KR101544797B1 - Apparatus and method for estimating relative position of vehicle to vehicle - Google Patents

Abstract

The present invention relates to an apparatus and a method for estimating a relative position between vehicles. The apparatus comprises: a position information receiving unit receiving position information on a user vehicle; a driving information calculation unit calculating driving information on the user vehicle on the basis of the position information received from the position information receiving unit; a vehicle-to-vehicle (V2V) communication unit receiving driving information on another vehicle; and a control unit estimating a relative position of the mentioned another vehicle against the user vehicle, based on the driving information of user vehicle calculated from the driving information calculation unit and the driving information of the mentioned another vehicle received from the V2V communication unit.

Description

[0001] APPARATUS AND METHOD FOR ESTIMATING RELATIVE POSITION OF VEHICLE TO VEHICLE [0002]

The present invention relates to an apparatus and method for estimating a relative position between vehicles, and more particularly, to an apparatus and method for estimating a relative position between vehicles using inter-vehicle communication.

Intelligent Transport Systems is a technology that connects high-tech technologies such as electronics, information, communication and control to existing traffic systems such as roads, vehicles, and signal systems in order to efficiently adjust traffic congestion and dramatically improve the stability of vehicle driving. Generation transportation system. In recent years, technologies related to traffic safety service using vehicle-to-vehicle (V2V), which can directly exchange information between vehicles, have been actively developed without relaying infrastructure disposed at roads or intersections.

Conventionally, the above-mentioned intelligent traffic system has conventionally installed sensors such as a camera, a video related device such as a camera, ultrasonic waves, a laser, and a radar to acquire driving information of a surrounding vehicle. Based on the obtained information, And informing the accident hazard warning of the vehicle. However, such a conventional system requires additional devices to be installed in the vehicle, and it is difficult to detect the surrounding vehicle in a bad condition such as a snowstorm, a mist, a terrain with a high level difference, and the like.

Meanwhile, the background art of the present invention is disclosed in Korean Patent Laid-open Publication No. 10-2014-0076414 (June 20, 2014).

An object of the present invention is to provide an apparatus and method for estimating a relative position of a vehicle, which can estimate and provide a relative position of a surrounding vehicle based on the position of the vehicle itself.

An apparatus for estimating an inter-vehicle relative position according to the present invention includes: a position information receiver for receiving position information of a vehicle; A traveling information calculation unit for calculating traveling information of the subject vehicle based on the position information of the subject vehicle received through the position information reception unit; A V2V communication unit for receiving driving information of the other vehicle; And a control unit for estimating a relative position of the other vehicle with reference to the own vehicle based on the running information of the own vehicle calculated through the running information calculating unit and the running information of the other vehicle received through the V2V communication unit .

In the present invention, the travel information calculation unit calculates the travel information of the subject vehicle including the longitude, latitude and the direction of travel of the subject vehicle based on the location information of the subject vehicle, and calculates travel information of the other vehicle received through the V2V communication unit And the travel information includes the hardness, the latitude and the travel direction of the other vehicle.

In the present invention, when estimating the relative position, the controller determines the traveling direction of the vehicle based on the traveling direction of the vehicle and the traveling direction of the other vehicle, and determines whether the traveling direction is the same direction And determining whether or not a relative lane and an anteroposterior direction are determined based on the traveling information of the subject vehicle and the traveling information of the other vehicle based on the traveling information of the subject vehicle and the traveling information of the other vehicle And the direction in which the intersection is detected is determined.

In the present invention, when estimating the relative position, the controller determines the traveling direction of the vehicle based on the traveling direction of the vehicle and the traveling direction of the other vehicle, and determines whether the traveling direction is the same direction The distance between the vehicle and the front and rear directions is calculated on the basis of the traveling information of the vehicle and the traveling information of the other vehicle, and if the determined traveling direction is an intersection direction, the running information of the subject vehicle and the traveling information of the other vehicle And calculates the distance to the intersection of the vehicle and the distance to the intersection of the other vehicle.

(여기서, A는 타차량의 위도 - 자차량의 위도, B는 타차량의 경도 - 자차량의 경도,

는 자차량의 진북기준 진로 방향각) 상기 좌우거리 및 상기 타차량의 상기 교차점까지의 거리를 각각 산출하는 것을 특징으로 한다.In the present invention, the controller calculates the following equation (1)

(Where A is the latitude of the other vehicle, latitude of the vehicle, B is the hardness of the other vehicle,

And the distance between the right and left distance and the intersection of the other vehicle is calculated.

(여기서, A는 타차량의 위도 - 자차량의 위도, B는 타차량의 경도 - 자차량의 경도,

는 자차량의 진북기준 진로 방향각) 상기 전후방거리 및 상기 자차량의 교차점까지의 거리를 각각 산출하는 것을 특징으로 한다.In the present invention, the controller calculates the following equation (2)

(Where A is the latitude of the other vehicle, latitude of the vehicle, B is the hardness of the other vehicle,

And the distance to the intersection of the child vehicle and the front-rear distance is calculated.

A method for estimating a relative position between vehicles according to the present invention includes the steps of: receiving position information of a vehicle through a position information receiving unit of a driving information calculating unit; The traveling information calculation unit calculating travel information of the subject vehicle based on the positional information of the received subject vehicle; The control unit receiving driving information of the other vehicle through the V2V communication unit; And estimating a relative position of the other vehicle with reference to the own vehicle based on the running information of the own vehicle calculated through the running information calculating unit and the running information of the received other vehicle .

In the step of calculating the driving information of the child car according to the present invention, the driving information calculation unit calculates the driving information of the child vehicle including the longitudinal, latitudinal and longitudinal directions of the child vehicle based on the positional information of the child vehicle And the traveling information of the other vehicle received through the V2V communication unit in the step of receiving the traveling information of the other vehicle includes the hardness, the latitude and the traveling direction of the other vehicle.

In the present invention, the step of estimating the relative position may include: determining the traveling direction of the vehicle based on the traveling direction of the vehicle and the traveling direction of the other vehicle; Determining whether the control unit is in a relative lane and a front or back direction based on the driving information of the child vehicle and the driving information of the other vehicle when the determined traveling direction is the same direction or an opposite direction; And determining the direction in which the control unit crosses based on the running information of the subject vehicle and the running information of the other vehicle when the determined proceeding direction is an intersecting direction.

In the present invention, the step of estimating the relative position may include: determining the traveling direction of the vehicle based on the traveling direction of the vehicle and the traveling direction of the other vehicle; Calculating the distance between the vehicle and the front and rear of the vehicle based on the traveling information of the child vehicle and the traveling information of the other vehicle when the determined traveling direction is the same direction or an opposite direction; And when the determined direction of travel is an intersecting direction, the control unit calculates a distance to the intersection of the child vehicle and the intersection of the other vehicle based on the traveling information of the child vehicle and the traveling information of the other vehicle And a step of calculating a difference value.

(여기서, A는 타차량의 위도 - 자차량의 위도, B는 타차량의 경도 - 자차량의 경도,

는 자차량의 진북기준 진로 방향각) 상기 좌우거리 및 상기 타차량의 상기 교차점까지의 거리를 각각 산출하는 것을 특징으로 한다.In the step of calculating the left-right distance and the front-rear distance of the present invention and the distance to the intersection of the child vehicle and the intersection of the other vehicle, the control unit calculates the following formula (1)

(Where A is the latitude of the other vehicle, latitude of the vehicle, B is the hardness of the other vehicle,

And the distance between the right and left distance and the intersection of the other vehicle is calculated.

(여기서, A는 타차량의 위도 - 자차량의 위도, B는 타차량의 경도 - 자차량의 경도,

는 자차량의 진북기준 진로 방향각) 상기 전후방거리 및 상기 자차량의 교차점까지의 거리를 각각 산출하는 것을 특징으로 한다.
In the step of calculating the left and right distance and front and rear distance of the present invention and the distance to the intersection of the child vehicle and the intersection of the other vehicle, the control unit calculates the following formula (2) (2)

(Where A is the latitude of the other vehicle, latitude of the vehicle, B is the hardness of the other vehicle,

And the distance to the intersection of the child vehicle and the front-rear distance is calculated.

An apparatus and method for estimating a relative position between vehicles according to the present invention estimates and provides a relative position of a vehicle based on the vehicle on the basis of traveling information of the vehicle and traveling information of the other vehicle received through communication between the vehicles This can be used to build intelligent transportation systems.

1 is a block diagram showing a configuration of an inter-vehicle relative position estimating apparatus according to an embodiment of the present invention.
FIG. 2 is a diagram for explaining a process of determining relative lanes, front-back directions, and intersecting directions of a vehicle in a vehicle-to-vehicle relative position estimating apparatus according to an exemplary embodiment of the present invention.
3 is a diagram illustrating an example of a process of calculating a lateral distance between vehicles in an inter-vehicle relative position estimating apparatus according to an embodiment of the present invention.
FIG. 4 is a diagram for explaining a process of calculating an inter-vehicle front-to-back distance in an inter-vehicle relative position estimating apparatus according to an embodiment of the present invention.
5 is a diagram illustrating a process of calculating a distance from an inter-vehicle relative position estimating apparatus to an intersection according to an embodiment of the present invention.
6 is a flowchart illustrating a method of estimating a relative position between vehicles according to an embodiment of the present invention.
FIG. 7 is a flowchart illustrating a process of determining a relative lane, an anteroposterior direction, and an intersecting direction in a vehicle relative position estimation method according to an exemplary embodiment of the present invention.
FIG. 8 is a flowchart illustrating a process of calculating the distance between the vehicle and the vehicle, the distance between the vehicle and the intersection, and the distance between the vehicle and the intersection in the method of estimating the inter-vehicle relative position according to the embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of an apparatus and method for estimating a relative position between vehicles according to the present invention will be described with reference to the accompanying drawings. In this process, the thicknesses of the lines and the sizes of the components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are defined in consideration of the functions of the present invention, which may vary depending on the intention or custom of the user, the operator. Therefore, definitions of these terms should be made based on the contents throughout this specification.

FIG. 1 is a block diagram illustrating a configuration of an inter-vehicle relative position estimating apparatus according to an embodiment of the present invention. FIG. 2 is a block diagram illustrating an inter-vehicle relative position estimating apparatus according to an embodiment of the present invention. FIG. 3 is an exemplary view for explaining a process of calculating a left-right distance between vehicles in an inter-vehicle relative position estimating apparatus according to an embodiment of the present invention. FIG. And FIG. 4 is a diagram illustrating a process of calculating an anteroposterior distance between vehicles in an inter-vehicle relative position estimating apparatus according to an embodiment of the present invention. An apparatus for estimating a relative position between vehicles according to an embodiment of the present invention will be described with reference to FIG. Respectively.

As shown in FIG. 1, the inter-vehicle relative position estimating apparatus according to the present embodiment includes a control unit 100, a position information receiving unit 110, a travel information calculating unit 120, and a V2V communication unit 130.

The location information receiving unit 110 receives location information of a host vehicle (HV). The position information receiving unit 110 can receive information about the position of the vehicle using a GPS, GLONASS (Global Navigation Satellite System) or other satellite navigation system.

The travel information calculation unit 120 may calculate the travel information of the subject vehicle based on the position information of the subject vehicle received through the position information reception unit 110. [ Here, the traveling information means information indicating the state of the vehicle such as the position, speed, acceleration, and direction of the vehicle. For this, the travel information calculation unit 120 may include a vehicle speed sensor or the like, and may be configured to acquire the speed of the vehicle from a Smart Control System (SCC) of the vehicle.

The travel information calculation unit 120 can calculate the longitude, latitude and the direction of the vehicle as travel information based on the location information of the vehicle. For example, the travel information calculating unit 120 may calculate the longitude and latitude of the vehicle in a method of estimating the position coordinates through Kalman filtering or may track the change of the position information to calculate the direction of the vehicle . The traveling information calculation unit 120 may calculate the traveling direction of the vehicle based on a change in geomagnetism measured by the geomagnetism sensor, or may calculate the traveling direction of the vehicle with a change in the measured angular velocity including the gyro sensor . However, the present embodiment is not limited to this, and various methods can be adopted in which the travel information calculation unit 120 can calculate the longitude, latitude and direction of the vehicle.

The V2V communication unit 130 performs communication with a vehicle (Relative Vehicle, RV) existing around the vehicle. For example, the V2V communication unit 130 can perform communication between the vehicle and another vehicle using a wireless access in vehicle environments (WAVE) scheme.

The control unit 100 can receive the traveling information of another vehicle through the V2V communication unit 130. [ The running information of the other vehicle received through the V2V communication unit 130 may include the hardness, latitude and the direction of the other vehicle, as well as the running information of the subject vehicle calculated by the running information calculating unit 120. [

The control unit 100 also determines whether or not the relative position of the other vehicle based on the vehicle information based on the traveling information of the subject vehicle calculated through the traveling information calculation unit 120 and the traveling information of the other vehicle received through the V2V communication unit 130 The position can be estimated.

On the other hand, the running information of the subject vehicle calculated by the running information calculating unit 120 may be transmitted to the other vehicle through the V2V communication unit 130 under the control of the control unit 100 or the traveling information calculating unit 120 . That is, the running information of the subject vehicle transmitted from the subject vehicle is received from another vehicle, and can be used to estimate the relative position of the subject vehicle based on the other vehicle on the other vehicle.

When estimating the relative position of the other vehicle with respect to the subject vehicle, the control unit 100 can determine the traveling direction between the vehicles based on the course direction of the subject vehicle and the course direction of the other vehicle. For example, the control unit 100 determines that the vehicle-to-vehicle traveling direction is the same if the deviation of the vehicle-to-vehicle direction is less than 5 degrees, and if the deviation of the vehicle- If the deviation of the career direction angle is more than 80 degrees and less than 100 degrees or more than 260 degrees and not more than 280 degrees, it is possible to judge the traveling direction between the vehicles as the intersection direction. Here, the direction angle of the vehicle or other vehicle means an angle in which the direction of the vehicle is inclined clockwise from the north-north reference.

The control unit 100 determines whether the determined direction of travel is a relative lane or a front or rear direction based on the traveling information of the own vehicle and the traveling information of the other vehicle in any one of the same direction and the opposite direction, It is possible to determine the direction of intersection based on the running information of the subject vehicle and the running information of the other vehicle.

2, when the determined direction of travel is the same direction, the controller 100 determines whether the position of the other vehicle is the same lane, the left lane, or the right lane, . In other words, when it is determined based on the running information of the subject vehicle and the running information of another vehicle, if the other vehicle is located in front of the right lane of the subject vehicle, the control unit 100 determines that the other vehicle is located at the Ahead Right.

If the determined direction of travel is the opposite direction, the control unit 100 makes the same determination as when the determined direction of travel is the same direction. However, if the other vehicle is positioned behind the own vehicle, since the other vehicle has already passed the own vehicle, additional relative position estimation for the vehicle may not be performed.

On the other hand, when the determined direction of the intersection is an intersecting direction, the control unit 100 determines whether the intersecting direction is the intersecting direction, that is, the left direction or the right direction. Here, the left and right sides are determined according to the direction in which the other vehicle is positioned with respect to the course direction of the vehicle, and the situation shown in FIG. 2 is a situation where the situation is crossed in the right direction.

Further, the control unit 100 may calculate the distance between the vehicle and the front and rear directions based on the traveling information of the own vehicle and the traveling information of the other vehicle in any one of the determined direction and the opposite direction, The distance to the intersection of the subject vehicle and the distance to the intersection of the other vehicle can be calculated based on the running information of the subject vehicle and the running information of the other vehicle.

For example, the control unit 100 calculates the distance between two vehicles after positioning the other vehicle on the same hardness line as that of the vehicle, and applies a trigonometric function to the distance between the two vehicles according to the direction angle of the vehicle The side offset, that is, the distance between the vehicles can be calculated.

Referring to FIG. 3, the calculation of the distance between the vehicle and the vehicle in the case where the angle of the vehicle's direction and the angle of the direction of the other vehicle are the same is as follows.

In the case where the other vehicle is placed on the same longitude line as that of the vehicle, the distance between the two vehicles can be calculated by subtracting the latitude travel distance of the other vehicle from the latitude difference between the other vehicle and the own vehicle. In this case, the distance traveled by the latitude of the other vehicle is calculated by dividing the hardness travel distance of the other vehicle by the tangent (tan) value of the other vehicle's direction, that is, the difference between the hardness of the other vehicle and the vehicle, ) Value.

In addition, since the side offset is a value obtained by multiplying the distance between the two vehicles by the sin value of the course direction angle of the vehicle, the distance between the vehicle and the vehicle is calculated as follows: (difference in latitude between the vehicle and the vehicle) The value obtained by dividing the hardness difference of the vehicle by the tangent (tan) value of the vehicle's vehicle direction angle)) x (the sin value of the vehicle's vehicle direction angle).

(The difference in latitude between the other vehicle and the subject vehicle) x (the value of the sine of the vehicle's course direction angle) - (the difference in hardness between the other vehicle and the subject vehicle) x Cos < / RTI > value of angle).

Accordingly, the above-described calculation process is generalized, and the controller 100 can calculate the left and right distance between vehicles through the calculation as shown in Equation (1).

는 자차량의 진북기준 진로 방향각)(Where A is the latitude of the other vehicle, latitude of the vehicle, B is the hardness of the other vehicle,

The angle of the vehicle in the normal direction of the vehicle)

In the case where the judged traveling direction is the opposite direction, since the traveling direction of the other vehicle is formed in the direction opposite to the direction shown in Fig. 3, the calculation process of the vehicle-to- Can be explained in the same manner as the above-described process.

On the other hand, when the control unit 100 places the other vehicle on the same hardness line as that of the vehicle, the distance between the other vehicle and the calculated distance between the vehicle and the vehicle, The longitudinal axis offset, that is, the distance between the front and rear of the vehicle, can be calculated by using the value obtained by applying the trigonometric function according to the direction angle of the vehicle.

Referring to FIG. 4, the calculation of the front-to-back distance between vehicles in the case where the angle of the vehicle's vehicle direction and the angle of the vehicle's direction are the same will be described in more detail as follows.

The distance between the two vehicles when the other vehicle is positioned on the same longitudinal line as the vehicle is calculated as ((difference of latitude of the other vehicle and the vehicle) - (difference of the distance between the other vehicle and the vehicle) (Tan value of the vehicle's vehicle direction angle))). Therefore, the dotted line portion of the vertical axis offset shown in FIG. 4 is a value obtained by multiplying the calculated distance between the two vehicles by the cosine value of the vehicle direction angle of the vehicle.

In addition, since the solid line portion of the vertical axis offset shown in Fig. 4 corresponds to the distance traveled by the other vehicle when the other vehicle is placed on the same hardness line as that of the vehicle, the hardness travel distance of the other vehicle is a sign (sin), that is, the difference between the hardness of the vehicle and that of the vehicle divided by the sin value of the vehicle's direction of travel.

Therefore, the distance between the vehicle and the vehicle is calculated as follows: (difference between latitude of the vehicle and the vehicle) - (difference between the hardness of the vehicle and the vehicle divided by the tangent of the vehicle's direction) The cosine value of the direction angle) + (the value obtained by dividing the difference between the hardness of the other vehicle and that of the vehicle by the sin value of the vehicle's vehicle direction angle).

In this case, the distance between the front and rear of the vehicle (the difference in latitude between the other vehicle and the subject vehicle) x (the cosine value of the vehicle's own course direction angle) + (the difference in hardness between the other vehicle and the subject vehicle) Sin < / RTI > value of angle).

Accordingly, the above-described calculation process is generalized, and the controller 100 can calculate the front-to-back distance between the vehicles through the calculation of Equation (2).

는 자차량의 진북기준 진로 방향각)(Where A is the latitude of the other vehicle, latitude of the vehicle, B is the hardness of the other vehicle,

The angle of the vehicle in the normal direction of the vehicle)

Similarly to the above-described calculation of the distance between the vehicles, the controller 100 can calculate the front-to-back distance between the vehicles in the same manner as described above.

In addition, the control unit 100 calculates the distance to the intersection of the subject vehicle by applying a trigonometric function to the distance between the calculated two vehicles based on the course direction angle of the subject vehicle, after locating the other vehicle on the same hardness line . In addition, when the control unit 100 places the other vehicle on the same hardness line as that of the vehicle, the distance between the other vehicle and the calculated distance between the two vehicles, The distance to the intersection of the other vehicles can be calculated using the value obtained by applying the trigonometric function according to the direction angle of the vehicle. Here, the intersection point means a point where the vehicle's vehicle's direction intersects with the vehicle's vehicle's direction.

5, the calculation of the distance to the intersection of the vehicle and the intersection of the other vehicles in a situation where the deviation of the vehicle's vehicle direction and the vehicle's vehicle direction angle is 90 degrees will be described in more detail.

Compared with FIG. 4, the auxiliary line parallel to the vehicle's course direction is drawn at the position where the other vehicle is located. The distance to the intersection of the vehicle can be calculated in the same manner as the vertical axis offset shown in FIG. 4, It can be seen that the distance to the intersection can be calculated in the same way as the side offset shown in Fig. Accordingly, the controller 100 can calculate the distance to the intersection of the other vehicle through the calculation of Equation (1), and calculate the distance to the intersection of the vehicle through the calculation of Equation (2).

Meanwhile, the relative position of the other vehicle based on the estimated vehicle based on the above process can be utilized in the construction of the intelligent transportation system. For example, the intelligent transportation system can notify the driver of the collision warning based on the relative position of the other vehicle. In other words, when the distance between the vehicles with respect to the other vehicles whose traveling directions are opposite to each other is calculated to be very small, the intelligent transportation system can notify the driver of the possibility of collision with the driver. The intelligent transportation system can also utilize the relative position of other vehicles by calculating the possibility of vehicle collision at the intersection based on the distance to the intersection of the vehicle, the speed, the acceleration and the distance to the intersection of other vehicles, have.

FIG. 6 is a flowchart for explaining a relative position estimation method according to an embodiment of the present invention. FIG. 7 is a flowchart illustrating a relative position estimation method according to an embodiment of the present invention, FIG. 8 is a flow chart for explaining the process of calculating the distance between the vehicle and the vehicle, in the method of estimating the relative position between vehicles according to an embodiment of the present invention. Referring to the flow chart, a method of estimating a relative position between vehicles according to the present embodiment will be described as follows.

As shown in FIG. 6, first, the travel information calculation unit 120 receives the location information of the vehicle through the location information receiving unit 110 (S200). The position information receiving unit 110 can receive information about the position of the vehicle using a GPS, GLONASS (Global Navigation Satellite System) or other satellite navigation system.

Subsequently, the travel information calculation unit 120 calculates travel information of the subject vehicle based on the location information of the subject vehicle received in step S200 (S210). Here, the traveling information means information indicating the state of the vehicle such as the position, speed, acceleration, and direction of the vehicle. The travel information calculation unit 120 can calculate the longitude, latitude and the direction of the vehicle as travel information based on the location information of the vehicle. For example, the travel information calculating unit 120 may calculate the longitude and latitude of the vehicle in a method of estimating the position coordinates through Kalman filtering or may track the change of the position information to calculate the direction of the vehicle .

Meanwhile, after the step S210, the control unit 100 receives driving information of another vehicle through the V2V communication unit 130 (S220). For example, the V2V communication unit 130 can receive driving information of another vehicle using a wave (Wireless Access in Vehicular Environments (WAVE)) scheme. Similarly to the traveling information of the subject vehicle calculated in the step S210, the traveling information of the other vehicle received in the step S220 may include the longitude, latitude and the direction of the other vehicle.

Then, the control unit 100 estimates the relative position of the other vehicle based on the own vehicle based on the running information of the own vehicle calculated in the step S210 and the running information of the other vehicle received in the step S220 (S230). On the other hand, the traveling information of the subject vehicle calculated in the step S210 may be transmitted to the other vehicle through the V2V communication unit 130 under the control of the control unit 100 or the traveling information calculation unit 120. [ That is, the running information of the subject vehicle transmitted from the subject vehicle is received from another vehicle, and can be used to estimate the relative position of the subject vehicle based on the other vehicle on the other vehicle.

Referring to FIG. 7, step S230 will be described in more detail.

First, the control unit 100 determines whether the traveling direction of the vehicle is the same or opposite direction based on the course direction of the subject vehicle and the course direction of the other course (S300). For example, the control unit 100 determines that the vehicle-to-vehicle traveling direction is the same if the deviation of the vehicle-to-vehicle direction is less than 5 degrees, and if the deviation of the vehicle- The direction of travel can be determined in the opposite direction. Here, the direction angle of the vehicle or other vehicle means an angle in which the direction of the vehicle is inclined clockwise from the north-north reference.

If it is determined that the vehicle traveling direction is the same or opposite direction as a result of the determination in step S300, the control unit 100 calculates the distance between the vehicles based on the traveling information of the vehicle and the traveling information of the other vehicle (S310). For example, the control unit 100 may calculate the distance between the vehicles by calculating the equation (1).

Then, the control unit 100 calculates the forward and backward distances between the vehicles based on the running information of the subject vehicle and the running information of other vehicles (S320). For example, the control unit 100 may calculate the front-to-back distance between the vehicles through the calculation of Equation (2).

On the other hand, if it is determined in step S300 that the traveling direction of the vehicle is not the same direction or the opposite direction, the controller 100 determines whether the vehicle traveling direction It is determined whether the direction is the intersecting direction (S330). For example, the control unit 100 can determine the traveling direction of the vehicles as the intersecting direction if the deviations between the vehicle and the other vehicle are within a range of 80 degrees to 100 degrees or 260 degrees to 280 degrees.

As a result of the determination in step S330, if the vehicle traveling direction is the intersection direction, the controller 100 calculates the distance to the intersection of the vehicle based on the running information of the subject vehicle and the running information of the other vehicle (S340) . For example, the controller 100 may calculate the distance to the intersection of the subject vehicle through the calculation of Equation (2).

Then, the control unit 100 calculates the distance to the intersection of the other vehicle based on the running information of the subject vehicle and the running information of the other vehicle (S350). For example, the control unit 100 may calculate the distance to the intersection of the other vehicles through the calculation of Equation (1).

Referring to FIG. 8, the step S230 shown in FIG. 6 will be described in more detail.

First, the control unit 100 determines whether the traveling directions of the vehicles are the same direction based on the course direction of the subject vehicle and the course direction of other roads (S400). For example, the control unit 100 can determine the traveling direction of the vehicle in the same direction if the deviations of the vehicle and the other vehicle are less than 5 degrees.

If it is determined in step S400 that the direction of travel between the vehicles is the same, the controller 100 determines whether the vehicle is traveling in the lane and the front or back based on the travel information of the vehicle and the travel information of the other vehicle in step S410. For example, the control unit 100 can determine whether the position of the other vehicle is the same lane, the left lane, or the right lane, and determine whether the position is located forward or rearward. In other words, when it is determined based on the running information of the subject vehicle and the running information of the other vehicle, if the other vehicle is located in front of the right lane of the subject vehicle, the control unit 100 determines that the other vehicle is located at the Ahead Right It can be judged.

On the other hand, if it is determined in step S400 that the vehicles are not traveling in the same direction, the controller 100 determines whether the vehicle traveling direction is the opposite direction based on the course direction of the subject vehicle and the course direction of the other vehicle (S420). For example, the control unit 100 can determine the traveling direction of the vehicle in the opposite direction when the deviation of the vehicle direction from the other vehicle is 175 degrees or more and 185 degrees or less.

If it is determined in step S420 that the vehicle traveling direction is the opposite direction, the control unit 100 determines whether the vehicle is traveling in the lane or the front or back direction based on the traveling information of the vehicle and the driving information of the other vehicle in step S430. For example, the control unit 100 may determine whether the vehicle is in a relative lane and a front / rear direction in the same manner as in step S410. However, if the other vehicle is positioned behind the own vehicle, since the other vehicle has already passed the own vehicle, additional relative position estimation for the vehicle may not be performed.

On the other hand, if it is determined in step S420 that the vehicle traveling direction is not the opposite direction, the control unit 100 determines whether the vehicle traveling direction is an intersection direction based on the vehicle traveling direction and the other vehicle traveling direction (S440). For example, the control unit 100 may determine whether the vehicle traveling direction is an intersecting direction in the same manner as the step S330 shown in FIG.

If it is determined in step S440 that the vehicle traveling direction is an intersecting direction, the control unit 100 determines the direction of intersection based on the running information of the subject vehicle and the running information of another vehicle in step S450. That is, the control unit 100 determines whether the vehicle and the other vehicle intersect in the left direction or in the right direction. Here, the distinction between the left side and the right side is determined according to the direction in which the other vehicle is located based on the direction of the vehicle.

As described above, the apparatus and method for estimating relative position between vehicles according to an embodiment of the present invention estimates and provides a relative position of another vehicle based on the vehicle based on the traveling information of the vehicle and the traveling information of the other vehicle, It is possible to construct the intelligent transportation system that is utilized.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. I will understand. Accordingly, the technical scope of the present invention should be defined by the following claims.

100:
110: Position information receiver
120: Driving information calculation unit
130: V2V communication unit

Claims (12)

A position information receiving unit for receiving position information of the vehicle;
A traveling information calculation unit for calculating traveling information of the subject vehicle based on the position information of the subject vehicle received through the position information reception unit;
A V2V communication unit for receiving driving information of the other vehicle; And
And a control unit for estimating a relative position of the other vehicle with reference to the own vehicle based on the running information of the own vehicle calculated through the running information calculating unit and the running information of the other vehicle received through the V2V communication unit,
The travel information calculation unit calculates the travel information of the child vehicle including the longitude, latitude and the travel direction of the child vehicle based on the position information of the child vehicle,
The driving information of the other vehicle received through the V2V communication unit includes the hardness, latitude and the direction of the other vehicle,
In estimating the relative position,
Wherein,
Determining a traveling direction of the vehicle based on the traveling direction of the vehicle and the traveling direction of the other vehicle,
Wherein the control unit determines at least one of a relative lane and an anteroposterior direction based on the traveling information of the child vehicle and the traveling information of the other vehicle when the determined traveling direction is the same direction or an opposite direction. Estimating device.
The method according to claim 1,
Wherein the control unit determines the direction intersecting based on the running information of the child vehicle and the running information of the other vehicle when the determined direction of travel is an intersecting direction.
A position information receiving unit for receiving position information of the vehicle;
A traveling information calculation unit for calculating traveling information of the subject vehicle based on the position information of the subject vehicle received through the position information reception unit;
A V2V communication unit for receiving driving information of the other vehicle; And
And a control unit for estimating a relative position of the other vehicle with reference to the own vehicle based on the running information of the own vehicle calculated through the running information calculating unit and the running information of the other vehicle received through the V2V communication unit,
The travel information calculation unit calculates the travel information of the child vehicle including the longitude, latitude and the travel direction of the child vehicle based on the position information of the child vehicle,
The driving information of the other vehicle received through the V2V communication unit includes the hardness, latitude and the direction of the other vehicle,
In estimating the relative position,
Wherein the control unit determines the traveling direction between the vehicles based on the traveling direction of the vehicle and the traveling direction of the other vehicle, and determines whether the traveling direction of the vehicle is the same direction or the opposite direction, And calculates at least one of a left-right distance and a front-rear distance between the vehicles based on the running information of the other vehicle.
The method of claim 3,
Wherein the control unit determines at least one of a distance to the intersection of the child vehicle and a distance to the intersection of the other vehicle based on the traveling information of the child vehicle and the traveling information of the other vehicle when the determined traveling direction is an intersection direction To-vehicle relative position estimating means.
5. The method of claim 4,
The control unit calculates, through the calculation as shown in the following Equation (1)
(1)

(Where A is the latitude of the other vehicle, latitude of the vehicle, B is the hardness of the other vehicle,

The angle of the vehicle in the normal direction of the vehicle)
And calculates the distance between the left and right distances and the intersection of the other vehicle, respectively.
5. The method of claim 4,
The control unit calculates, by calculation as shown in the following Equation 2,
(2)

(Where A is the latitude of the other vehicle, latitude of the vehicle, B is the hardness of the other vehicle,

The angle of the vehicle in the normal direction of the vehicle)
And calculates a distance to the intersection of the vehicle and the vehicle.
Receiving position information of the vehicle through the position information receiving unit;
The traveling information calculation unit calculating travel information of the subject vehicle based on the positional information of the received subject vehicle;
The control unit receiving driving information of the other vehicle through the V2V communication unit; And
And estimating a relative position of the other vehicle with respect to the vehicle based on the running information of the subject vehicle calculated through the running information calculating unit and the running information of the received other vehicle,
Wherein the traveling information calculating unit calculates the traveling information of the child vehicle including the longitudinal, latitudinal and longitudinal directions of the child vehicle based on the positional information of the child vehicle,
In the step of receiving the running information of the other vehicle, the running information of the other vehicle received through the V2V communication unit includes the hardness, latitude and the direction of the other vehicle,
Wherein the step of estimating the relative position comprises:
Determining the traveling direction of the vehicle based on the course direction of the subject vehicle and the course direction of the other course; And
Determining whether at least one of a relative lane and an anteroposterior direction based on the traveling information of the child vehicle and the traveling information of the other vehicle is determined when the determined traveling direction is either the same direction or the opposite direction Vehicle relative position estimating method.
8. The method of claim 7,
Wherein the step of estimating the relative position comprises:
Further comprising the step of determining, when the determined direction of travel is an intersecting direction, a direction in which the control unit intersects based on the traveling information of the child vehicle and the traveling information of the other vehicle, Way.
Receiving position information of the vehicle through the position information receiving unit;
The traveling information calculation unit calculating travel information of the subject vehicle based on the positional information of the received subject vehicle;
The control unit receiving driving information of the other vehicle through the V2V communication unit; And
And estimating a relative position of the other vehicle with respect to the vehicle based on the running information of the subject vehicle calculated through the running information calculating unit and the running information of the received other vehicle,
Wherein the traveling information calculating unit calculates the traveling information of the child vehicle including the longitudinal, latitudinal and longitudinal directions of the child vehicle based on the positional information of the child vehicle,
In the step of receiving the running information of the other vehicle, the running information of the other vehicle received through the V2V communication unit includes the hardness, latitude and the direction of the other vehicle,
Wherein the step of estimating the relative position comprises:
Determining the traveling direction of the vehicle based on the course direction of the subject vehicle and the course direction of the other course; And
The controller calculates at least one of the distance between the vehicle and the front and rear of the vehicle based on the traveling information of the child vehicle and the traveling information of the other vehicle when the determined traveling direction is either the same direction or the opposite direction Wherein the vehicle-to-vehicle relative position estimating method further comprises:
10. The method of claim 9,
Wherein the step of estimating the relative position comprises:
When the determined direction of travel is an intersecting direction, the control unit determines at least one of a distance to the intersection of the child vehicle and a distance to the intersection of the other vehicle based on the traveling information of the child vehicle and the traveling information of the other vehicle And calculating at least one of the inter-vehicle relative position and the inter-vehicle relative position.
11. The method of claim 10,
Calculating at least one of the left-right distance and the front-rear distance, calculating at least one of a distance to the intersection of the child vehicle and a distance to the intersection of the other vehicle,
The control unit calculates, through the calculation as shown in the following Equation (1)
(1)

(Where A is the latitude of the other vehicle, latitude of the vehicle, B is the hardness of the other vehicle,

The angle of the vehicle in the normal direction of the vehicle)
And the distance between the right and left distances and the intersection of the other vehicle is calculated.
11. The method of claim 10,
Calculating at least one of the left-right distance and the front-rear distance, calculating at least one of a distance to the intersection of the child vehicle and a distance to the intersection of the other vehicle,
The control unit calculates, by calculation as shown in the following Equation 2,
(2)

(Where A is the latitude of the other vehicle, latitude of the vehicle, B is the hardness of the other vehicle,

The angle of the vehicle in the normal direction of the vehicle)
And calculating a distance between the front-rear distance and the intersection of the child vehicle.

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