a second network 199 . It may communicate with the electronic device 104 or the server 108 through (eg, a long-distance wireless communication network). According to an embodiment, the electronic device 101 may communicate with the electronic device 104 through the server 108 .
  • the electronic device 101 includes a processor 120 , a memory 130 , an input device 150 , a sound output device 155 , a display device 160 , an audio module 170 , and a sensor module ( 176 , interface 177 , haptic module 179 , camera module 180 , power management module 188 , battery 189 , communication module 190 , subscriber identification module 196 , or antenna module 197 . ) may be included. In some embodiments, at least one of these components (eg, the display device 160 or the camera module 180 ) may be omitted or one or more other components may be added to the electronic device 101 . In some embodiments, some of these components may be implemented as one integrated circuit. For example, the sensor module 176 (eg, a fingerprint sensor, an iris sensor, or an illuminance sensor) may be implemented while being embedded in the display device 160 (eg, a display).
  • the sensor module 176 eg, a fingerprint sensor, an iris sensor, or an illuminance sensor
  • the processor 120 for example, executes software (eg, the program 140) to execute at least one other component (eg, a hardware or software component) of the electronic device 101 connected to the processor 120 . It can control and perform various data processing or operations. According to an embodiment, as at least part of data processing or operation, the processor 120 converts commands or data received from other components (eg, the sensor module 176 or the communication module 190) to the volatile memory 132 . may be loaded into the volatile memory 132 , process commands or data stored in the volatile memory 132 , and store the resulting data in the non-volatile memory 134 .
  • software eg, the program 140
  • the processor 120 converts commands or data received from other components (eg, the sensor module 176 or the communication module 190) to the volatile memory 132 .
  • the volatile memory 132 may be loaded into the volatile memory 132 , process commands or data stored in the volatile memory 132 , and store the resulting data in the non-volatile memory 134 .
  • the processor 120 includes a main processor 121 (eg, a central processing unit or an application processor), and an auxiliary processor 123 (eg, a graphic processing unit or an image signal processor) that can be operated independently or together with the main processor 121 . , a sensor hub processor, or a communication processor). Additionally or alternatively, the auxiliary processor 123 may be configured to use less power than the main processor 121 or to be specialized for a specified function. The auxiliary processor 123 may be implemented separately from or as a part of the main processor 121 .
  • a main processor 121 eg, a central processing unit or an application processor
  • an auxiliary processor 123 eg, a graphic processing unit or an image signal processor
  • the auxiliary processor 123 may be configured to use less power than the main processor 121 or to be specialized for a specified function.
  • the auxiliary processor 123 may be implemented separately from or as a part of the main processor 121 .
  • the auxiliary processor 123 may be, for example, on behalf of the main processor 121 while the main processor 121 is in an inactive (eg, sleep) state, or the main processor 121 is active (eg, executing an application). ), together with the main processor 121, at least one of the components of the electronic device 101 (eg, the display device 160, the sensor module 176, or the communication module 190) It is possible to control at least some of the related functions or states.
  • the auxiliary processor 123 eg, an image signal processor or a communication processor
  • the memory 130 may store various data used by at least one component of the electronic device 101 (eg, the processor 120 or the sensor module 176 ).
  • the data may include, for example, input data or output data for software (eg, the program 140 ) and instructions related thereto.
  • the memory 130 may include a volatile memory 132 or a non-volatile memory 134 .
  • the program 140 may be stored as software in the memory 130 , and may include, for example, an operating system 142 , middleware 144 , or an application 146 .
  • the input device 150 may receive a command or data to be used in a component (eg, the processor 120 ) of the electronic device 101 from the outside (eg, a user) of the electronic device 101 .
  • the input device 150 may include, for example, a microphone, a mouse, a keyboard, or a digital pen (eg, a stylus pen).
  • the sound output device 155 may output a sound signal to the outside of the electronic device 101 .
  • the sound output device 155 may include, for example, a speaker or a receiver.
  • the speaker can be used for general purposes, such as multimedia playback or recording playback, and the receiver can be used to receive incoming calls.
  • the receiver may be implemented separately from or as a part of the speaker.
  • the display device 160 may visually provide information to the outside (eg, a user) of the electronic device 101 .
  • the display device 160 may include, for example, a display, a hologram device, or a projector and a control circuit for controlling the corresponding device.
  • the display device 160 may include a touch circuitry configured to sense a touch or a sensor circuit (eg, a pressure sensor) configured to measure the intensity of a force generated by the touch. have.
  • the audio module 170 may convert a sound into an electric signal or, conversely, convert an electric signal into a sound. According to an embodiment, the audio module 170 acquires a sound through the input device 150 , or an external electronic device (eg, a sound output device 155 ) connected directly or wirelessly with the electronic device 101 . The sound may be output through the electronic device 102 (eg, a speaker or a headphone).
  • an external electronic device eg, a sound output device 155
  • the sound may be output through the electronic device 102 (eg, a speaker or a headphone).
  • the sensor module 176 detects an operating state (eg, power or temperature) of the electronic device 101 or an external environmental state (eg, user state), and generates an electrical signal or data value corresponding to the sensed state. can do.
  • the sensor module 176 may include, for example, a gesture sensor, a gyro sensor, a barometric pressure sensor, a magnetic sensor, an acceleration sensor, a grip sensor, a proximity sensor, a color sensor, an IR (infrared) sensor, a biometric sensor, It may include a temperature sensor, a humidity sensor, or an illuminance sensor.
  • the interface 177 may support one or more designated protocols that may be used for the electronic device 101 to directly or wirelessly connect with an external electronic device (eg, the electronic device 102 ).
  • the interface 177 may include, for example, a high definition multimedia interface (HDMI), a universal serial bus (USB) interface, an SD card interface, or an audio interface.
  • HDMI high definition multimedia interface
  • USB universal serial bus
  • SD card interface Secure Digital Card
  • the connection terminal 178 may include a connector through which the electronic device 101 can be physically connected to an external electronic device (eg, the electronic device 102 ).
  • the connection terminal 178 may include, for example, an HDMI connector, a USB connector, an SD card connector, or an audio connector (eg, a headphone connector).
  • the haptic module 179 may convert an electrical signal into a mechanical stimulus (eg, vibration or movement) or an electrical stimulus that the user can perceive through tactile or kinesthetic sense.
  • the haptic module 179 may include, for example, a motor, a piezoelectric element, or an electrical stimulation device.
  • the camera module 180 may capture still images and moving images. According to an embodiment, the camera module 180 may include one or more lenses, image sensors, image signal processors, or flashes.
  • the power management module 188 may manage power supplied to the electronic device 101 .
  • the power management module 188 may be implemented as, for example, at least a part of a power management integrated circuit (PMIC).
  • PMIC power management integrated circuit
  • the battery 189 may supply power to at least one component of the electronic device 101 .
  • the battery 189 may include, for example, a non-rechargeable primary cell, a rechargeable secondary cell, or a fuel cell.
  • the communication module 190 is a direct (eg, wired) communication channel or a wireless communication channel between the electronic device 101 and an external electronic device (eg, the electronic device 102, the electronic device 104, or the server 108). It can support establishment and communication through the established communication channel.
  • the communication module 190 operates independently of the processor 120 (eg, an application processor) and may include one or more communication processors supporting direct (eg, wired) communication or wireless communication.
  • the communication module 190 is a wireless communication module 192 (eg, a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module) or a wired communication module 194 (eg, : It may include a local area network (LAN) communication module, or a power line communication module).
  • a wireless communication module 192 eg, a cellular communication module, a short-range wireless communication module, or a global navigation satellite system (GNSS) communication module
  • GNSS global navigation satellite system
  • wired communication module 194 eg, : It may include a local area network (LAN) communication module, or a power line communication module.
  • a corresponding communication module is a first network 198 (eg, a short-range communication network such as Bluetooth, WiFi direct, or infrared data association (IrDA)) or a second network 199 (eg, a cellular network, the Internet, or It may communicate with the external electronic device 104 through a computer network (eg, a telecommunication network such as a LAN or WAN).
  • a computer network eg, a telecommunication network such as a LAN or WAN.
  • These various types of communication modules may be integrated into one component (eg, a single chip) or may be implemented as a plurality of components (eg, multiple chips) separate from each other.
  • the wireless communication module 192 uses subscriber information (eg, International Mobile Subscriber Identifier (IMSI)) stored in the subscriber identification module 196 within a communication network such as the first network 198 or the second network 199 .
  • subscriber information eg, International Mobile Subscriber Identifier (IMSI)
  • IMSI International Mobile Subscriber Identifier
  • the antenna module 197 may transmit or receive a signal or power to the outside (eg, an external electronic device).
  • the antenna module 197 may include one antenna including a conductor formed on a substrate (eg, a PCB) or a radiator formed of a conductive pattern.
  • the antenna module 197 may include a plurality of antennas. In this case, at least one antenna suitable for a communication method used in a communication network such as the first network 198 or the second network 199 is connected from the plurality of antennas by, for example, the communication module 190 . can be selected. A signal or power may be transmitted or received between the communication module 190 and an external electronic device through the selected at least one antenna.
  • other components eg, RFIC
  • other than the radiator may be additionally formed as a part of the antenna module 197 .
  • peripheral devices eg, a bus, general purpose input and output (GPIO), serial peripheral interface (SPI), or mobile industry processor interface (MIPI)
  • GPIO general purpose input and output
  • SPI serial peripheral interface
  • MIPI mobile industry processor interface
  • the command or data may be transmitted or received between the electronic device 101 and the external electronic device 104 through the server 108 connected to the second network 199 .
  • Each of the external electronic devices 102 and 104 may be the same as or different from the electronic device 101 .
  • all or part of the operations performed by the electronic device 101 may be performed by one or more of the external electronic devices 102 , 104 , or 108 .
  • the electronic device 101 may perform the function or service itself instead of executing the function or service itself.
  • one or more external electronic devices may be requested to perform at least a part of the function or the service.
  • the one or more external electronic devices that have received the request may execute at least a part of the requested function or service, or an additional function or service related to the request, and transmit a result of the execution to the electronic device 101 .
  • the electronic device 101 may process the result as it is or additionally and provide it as at least a part of a response to the request.
  • cloud computing, distributed computing, or client-server computing technology may be used.
  • Electronic devices may be devices of various types.
  • the electronic device may include, for example, a portable communication device (eg, a smart phone), a computer device, a portable multimedia device, a portable medical device, a camera, a wearable device, or a home appliance device.
  • a portable communication device eg, a smart phone
  • a computer device e.g., a smart phone
  • a portable multimedia device e.g., a portable medical device
  • a camera e.g., a portable medical device
  • a camera e.g., a portable medical device
  • a camera e.g., a portable medical device
  • a camera e.g., a camera
  • a wearable device e.g., a smart bracelet
  • a home appliance device e.g., a smart bracelet
  • the electronic device according to the embodiment of the present document is not limited to the above-described devices.
  • first”, “second”, or “first” or “second” may simply be used to distinguish the component from other such components, and refer to those components in other aspects (e.g., importance or order) is not limited. that one (e.g. first) component is “coupled” or “connected” to another (e.g. second) component with or without the terms “functionally” or “communicatively” When referenced, it means that one component can be connected to the other component directly (eg by wire), wirelessly, or through a third component.
  • module may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as, for example, logic, logic block, component, or circuit.
  • a module may be an integrally formed part or a minimum unit or a part of the part that performs one or more functions.
  • the module may be implemented in the form of an application-specific integrated circuit (ASIC).
  • ASIC application-specific integrated circuit
  • one or more instructions stored in a storage medium may be implemented as software (eg, the program 140) including
  • the processor eg, the processor 120
  • the device eg, the electronic device 101
  • the one or more instructions may include code generated by a compiler or code executable by an interpreter.
  • the device-readable storage medium may be provided in the form of a non-transitory storage medium.
  • 'non-transitory' only means that the storage medium is a tangible device and does not contain a signal (eg, electromagnetic wave), and this term is used in cases where data is semi-permanently stored in the storage medium and It does not distinguish between temporary storage cases.
  • a signal eg, electromagnetic wave
  • the method according to various embodiments disclosed in this document may be provided by being included in a computer program product.
  • Computer program products may be traded between sellers and buyers as commodities.
  • the computer program product is distributed in the form of a device-readable storage medium (eg compact disc read only memory (CD-ROM)), or via an application store (eg Play StoreTM) or on two user devices ( It can be distributed (eg downloaded or uploaded) directly, online between smartphones (eg: smartphones).
  • a part of the computer program product may be temporarily stored or temporarily created in a machine-readable storage medium such as a memory of a server of a manufacturer, a server of an application store, or a relay server.
  • each component eg, a module or a program of the above-described components may include a singular or a plurality of entities.
  • one or more components or operations among the above-described corresponding components may be omitted, or one or more other components or operations may be added.
  • a plurality of components eg, a module or a program
  • the integrated component may perform one or more functions of each component of the plurality of components identically or similarly to those performed by the corresponding component among the plurality of components prior to the integration. .
  • operations performed by a module, program, or other component are executed sequentially, in parallel, repeatedly, or heuristically, or one or more of the operations are executed in a different order, omitted, or , or one or more other operations may be added.
  • FIG. 2 illustrates a vehicle and a usage environment of electronic devices in the vehicle according to various embodiments of the present disclosure.
  • the vehicle 203 may be connected to various electronic devices.
  • vehicle 203 may include various electronic components.
  • all electronic components mounted in the vehicle 203 may be referred to as electronic devices of the vehicle 203 .
  • the vehicle 203 may include a vehicle system 202 configured to control various electronic devices in the vehicle 203 .
  • vehicle system 202 may be configured to control at least some of the electronic components mounted within vehicle 203 .
  • vehicle system 202 may be configured to communicate with at least some of the electronic components mounted within vehicle 203 .
  • the vehicle system 202 may be referred to as a system of electronic devices in the vehicle 203 mounted in the vehicle 203 in a typical driving environment of the vehicle 203 .
  • the vehicle system 202 may include or be in communication with a device that controls the dynamics of the vehicle 203 .
  • the electronic device 201 may be a device that communicates with the vehicle 203 or the vehicle system 202 .
  • the electronic device 201 is physically coupled to the vehicle system 202 , but embodiments of the present document are not limited thereto.
  • the electronic device 201 may be connected to the vehicle system 202 wirelessly or by wire.
  • the electronic device 201 may be a device configured to perform various embodiments described below using the vehicle 203 or the vehicle system 202 .
  • the electronic device 201 may be a smartphone, a tablet PC, or a user equipment.
  • the electronic device 201 may be any portable device.
  • the electronic device 201 is illustrated as being coupled to the cradle of the vehicle 203 , but embodiments of the present document are not limited thereto.
  • the electronic device 201 may be fixed in the vehicle 203 using a phone holder. Since the electronic device 201 may be fixed to the phone holder in an arbitrary orientation, the coordinate system of the acceleration sensor of the electronic device 201 with respect to the coordinate system of the vehicle 203 may be changed at every fixation. Also, even if the electronic device 201 is strongly coupled to the vehicle 203 , the coordinate system of the vehicle 203 may be changed. For example, with reference to FIG. 3 , a change in the coordinate system of the vehicle 203 may be described.
  • FIG. 3 is a diagram illustrating a change state of a vehicle coordinate system according to acceleration and deceleration of a vehicle.
  • an acceleration situation of the vehicle 203 may be described. For example, when the vehicle 203 is accelerated, a nose-up in which a front portion of the vehicle 203 is heard may occur. In this case, the coordinate system of the vehicle 203 may be changed due to the nose-up.
  • the deceleration situation of the vehicle 203 may be described.
  • a nose-down in which the front portion of the vehicle 203 is directed downward may occur.
  • the coordinate system of the vehicle 203 may be changed due to nosedown.
  • the coordinate system of the electronic device 201 in the vehicle 203 may also be changed.
  • the estimation of the motion information of the vehicle 203 based on the changed coordinate system of the electronic device 201 may include an error due to the change of the coordinate system. Accordingly, in order to improve the accuracy of the motion information of the vehicle 203 , alignment between the coordinate system of the vehicle 203 and the coordinate system of the electronic device 201 may be performed.
  • a method of obtaining motion information of the vehicle 203 of the electronic device 201 may be described with reference to FIGS. 4 to 12 .
  • FIG. 4 is a block diagram of an electronic device according to an exemplary embodiment.
  • the electronic device 201 (eg, the electronic device 101 of FIG. 1 ) includes a processor 320 , a memory 330 , a display 360 , an acceleration sensor 371 , and a positioning sensor 373 . , a gyro sensor 375 , and/or a communication circuit 390 .
  • the processor 320 may be set to control various components of the electronic device 201 .
  • the processor 320 may be set to perform various operations of the electronic device 201 to be described later based on one or more instructions stored in the memory 330 (eg, the memory 130 of FIG. 1 ).
  • the display 360 may include at least one display.
  • the description of the display 360 may be referred to as the description of the display device 160 of FIG. 1 .
  • the electronic device 201 may include at least one sensor (eg, the sensor module 176 of FIG. 1 ).
  • the at least one sensor may include an acceleration sensor 371 , a positioning sensor 373 , and/or a gyro sensor 375 .
  • the acceleration sensor 371 may be located inside the electronic device 201 (eg, in a housing of the electronic device 201 ) and set to measure an acceleration associated with the electronic device 201 .
  • the acceleration sensor 371 may be configured to measure acceleration with respect to three axes (eg, an x-axis, a y-axis, and a z-axis).
  • the positioning sensor 373 may be located inside the electronic device 201 and may be configured to acquire location information (eg, latitude information and longitude information) related to the electronic device 201 based on a satellite signal.
  • the positioning sensor 373 may include a GNSS (eg, a global positioning system (GPS) and/or a global navigation satellite system (GLONASS)) sensor.
  • the gyro sensor 375 may be located inside the electronic device 201 and may be set to measure a rotation associated with the electronic device 201 .
  • the gyro sensor 375 may be configured to measure rotation about three axes (eg, an x-axis, a y-axis, and a z-axis).
  • the acceleration sensor 371 and the gyro sensor 375 may be integrated into one sensor (eg, a 6-axis sensor).
  • the acceleration sensor 371 or the 6-axis sensor may be referred to as a first sensor.
  • Information obtained using the first sensor may be referred to as first sensor information.
  • the positioning sensor 373 may be referred to as a second sensor.
  • Information obtained using the second sensor may be referred to as second sensor information.
  • communication circuitry 390 may be a communication interface for communicating wired or wirelessly with vehicle 203 , vehicle system 202 , and/or other electronic devices.
  • communication circuitry 390 may be a communication interface for communicating wired or wirelessly with vehicle 203 , vehicle system 202 , and/or other electronic devices.
  • the configuration of the electronic device 201 illustrated in FIG. 4 is exemplary, and embodiments of the present document are not limited thereto.
  • the electronic device 201 may not include at least one of the components of FIG. 4 .
  • the electronic device 201 may further include at least one component (eg, a housing) not shown in FIG. 4 .
  • the electronic device 201 in the vehicle 203 operates with an acceleration sensor 371 , a positioning sensor 373 configured to acquire positioning information based on a satellite signal, the acceleration sensor, and the positioning sensor It may include a processor 320 coupled to the processor 320 and a memory 330 operatively coupled to the processor 320 .
  • the processor 320 obtains first sensor information using the acceleration sensor 371 and obtains the second sensor information 373 using the positioning sensor, , obtaining a linear acceleration of the electronic device 201 from the first sensor information, synchronizing the first sensor information and the second sensor information, and based on the linear acceleration and the synchronized second sensor information, the One or more instructions for obtaining a front vector of the vehicle 203 and a rear vector of the vehicle may be stored.
  • the one or more instructions when executed, may cause the processor 320 to obtain vehicle motion information representing the motion of the vehicle 203 based on the first sensor information, the front vector, and the rear vector. .
  • the instructions when executed, may cause the processor 320 to obtain the linear acceleration by removing the gravitational acceleration from the first sensor information.
  • the instructions may be executed by the processor 320 based on an average of the first sensor information, a median value of the first sensor information, or low-pass filtering for the first sensor information.
  • the linear acceleration may be obtained by obtaining the gravitational acceleration and removing the gravitational acceleration from the first sensor information.
  • the processor 320 When the instructions are executed, the processor 320 obtains the front vector based on the linear acceleration measured when the vehicle 203 is accelerated, and is based on the linear acceleration measured when the vehicle 203 is decelerated. Based on the posterior vector can be obtained.
  • the instructions when executed, may cause the processor 320 to detect acceleration or deceleration of the vehicle 203 based on the synchronized second sensor information.
  • the processor 320 detects acceleration or deceleration of the vehicle 203 , and detects a linear motion of the vehicle 203 based on the synchronized second sensor information. Then, it is possible to obtain the linear acceleration.
  • the instructions when executed, cause the processor 320 to obtain the front vector based on a plurality of first linear accelerations sensed upon acceleration of the vehicle 203 , and upon deceleration of the vehicle 203 .
  • the rear vector may be obtained based on the sensed plurality of second linear accelerations.
  • the electronic device 201 may further include a gyro sensor 375 .
  • the processor 320 uses the gyro sensor 375 to detect a change in the orientation of the electronic device 320 during acquisition of the forward vector and the backward vector, and the detected of the front vector and the back vector based on the amount of change in orientation of the electronic device, the number of the plurality of first linear accelerations and the plurality of second linear accelerations, and the angle between the front vector and the back vector validity can be determined.
  • FIG. 5 is a flowchart 500 of a method for obtaining vehicle motion information according to an embodiment.
  • the electronic device 201 may be assumed to be located in a vehicle. For example, the electronic device 201 may identify that the electronic device 201 is located in the vehicle based on communication with the vehicle 203 or the vehicle system 202 . As another example, when a specified application (eg, a navigation application or a map application) is executed, the electronic device 201 may determine that the electronic device 201 is located in the vehicle 203 . In an embodiment, the electronic device 201 may be configured to perform the operations of FIG. 5 when it is determined that the electronic device 201 is located in the vehicle 203 . In another embodiment, the electronic device 201 may be set to perform the operations of FIG. 5 when a specified application (eg, a navigation application or a map application) is executed.
  • a specified application eg, a navigation application or a map application
  • the electronic device 201 may obtain first sensor information using the acceleration sensor 371 .
  • the electronic device 201 may obtain first sensor information indicating acceleration information of the electronic device 201 by using the acceleration sensor 371 .
  • the electronic device 201 may further acquire second sensor information using the positioning sensor 373 .
  • the electronic device 201 may obtain a linear acceleration of the electronic device 201 from the first sensor information.
  • the linear acceleration may mean, for example, a component obtained by removing the gravitational acceleration from the first sensor information.
  • the first sensor information may include not only acceleration information due to the movement of the vehicle 203, but also gravitational acceleration information due to gravity. can
  • the electronic device 201 may obtain the linear acceleration by removing the influence of the gravitational acceleration from the first sensor information.
  • the electronic device 201 may obtain the linear acceleration by subtracting the estimated gravitational acceleration from the acceleration information indicated by the first sensor information.
  • the electronic device 201 Since the orientation of the electronic device 201 positioned within the vehicle 203 can be changed, the electronic device 201 achieves linear acceleration by eliminating the effect of gravitational acceleration according to the changed orientation of the electronic device 201 .
  • the electronic device 201 may acquire the gravitational acceleration based on at least one of an average of the first sensor information, a median value of the first sensor information, or low-pass filtering of the first sensor information. Methods for obtaining the linear acceleration of the electronic device 201 may be described with reference to FIG. 6 .
  • the electronic device 201 may synchronize the second sensor information from the satellite-based positioning sensor with the first sensor information.
  • the synchronization of the first sensor information and the second sensor information may include timing synchronization between the two sensor information. Since the second sensor information is positioning information based on a satellite signal, it may be delayed compared to the first sensor information.
  • the electronic device 201 receives signals from a plurality of satellites and performs positioning based on the signals received from the plurality of satellites to obtain the second sensor information.
  • the second sensor information may be relatively delayed compared to the first sensor information due to a signal reception time from the plurality of satellites and a time synchronization problem between data from the plurality of satellites.
  • a timing difference between the second sensor information and the first sensor information may be described later with reference to FIG. 7 .
  • the electronic device 201 may estimate a forward vector and a backward vector based on the linear acceleration and the synchronized second sensor information.
  • the forward vector is a vector value of a linear acceleration that appears in the forward direction of the moving direction of the vehicle 203 when the vehicle 203 is accelerated, and may be a vector value estimated by the electronic device 201 .
  • the rear vector is a vector value of a linear acceleration that appears in the rearward direction of the moving direction of the vehicle 203 when the vehicle 203 is decelerated, and may be a vector value estimated by the electronic device 201 .
  • the electronic device 201 may estimate the forward vector based on a cumulative average of linear accelerations sensed when the vehicle 203 is accelerated.
  • the electronic device 201 may estimate the rear vector based on the cumulative average of the linear acceleration sensed when the vehicle 203 is decelerated. For example, the electronic device 201 obtains a forward vector based on a plurality of first linear accelerations sensed when the vehicle 203 is accelerated, and a plurality of second linear accelerations sensed when the vehicle 203 is decelerated. A back vector may be obtained based on the linear accelerations.
  • the electronic device 201 may detect acceleration of the vehicle 203 and/or deceleration of the vehicle 203 using second sensor information synchronized with the first sensor information. For example, the electronic device 201 may estimate the forward vector based on the vector value estimated while the acceleration of the vehicle 203 is sensed. The electronic device 201 may estimate the rear vector based on the estimated vector value in which the deceleration of the vehicle 203 is sensed.
  • the electronic device 201 uses a value measured while the vehicle 203 drives in a straight line to obtain a forward vector and /or we can estimate the back vector.
  • the electronic device 201 may identify whether the vehicle 203 moves straight by using the second sensor information.
  • the electronic device 201 may estimate the front vector and/or the rear vector by using the first sensor information obtained while the vehicle 203 moves straight ahead.
  • the electronic device 201 may determine that the vehicle 203 is being accelerated when the speed increase based on the second sensor information is equal to or greater than the first value while the vehicle 203 is driving in a straight line.
  • the electronic device 201 may determine that the vehicle 203 is decelerating when the speed reduction amount based on the second sensor information is less than the second value while the vehicle 203 is driving in a straight line.
  • the electronic device 201 may obtain a forward vector by accumulatively averaging the linear acceleration sensed during acceleration, and may acquire a rear vector by accumulating the linear acceleration sensed during deceleration.
  • the electronic device 201 may obtain vehicle motion information (eg, acceleration information of the vehicle 203 ) based on the linear acceleration, the forward vector, and the rearward vector detected using the acceleration sensor. For example, the electronic device 201 may determine the speed (eg, speed change) of the vehicle 203 , the movement path of the vehicle 203 , the acceleration of the vehicle 203 , and the vehicle 203 based on the front vector and the rear vector. deceleration of , and/or the moving distance of the vehicle 203 may be obtained.
  • vehicle motion information eg, acceleration information of the vehicle 203
  • the electronic device 201 may determine the speed (eg, speed change) of the vehicle 203 , the movement path of the vehicle 203 , the acceleration of the vehicle 203 , and the vehicle 203 based on the front vector and the rear vector. deceleration of , and/or the moving distance of the vehicle 203 may be obtained.
  • the electronic device 201 obtains a linear acceleration by using an acceleration sensor after acquiring the forward vector and the backward vector, and at least one of a projection of the linear acceleration with respect to the forward vector or a projection of the linear acceleration with respect to the rear vector.
  • the acceleration of the vehicle 203 may be obtained based on .
  • the electronic device 201 may obtain motion information of the vehicle 203 by using the front vector and the rear vector only when the estimated front vector and rear vector are valid. For example, the electronic device 201 may detect a change in the orientation of the electronic device 201 during acquisition of the forward vector and the backward vector. The electronic device 201 is configured to configure the forward direction based on the sensed amount of change in orientation of the electronic device, the number of first plurality of linear accelerations and plurality of second linear accelerations, and the angle between the forward vector and the backward vector. The validity of the vector and the back vector can be determined. A method of determining the validity of the forward vector and the backward vector may be described later with reference to FIG. 8 .
  • FIG 6 illustrates an example of first sensor information according to an embodiment.
  • first sensor information eg, acceleration information
  • three axes x, y, and z axes
  • the electronic device 201 may estimate the gravitational acceleration by using low-pass filtering. For example, if the orientation of the electronic device 201 is not changed, the effect of gravity on the electronic device 201 may have a substantially very low rate of change.
  • the electronic device 201 may obtain (eg, estimate) the gravitational acceleration by extracting a component having a frequency less than or equal to a specified frequency from the first sensor information.
  • the electronic device 201 may acquire the linear acceleration by removing (eg, subtracting) the acquired gravitational acceleration from the first sensor information.
  • the electronic device 201 may estimate the gravitational acceleration by using an average value of the first sensor information. For example, the electronic device 201 may obtain (eg, estimate) the gravitational acceleration from an average value of the first sensor information over a specified time period. The electronic device 201 may acquire the linear acceleration by removing the acquired gravitational acceleration from the first sensor information. For example, when the electronic device 201 is mounted in a specific orientation in the vehicle 203 , the orientation of the electronic device 201 may be substantially fixed depending on a mounted situation (eg, a phone holder). Also, the linear acceleration measured or estimated by the electronic device 201 may have a symmetrical characteristic.
  • the linear accelerations may cancel each other out and only the gravitational acceleration component may remain.
  • the electronic device 201 may estimate the gravitational acceleration component by acquiring the first sensor information in the stationary state of the vehicle 203 . In the stationary state, only gravitational acceleration can act on the vehicle 203 and the electronic device 201 .
  • the acceleration measured by the acceleration sensor of the electronic device 201 in the stationary state may correspond to the gravitational acceleration.
  • the value of the acceleration (eg, gravitational acceleration) measured by the acceleration sensor of the electronic device 201 is, for example, (0, 0, 1) (eg : can have vector values of x, y, z).
  • the vehicle 203 may start at one point and stop at another point. In this case, the accelerations in the traveling direction, the reverse direction, the left direction, and the right direction with respect to the driving plane of the vehicle 203 may cancel each other out according to an increase in the driving time.
  • the electronic device 201 since the gravitational acceleration acting on the vehicle 203 continuously acts, the electronic device 201 may measure the gravitational acceleration through long-term measurement.
  • the electronic device 201 may estimate the gravitational acceleration based on an average value of all accelerations or a moving average.
  • the electronic device 201 may estimate the gravitational acceleration by using an intermediate value of the first sensor information. For example, the electronic device 201 may obtain (eg, estimate) the gravitational acceleration from an intermediate value greater than or equal to a specified time period of the first sensor information. The electronic device 201 may acquire the linear acceleration by removing the acquired gravitational acceleration from the first sensor information.
  • the electronic device 201 may estimate the gravitational acceleration based on orientation information of the electronic device 201 .
  • the electronic device 201 may obtain orientation information of the electronic device 201 using the acceleration sensor 371 and the gyro sensor 375 .
  • the electronic device 201 may acquire or estimate the gravitational acceleration that affects the electronic device 201 based on the orientation information.
  • the electronic device 201 may obtain the linear acceleration by removing the gravitational acceleration from the first sensor information.
  • FIG. 7 illustrates a timing difference between first sensor information and second sensor information according to an example.
  • the satellite positioning information (eg, the second sensor information) may have a slower response than the first sensor information of the acceleration sensor 371 .
  • the first sensor information and the second sensor information may have a timing difference by a time T.
  • the acceleration change can be measured substantially immediately by the acceleration sensor 371 .
  • the positioning sensor 373 may measure the speed change after a predetermined time (eg, about 1 second) after departure.
  • the electronic device 201 may synchronize the first sensor information and the second sensor information based on a change timing of the sensor information between the first sensor information and the second sensor information. For example, the electronic device 201 may obtain a change timing of the first sensor information and a change timing of the second sensor information, and synchronize the first sensor information and the second sensor information according to the timing difference. For example, the electronic device 201 may synchronize the first sensor information and the second sensor information by delaying the first sensor information by a timing difference (eg, T).
  • a timing difference eg, T
  • FIG. 8 is a flowchart 800 of a method for obtaining vehicle motion information according to an embodiment.
  • the electronic device 201 may perform the operations of FIG. 8 when positioned in a vehicle or based on a user input. For example, the electronic device 201 may identify that the electronic device 201 is located in the vehicle based on communication with the vehicle 203 or the vehicle system 202 . As another example, when a specified application (eg, a navigation application or a map application) is executed, the electronic device 201 may be set to perform the operations of FIG. 8 .
  • a specified application eg, a navigation application or a map application
  • the electronic device 201 may acquire second sensor information.
  • the electronic device 201 may acquire second sensor information by using the positioning sensor 373 .
  • the electronic device 201 may determine whether the second sensor information satisfies a specified condition.
  • the specified condition may include a rate of change of speed and/or direction obtained from the second sensor information.
  • the electronic device 201 may obtain a forward vector and/or a backward vector using the acceleration sensor 371 only when there is a change in speed. This is because the linear acceleration cannot be obtained from the first sensor information of the acceleration sensor 371 when the vehicle 203 is moving at a constant velocity or is stopped. Accordingly, the electronic device 201 determines that the specified condition is satisfied if the change in speed (eg, the absolute value of the change in speed) indicated by the second sensor information is greater than or equal to the specified first rate of change (eg, the specified first amount of change).
  • the specified first rate of change eg, the specified first amount of change
  • the electronic device 201 may estimate a forward vector and/or a rearward vector while the vehicle 203 travels in a straight line in order to minimize the influence of centrifugal force.
  • the electronic device 201 may determine that the specified condition is satisfied when the change in the movement direction of the electronic device 201 indicated in the second sensor information is less than a specified second rate of change (eg, a specified second amount of change). For example, if the change in the speed of the vehicle 203 is equal to or greater than the first rate of change and the change in the direction of the vehicle 203 is less than the second rate of change, the electronic device 201 may determine that the specified condition is satisfied. When the specified condition is not satisfied (eg, in operation 810 -N), the electronic device 201 may continuously attempt to acquire the second sensor information until the specified condition is satisfied.
  • a specified second rate of change eg, a specified second amount of change
  • the electronic device 201 may obtain a linear acceleration using the acceleration sensor 371 .
  • the electronic device 201 may acquire linear acceleration according to operation 510 of FIG. 5 .
  • the electronic device 201 may average the front vector and the rear vector based on the second sensor information and the first sensor information. For example, the electronic device 201 may obtain the forward vector by averaging (eg, cumulative average) of linear accelerations measured during acceleration of the electronic device 201 . The electronic device 201 may obtain the rear vector by averaging the linear acceleration measured during deceleration of the electronic device 201 . For example, the electronic device 201 may estimate the front vector and the back vector based on the averaging of the front vector and the back vector (eg, operation 520 of FIG. 5 ).
  • averaging eg, cumulative average
  • the electronic device 201 may determine whether the forward vector and the backward vector are valid. For example, the validity of the forward vector and the backward vector may be determined based on several conditions. The validity of the anterior vector and the posterior vector may be determined based on the number of samples, the angle between the two vectors, and/or the orientation of the electronic device 201 .
  • the electronic device 201 may determine that the forward vector and the backward vector are valid. if the number of samples (eg, linear acceleration values) used for estimation (eg, averaging) of the forward vector and the backward vector is greater than or equal to a specified value, the electronic device 201 may determine that the forward vector and the backward vector are valid. if the number of samples is too small, the electronic device 201 may determine that the forward vector and the backward vector are invalid. For example, the electronic device 201 may determine that the front vector and the back vector are valid when the angle between the front vector and the back vector (eg, the smaller one of the angles between the two vectors) is equal to or greater than a specified angle. When the angle between the front vector and the back vector is not adjacent to 180 degrees, the electronic device 201 may determine that the front vector and the back vector are invalid.
  • the angle between the front vector and the back vector is not adjacent to 180 degrees
  • the electronic device 201 may determine that the front vector and the back vector are valid when the change in the orientation of the electronic device 201 during acquisition of a sample used for estimation of the front vector and the back vector is less than a specified value. This is because, when the orientation of the electronic device 201 is changed during the estimation of the front vector and the rear vector, the movement of the electronic device 201 cannot be synchronized with the movement of the vehicle 203 .
  • the electronic device 201 may determine that the forward vector and the backward vector are valid only when all three conditions are satisfied. For example, in operation 820 , the electronic device 201 obtains a cumulative average of at least N forward vectors (eg, N is an integer greater than or equal to 1), and at least M (eg, M is an integer greater than or equal to 1) of the forward vectors. When the cumulative average for the backward vector is obtained, operation 820 may be performed. Accordingly, when the number of samples equal to or greater than the specified number is satisfied, the electronic device 201 determines whether the remaining two conditions (eg, the distance between the front vector and the back vector and the change in the orientation of the electronic device 201 ) are satisfied in operation 825 .
  • N is an integer greater than or equal to 1
  • M eg, M is an integer greater than or equal to 1
  • the electronic device 201 may attempt to estimate the forward vector and the backward vector again by performing operation 805 .
  • Estimation of the forward vector and the backward vector may be referred to as described below with reference to FIG. 9 .
  • the electronic device 201 may perform the operation again from operation 805 .
  • a change in the orientation of the electronic device 201 may be detected to be greater than or equal to a specified value.
  • the electronic device 201 may stop performing operation 820 and perform operation 805 again.
  • the electronic device 201 may obtain vehicle motion information based on the forward vector and the rear vector. Once the electronic device 201 estimates the front vector and the rear vector, the electronic device 201 uses the measurement value of the acceleration sensor 371 and the forward vector and the rear vector to calculate the value of the acceleration sensor 371 detected later.
  • the first sensor information may be processed.
  • the electronic device 201 may acquire the acceleration of the vehicle 203 based on the front vector, the rear vector, and the first sensor information.
  • the electronic device 201 may obtain vehicle motion information of the vehicle 203 based on the acceleration of the vehicle 203 .
  • the electronic device 201 may estimate the acceleration of the vehicle using the estimated front vector or rear vector. For example, the electronic device 201 may estimate the acceleration of the vehicle based on the similarity between the linear acceleration obtained from the first sensor information and the estimated front vector or the similarity between the linear acceleration and the estimated rear vector.
  • the electronic device 201 may obtain the linear acceleration ACC from the first sensor information.
  • the electronic device 201 determines that the corresponding linear acceleration ACC depends on the acceleration or deceleration of the vehicle 203 based on the similarity between the linear acceleration ACC and the front vector and/or the similarity between the linear acceleration ACC and the rear vector. You can decide whether to respond.
  • the electronic device 201 may determine the similarity Sf between the linear acceleration ACC and the forward vector F based on Equation 1 below.
  • the electronic device 201 may determine the similarity Sb between the linear acceleration ACC and the rear vector B based on Equation 2 below.
  • the electronic device 201 may determine that the vehicle 203 accelerates when Sf exceeds Sb, and determines that the vehicle 203 decelerates when Sf is equal to or less than Sb. In another example, the electronic device 201 may calculate only one of Sf and Sb, and determine whether the linear acceleration ACC corresponds to acceleration or deceleration based on the calculated value.
  • the electronic device 201 may determine the acceleration ACCv of the vehicle 203 based on Equation 3 below based on the linear acceleration ACC.
  • the electronic device 201 may acquire the vehicle acceleration ACCv based on a simple similarity and vector projection. In this case, the electronic device 201 may not align the coordinate system of the electronic device 201 with the coordinate system of the vehicle 203 every time. Accordingly, the electronic device 201 may estimate the vehicle acceleration ACCv with a relatively low calculation amount.
  • the electronic device 201 may obtain the vehicle acceleration ACCv as vehicle motion information.
  • the electronic device 201 may obtain other information (eg, the speed of the vehicle and/or the moving distance of the vehicle) obtained from the acceleration ACCv of the vehicle as the vehicle motion information.
  • Reference numeral 901 of FIG. 9 denotes forward estimated linear accelerations and backward estimated linear accelerations according to an example.
  • the measured anterior vectors and posterior vectors may point in substantially opposite directions to each other.
  • the angle between the front vectors and the back vectors is close to 180 degrees, but may be slightly different from 180 degrees.
  • the angle between the front vector and the rear vector may appear as a value close to 180.
  • the electronic device 201 may estimate the front vector and the rear vector in consideration of the nose-up and nose-down phenomena. Accordingly, the accuracy of the linear acceleration measured by the electronic device 201 may be improved.
  • Vehicle 203 may have various types of motion.
  • vehicle 203 may perform various types of movements while driving, such as going straight, turning left, turning right, driving uphill, and/or driving downhill.
  • the most frequent movement of the vehicle 203 may be a straight line. That is, the movement with the highest frequency during driving of the vehicle 203 may correspond to acceleration and deceleration appearing while going straight. Accordingly, as shown in FIG. 9 , when vector measurement in a sufficient time interval is performed, the motion of the vehicle 203 may converge into a front vector and a rear vector.
  • the electronic device 201 may collect a sufficient number of vector samples corresponding to the movement of the vehicle 203 .
  • vector samples are used for extraction and/or estimation of significant representative vectors (eg, anterior vector and posterior vector) through clustering.
  • the electronic device 201 may obtain a forward vector and a backward vector based on a specified number of vector samples or more.
  • the electronic device 201 may acquire a forward vector and a backward vector by accumulating vector samples and using the vector samples when the tendency of the vector samples is clear.
  • the electronic device 201 When the influence of the new vector sample on the accumulated vector samples (eg, the amount of variation of the accumulated vector sample due to the new vector sample) becomes less than or equal to a specified value, the electronic device 201 performs a forward vector and a forward vector sample based on the accumulated vector samples. Back vector can be obtained. As described above with respect to operation 825 of FIG. 8 , the electronic device 201 may check the validity of the front vector and the rear vector based on the second sensor information. The electronic device 201 may estimate the motion of the electronic device 201 even in the shaded area in which the second sensor information cannot be obtained by using the front vector and the back vector whose validity has been confirmed.
  • the electronic device 201 may synchronize the coordinate system of the electronic device 201 (eg, the coordinate system of the acceleration sensor 371 ) and the coordinate system of the vehicle 203 in consideration of various situations as described above. Accordingly, even when the electronic device 201 is mounted in the vehicle 203 in any posture, the electronic device 201 may accurately obtain the linear acceleration of the vehicle 203 . The user of the electronic device 201 may obtain information on the movement of the vehicle 203 by using the electronic device 201 without considering the mounting posture of the electronic device 201 . Also, once the forward vector and the rear vector are estimated, the electronic device 201 may acquire motion information of the vehicle 203 even in the satellite shadow area.
  • FIGS. 10 to 12 examples of providing information based on vehicle motion information of the electronic device 201 may be described with reference to FIGS. 10 to 12 .
  • FIG. 10 illustrates vehicle movement in a parking lot according to an example.
  • the vehicle 203 may move according to the illustrated route within the parking lot.
  • the electronic device 201 in the vehicle 203 may not obtain movement information of the vehicle 203 using the positioning sensor 373 .
  • the electronic device 201 may estimate the movement path of the vehicle 203 using the vehicle movement information described above with reference to FIGS. 5 and/or 8 .
  • the electronic device 201 may estimate the movement path of the vehicle 203 using acceleration information and rotation information of the vehicle 203 .
  • the electronic device 201 uses the acceleration information of the vehicle 203 obtained based on the first sensor information and the rotation information of the vehicle 203 obtained using the gyro sensor 375 of the electronic device 201 to obtain the vehicle. It is possible to estimate the movement path of
  • the electronic device 201 may provide information on the parking position of the vehicle 203 in the parking lot based on the estimated movement path.
  • the electronic device 201 may estimate the speed of the vehicle 203 in the satellite shadow area.
  • the electronic device 201 may be located in a vehicle 203 driving in a tunnel.
  • the electronic device 201 may estimate the current speed of the vehicle 203 by adding an integral value of the acceleration of the vehicle 203 from the time of entry to the present time to the initial speed when entering the shaded area. By estimating the speed of the vehicle 203 in the tunnel, the electronic device 201 may provide more accurate navigation in the tunnel.
  • FIG. 11 illustrates a vehicle movement situation in an urban area according to an example.
  • the vehicle 203 may move in an urban area where buildings are dense.
  • the electronic device 201 may acquire inaccurate position information by acquiring the position information based on the increased reception path. have.
  • a weak electric field for satellite communications may occur.
  • the field of view of the electronic device 201 may be reduced. Due to the reduced field of view, the number of satellites with which the electronic device 201 can communicate may also be reduced. Accordingly, as the number of satellites with which the electronic device 201 can communicate is reduced, a weak electric field for satellite communication may be generated. Also, due to blockage or diffraction of the satellite signal due to the building, a weak electric field may be generated for the satellite communication. In this case, the electronic device 201 may fail to receive a satellite signal or acquire inaccurate location information. Accordingly, in a dense urban environment, the electronic device 201 may fail to obtain location information of the electronic device 201 or may obtain inaccurate location information.
  • the electronic device 201 may acquire more accurate location information of the vehicle 203 by using vehicle motion information.
  • the electronic device 201 may improve location measurement accuracy of the vehicle 203 by using the vehicle motion information as auxiliary information of the second sensor information.
  • FIG. 12 illustrates a vehicle information providing user interface 1200 according to an exemplary embodiment.
  • the electronic device 201 may provide the vehicle information providing user interface 1200 .
  • the electronic device 201 may provide the user interface 1200 through the display 360 of the electronic device 201 .
  • the user interface 1200 may include information about a driving habit of a driver of the vehicle 203 .
  • the electronic device 201 may determine information on the driver's driving habit based on rapid acceleration and rapid deceleration. When rapid acceleration and rapid deceleration are frequent, the driver may have a higher risk of a traffic accident.
  • the electronic device 201 may induce the driver to have a safer driving habit by continuously providing current related information to the driver.
  • the electronic device 201 may score and provide information on the driver's driving habit. In one example, such a score may be associated with a car insurance premium. For example, a fare discount may be provided to drivers with safer driving habits.
  • the electronic device 201 may acquire more accurate movement information of the vehicle 203 compared to satellite-based movement information. Also, the electronic device 201 may analyze information on vehicle movement even in a shaded area such as a tunnel and a parking lot. In addition, when the vehicle acceleration is removed from the measured linear acceleration, the electronic device 201 may obtain a side direction acceleration component of the vehicle. In this case, the electronic device 201 may also detect a dangerous driving factor such as an abrupt lane change of the vehicle 203 based on the side-direction acceleration component.

Abstract

L'invention divulgue un dispositif électronique comprenant : un capteur d'accélération ; un capteur de positionnement conçu pour acquérir des informations de positionnement sur la base d'un signal satellite ; un processeur connecté fonctionnellement au capteur d'accélération et au capteur de positionnement ; et une mémoire connectée fonctionnellement au processeur. La mémoire peut stocker des instructions pour permettre, lorsqu'elles sont exécutées, au processeur : d'obtenir des premières informations de capteur à l'aide du capteur d'accélération ; d'obtenir des secondes informations de capteur à l'aide du capteur de positionnement ; d'obtenir une accélération linéaire du dispositif électronique à partir des premières informations de capteur ; de synchroniser les premières informations de capteur avec les secondes informations de capteur ; d'obtenir le vecteur avant du véhicule et le vecteur arrière du véhicule sur la base de l'accélération linéaire et des secondes informations de capteur synchronisées ; et d'obtenir des informations de mouvement de véhicule indiquant le mouvement du véhicule sur la base des premières informations de capteur, du vecteur avant et du vecteur arrière.
PCT/KR2021/002794 2020-03-09 2021-03-08 Procédé d'estimation de mouvement de véhicule en utilisant un dispositif électronique, et dispositif électronique associé WO2021182810A1 (fr)

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