KR101123737B1 - Method for extension of vehicle sensing range through communication, and system thereof - Google Patents

Abstract

The present invention utilizes communication between mobile and mobile-base stations to overcome the limitations of the limited detection distance of a single sensor, to prevent accidents and to create a more efficient traffic environment. Receiving detection information of the moving object through wireless communication with another moving object, and the detection distance extension method of the mobile object using communication to expand the detection distance of the original sensor by fusing the received detection information with the existing detection information and It is about the system.
In accordance with an aspect of the present invention, there is provided a system for detecting a range of a moving object including: a sensing unit detecting traffic information in a specific area; A preprocessor configured to process the detected traffic information to generate meta information; Receiving unit for receiving the detection information transmitted from the outside; A sensor fusion processor configured to fuse the meta information and the detection information to generate final meta information; And an output unit for outputting the final meta information.

Description

Method for extension of vehicle detection range and system using communication method

The present invention expands the detection area of a moving object by adding detection information of one moving object to detection information of another moving object by using vehicle-to-vehicle and vehicle-to-infrastructure communication. In more detail, the present invention relates to a method and a system, and more particularly, to receive detection information of a moving object through wireless communication with another moving object within a detection area of one moving object, and to merge the received detection information with existing detection information to detect an original detection area. It is now possible to extend.

The development of information and communication technology has greatly contributed to improving the convenience and safety of mobile vehicles such as vehicles, ships and aircrafts. For example, in order to cope with the deterioration of traffic conditions such as traffic jams and accidents, the need for intelligent transportation systems and intelligent cars has been raised. Recently, radar, vision and ultrasonic sensors are gradually installed in high-end vehicles as well as low-end mass production vehicles. As a result, the vehicle has greatly contributed to improving driving safety and driving convenience.

In particular, in the case of millimeter wave radar, which is the most widely used sensor in the current vehicle, it is a device that discriminates the distance and relative speed from the preceding vehicle or obstacle in front by using the time difference between the transmitting wave and the receiving wave and the Doppler frequency shift. It is a key technology used in active cruise control systems. The cruise control system is a technology that measures the speed and distance of the preceding vehicle and obstacles through the radar sensor to enable safe driving such as collision warning, automatic deceleration and acceleration according to driving conditions, and constant speed. Vision sensors are also used in lane keeping assist systems.

The use of such various sensors will definitely improve the problems of traffic jams and accidents compared to the situation of not using the conventional sensors, but has a limitation in ensuring its function only in the detection area of each sensor.

For example, in the case of moving objects that do not reach the range of the sensor until the congestion section, the sensor does not recognize it, so even if there is another way to the destination, it will run toward the congestion section, which makes traffic congestion worse and worsens the mobility of the moving object. You can. In addition, when a pedestrian or other moving object passes behind an obstacle, and a sensor of the moving object is blocked by an obstacle, the pedestrian or another moving object may not be recognized, which may lead to a big accident.

The present invention to solve the above problems, by using the communication between the mobile and the mobile and the base station to overcome the limitation of the limited detection area of the existing single sensor and to create a more efficient traffic environment by mitigating the occurrence of accidents and traffic jams In order to assist, the communication information can be extended by receiving detection information of the moving object through wireless communication with another moving object within the detection area of one moving object and fusing the received detection information with the existing detection information. It is an object of the present invention to provide a method and a system for expanding a detection area of a moving object.

According to an aspect of the present invention for achieving the above object, a sensing unit for detecting traffic information in a specific area; A preprocessor configured to process the detected traffic information to generate meta information; Receiving unit for receiving the detection information transmitted from the outside; A sensor fusion processor configured to fuse the meta information and the detection information to generate final meta information; And an output unit for outputting the final meta-information.

The apparatus may further include a transmitter for transmitting the final meta information to the outside.

In addition, the sensing unit may include one or more sensors at different locations on the front of the moving object, and may detect traffic information beyond the other moving object through the one or more sensors even if there are other moving objects in the vicinity of the moving object.

In addition, the preprocessor may include a GPS module for receiving the position information from the GPS satellites to obtain the absolute position information of the moving object.

In addition, the pre-processing unit, by filtering other information other than the direct traffic information of the moving object of the traffic information detected from the sensing unit to minimize the capacity of the traffic information, the speed and direction of the detected mobile objects based on the traffic information thus obtained It may include a microprocessor to measure the, and to give a specific ID to the detected moving objects.

The sensor fusion processor may generate the final meta information by combining the meta information generated by the preprocessor and the detection information received from another moving object based on a current position.

In addition, the meta information may include speed, direction, distance information of the front moving object.

The sensor fusion processor may be further configured to correct the detection information received from another moving object based on the position and direction of the current moving object by reflecting a distance and a direction difference from the front moving object included in the meta information. Can be generated.

In addition, the sensor fusion processing unit, if duplicate data is generated during the fusion of the meta information and the detection information, whether or not the moving object transmitting the received detection information is not inside the detection area of the current moving object; First, if there is a moving object in the detection area, the coordinate difference of the specific moving object detected by the sensor of the current moving object and the coordinate of the specific moving object included in the detection information of the other moving object modified based on the current position is below a certain threshold value. If it can be treated with the same moving body.

The apparatus may further include an input unit for receiving a command for checking or limiting the detection extension region based on the final meta information.

On the other hand, according to another aspect of the present invention for achieving the above object, (a) detecting traffic information in a specific area; (b) processing the detected traffic information to generate meta information; (c) determining a communication target for requesting detection information based on the traffic information; (d) requesting the communication object to receive detection information from the communication object; (e) fusing the meta information and the detection information to generate final meta information; And (f) outputting the final meta-information.

In addition, the step (e) converts the coordinate system of the received detection information into the coordinate system of the receiving vehicle based on the data obtained by filtering out other information other than the direct information of the moving object from the received detection information to minimize the data capacity. Remove the redundant area, measure the speed and direction of the received detected moving objects, and assign specific IDs to the detected moving objects.

Also, in the step (e), when measuring the direction of the detected moving objects based on the received detection information, the front moving object is detected at a short time interval and the trajectory is represented as a vector to analyze the direction difference with the current moving object. can do.

In addition, in the step (c), when selecting a communication target for requesting detection information based on the traffic information, the location, direction, and sensor of the other moving objects detected in the current moving object are not requested to all the moving objects in front. Based on the detectable area of, the mobile objects that are farthest from the current moving object and that do not overlap the detection areas of each other can be determined as communication targets.

In the step (c), when determining the communication target, the absolute position (latitude / longitude) of the front moving object is determined based on the GPS information and the detection information, and the absolute position (latitude / longitude) is determined as an ID. And determining the communication target, and the step (d) takes into account that the position changes because each moving object is moving when requesting the detection information from the communication target and receiving the detection information from the communication target. Thus, when the distance difference between the position changed according to the movement of the moving object from the absolute position of the ID is less than or equal to a certain threshold, it may be recognized that the received detection information is transmitted from the corresponding moving object which was the communication target.

Further, in the step (c), when determining the communication target, the communication target may be determined using the speed information of the front moving object as an ID.

Also, in the step (e), when the meta information and the detection information are fused, the detection information received from another moving object may be reflected by a difference in distance and direction from the front moving object included in the meta information of the current moving object. The final meta information may be generated by modifying the position and the direction of the moving object.

The step (e) may generate the final meta information by fusing the meta information including the speed, direction, and distance information of the front moving object with the detection information of another moving object received from another moving object based on the current position. Can be.

In the step (e), when processing the overlapping information when the meta information and the detection information are fused, it is first determined whether the moving object that transmits the detection information is not inside the detection area of the current moving object. If there is a moving object inside the detection area, if the coordinate of the specific moving object detected by the sensor of the current moving object and the coordinate difference of the specific moving object included in the detection information of the other moving object modified on the basis of the current position are equal to or less than a certain threshold, the same moving object Can be regarded as.

According to the present invention, a wider detection area can be secured beyond the detection area limit of a single sensor of each moving object. This can prevent traffic jams that can be more severe in advance and reduce the possibility of accidents by securing visibility into blind spots that cannot be secured by simple radar or vision sensors.

In addition, unlike the related art, in which access to traffic information is limited, a real-time traffic information using environment may be implemented at any time as long as there is a communicable mobile object.

In addition, since the mobile body itself becomes a transmitter and a receiver, it is possible to save an initial installation cost that is expensive to obtain traffic information.

1 is a block diagram schematically illustrating a system for expanding a detection area of a moving object according to an exemplary embodiment of the present invention.
2 is a view showing a sensing unit and a preprocessor according to an embodiment of the present invention.
3 is a flowchart illustrating an operation process of a preprocessor according to an embodiment of the present invention.
4 is a diagram illustrating an example of assigning unique identifiers to communication targets according to an embodiment of the present invention.
5 is a flowchart illustrating an operation process of a sensor fusion processor according to an exemplary embodiment of the present invention.
6 is a flowchart illustrating a method of expanding a detection area of a moving object according to an exemplary embodiment of the present invention.
FIG. 7 is a diagram illustrating an example of estimating which direction the front moving body faces based on moving objects existing in the overlapped area according to an exemplary embodiment of the present invention.
FIG. 8 is a diagram illustrating an example of integrating detection information by reflecting in which direction the information received from the communication target mobile object is detected and looking in a direction away from the current position according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Reference will now be made in detail to the preferred embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the like elements throughout. Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

There are various methods of extending the detection area of a mobile body, such as a method of improving the function of the sensor itself, development of a GPS system that detects traffic volume as well as terrain and road information, mounting on a mobile body, and communication between mobile bodies. Uses communication between mobile devices equipped with sensors and mobile and base stations.

1 is a block diagram schematically illustrating a system for expanding a detection area of a moving object according to an exemplary embodiment of the present invention.

Referring to FIG. 1, the detection area expansion system 100 of a moving object according to the present invention includes a sensing unit 110, a preprocessor 120, a transmitter 130, a receiver 140, a sensor fusion processor 150, And an output unit 160 and an input unit 170.

The sensing unit 110 detects traffic information in a specific area through a sensor. In addition, the sensing unit 110 includes one or more sensors 112 to 116 at different positions on the front of the moving body as shown in FIG. 2. In the case of a radar among sensors currently commercialized, even if there are other moving objects in the vicinity of the moving object, the traffic information can be detected up to an area beyond the other moving objects through one or more radars 112 to 116. Here, the moving body includes a vehicle, a ship, an aircraft and the like. Therefore, the sensing unit 110 may detect traffic information when the moving object is a vehicle, detect ship information when the moving object is a ship, and detect aviation information when the moving object is an aircraft.

The preprocessor 120 generates meta information by processing the detected traffic information. Here, the meta information may include speed, direction, distance information, etc. of the front moving body.

In addition, the preprocessor 120 may include a GPS module that receives location information from the GPS satellites to obtain absolute position (latitude / longitude) information of the moving object.

In addition, as shown in FIG. 2, the preprocessing unit 120 filters out other information other than the direct traffic information of the moving object among the traffic information detected from the sensing unit 110, thereby minimizing the capacity of the traffic information. The microprocessor 122 may measure the speed and direction of the detected moving objects based on the traffic information, and assign a specific ID to the detected moving objects. 2 is a view showing a sensing unit and a preprocessor according to an embodiment of the present invention.

The transmitter 130 is used to transmit the final meta information to the outside. In this case, the transmitter 130 may transmit the final meta information by wire or wireless communication.

The receiver 140 receives detection information transmitted from the outside, that is, from another moving object.

The sensor fusion processor 150 merges the meta information detected through the sensing unit 110 and processed by the preprocessor 120 and the detection information received through the receiver 140 to generate final meta information.

In addition, the sensor fusion processor 150 may generate the final meta information by combining the meta information generated by the preprocessor 120 and detection information received from another moving object based on the current position.

In addition, the sensor fusion processor 150 may generate the final meta information by modifying the detection information received from the other moving object based on the position and the direction of the current moving object by reflecting the distance and the direction difference with the front moving object included in the meta information. Can be.

In addition, the sensor fusion processor 150 first determines whether the moving object transmitting the detection information is not inside the detection area edge of the current moving object when duplicate data is generated during the fusion of the meta information and the detection information. If there is a moving object inside the detection area, if the coordinate of the specific moving object detected by the sensor of the current moving object and the coordinate difference of the specific moving object included in the detection information of another moving object modified on the basis of the current position are equal to or less than a certain threshold value, the same moving object Can be treated as

The output unit 160 outputs the final meta information audibly or visually. In addition, the output unit 160 shows the traffic information to the driver, and also has a function of changing the accumulation in accordance with the output screen when the visible distance is extended / reduced in the communication process between the moving objects.

The input unit 170 may be used when checking a detection extension area or inputting a command for limiting the detection extension area based on the final meta information.

3 is a flowchart illustrating an operation process of a preprocessor according to an embodiment of the present invention.

Referring to FIG. 3, the preprocessor 120 according to the present invention generates the meta information by processing the traffic information received from the sensing unit 110 using the microprocessor 122 (S310).

That is, the microprocessor 122 analyzes the traffic information detected through the sensor and integrates it into one data, and also directly determines the amount of traffic such as milestones and guardrails from the traffic information transmitted from the sensing unit 110. Minimize the volume of traffic information by filtering out extraneous information that is not relevant, and calculate information such as relative distance, direction, and speed of forward moving objects to generate meta information. Therefore, the meta information includes information such as the distance, direction, and speed of the vehicle ahead.

Subsequently, the preprocessor 120 transmits the generated meta information to the sensor fusion processor 150 (S320).

In addition, the preprocessor 120 determines a communication target mobile object using the generated meta information and the detection range information of the sensor (S330).

Subsequently, the preprocessing unit 120 generates tag information on communication targets to request detection information (S340).

That is, the preprocessor 120 generates tag information by assigning unique identifiers (IDs) such as A, B, C, and D to the mobile objects to be communicated as shown in FIG. 4. 4 is a diagram illustrating an example of assigning unique identifiers to communication targets according to an embodiment of the present invention.

Subsequently, the preprocessor 120 transmits the generated tag information to the transmitter 130 and the receiver 140 (S350).

5 is a flowchart illustrating an operation process of a sensor fusion processor according to an exemplary embodiment of the present invention.

Referring to FIG. 5, the sensor fusion processor 150 according to the present invention receives meta information from the preprocessor 120 (S510).

In this case, the meta information includes information on relative distances, speeds, directions, routes, etc. of the moving objects located in front of the current moving object.

Subsequently, the sensor fusion processor 150 receives detection information from another moving object through the receiver 140 (S520).

Subsequently, the sensor fusion processor 150 adjusts the received detection information to the current position using the relative distance and direction information included in the meta information (S530).

Subsequently, the sensor fusion processor 150 generates final meta information by combining the adjusted information with meta information (S540).

Then, the sensor fusion processor 150 outputs the final meta information to the output unit 160 or the transmitter 130 (S550).

6 is a flowchart illustrating a method of expanding a detection area of a moving object according to an exemplary embodiment of the present invention.

Referring to FIG. 6, the detection area expansion system 100 of the moving object according to the present invention first detects traffic information in a specific area through the sensing unit 110 (S610).

At this time, the sensing unit 110 detects the traffic amount and road information (straight road, curve road, etc.) in front of the current moving object by using a sensor for detecting an object in front of the current moving object. In order to ensure a wider field of view when another moving object is located near the moving object and the detection range can be greatly narrowed when using a single sensor, one or more sensors may be mounted at different positions as shown in FIG. 2. have. In addition, the transmitting unit of the sensor system may transmit data generated by combining with sensing information of another moving object in the sensor in response to a request for transmission of another moving object behind the moving object.

Subsequently, the detection area extension system 100 of the moving object generates the meta information by processing the detected traffic information through the preprocessor 120 (S620).

At this time, the preprocessing unit 120 determines the distance between the moving direction and the relative speed based on the traffic information directly detected by the sensing unit, and the relative speed of the moving object through the distance between the two moving bodies and the sampling time interval using Equation 1 below. You can calculate the speed.

In addition, when the sensor is a radar, the radar signal may be calculated using the Doppler effect of the radar propagation and the time when the radar signal is reflected back to the moving object.

In addition, the information on the moving direction of the front moving body can be measured and estimated in three ways.

The first method is to identify the driving trajectory of the moving object by the vector. That is, the position of the front moving object is detected continuously with an extremely short time difference, and the moving trajectory is determined by the start point and the end point as the moving direction of the moving object. The core information containing the driving information such as the position and the speed of the front moving bodies is called 'meta information' in the present invention. In particular, in the case of radar, as a characteristic of a reflected wave, information about a sensing object such as a bus, a truck, a car, a motorcycle, and the like can be obtained.

The second is to use the phase information contained in the meta information. The meta information transmitted by the front mobile body through communication has topology information indicating where the mobile bodies sensed by the front mobile body are located. If there is an overlapping area among the areas that can be detected by the sensor and the current moving object, it is possible to estimate which direction the front moving object faces based on the moving objects existing in the overlapping area. For example, in FIG. 7, e.1 is a moving object existing in an overlapping area where both the current moving object s and the front moving object a can be seen. Where s can see both a and e.1. FIG. 7 is a diagram illustrating an example of estimating which direction the front moving body faces based on moving objects existing in the overlapped area according to an exemplary embodiment of the present invention. Therefore, if we put the phase information of e.1 and a's own phase information sent by a to each of e.1 and a that he had, we can see how many degrees a is skewed with respect to s. It is going to be a direction of a.

The third method is to use the road information collected during the sensing process for the front moving object. In the case where the vehicle is an embodiment, if the lane to which the moving object in front of the vehicle is detected is not a straight line but a curved road, the moving object is determined to be in the direction of the road fold, that is, the tangential direction of the road.

The third method is the simplest, but the error is large. The second method is the most complicated and the computational load is the most accurate, but the most accurate way of estimating the moving direction of the moving body can be estimated. The first method is somewhere in between.

In this case, the preprocessor 120 does not obtain information by communicating with all moving objects within the communication range, but instead of acquiring redundant information, the microprocessor 122 may secure the widest detection area while reducing power waste. To determine the communication target. In this case, since the communication between the moving objects is information far away from the current position of the moving object, periodic communication having a specific period may be used rather than real time communication in terms of fuel saving. In addition, since the speed difference between the current moving object and the moving object is close to the present moving object in a short time or on the contrary, the moving objects are checked out of the communication range. As the information of the moving object is closer to the unnecessary information, the information of the moving object beyond the communication area cannot be continuously updated, and thus the reliability thereof is easily lost. Therefore, the sensing information of the moving objects in the above two situations is no longer received.

Subsequently, the detection area extension system 100 of the moving object determines a communication target for requesting detection information based on the traffic information (S630).

When the detection area extension system 100 of the moving object selects a communication target for requesting detection information based on the traffic information, the location, direction, and sensors of other moving objects detected in the current moving object are not requested to all the moving objects in front of the vehicle. Based on the detectable area of these devices, mobile objects that are farthest from the current moving object and whose detection areas do not overlap most can be determined as communication targets.

In addition, when determining the communication target, the detection area extension system 100 of the moving object identifies the absolute position (latitude / longitude) of the front moving object based on the GPS information and the detection information, and identifies the absolute position (latitude / longitude). It can be used to determine the communication target.

In addition, when determining the communication target, the detection area extension system 100 of the moving object may determine the communication target using the speed information of the front moving object as the ID.

In addition, the detection area expansion system 100 of the moving object measures the speed and direction of the detected moving objects based on the data obtained by filtering out information other than the direct information of the moving object from the received detection information and minimizing the data capacity. A specific ID may be assigned to the detected moving objects.

In addition, the detection area extension system 100 of the moving object may use meta information to select a moving object to be a communication target. Since it is unnecessary to obtain information from all the moving objects in front of the present moving object, the communication target is set so as to secure the widest detection area while communicating with the smallest object. For example, in the situation as shown in FIG. 4 (S is the current driver's mobile body), the communication request can be made to only two of A and B of the four mobile bodies in front. This is a series of processes as shown in FIG. As described above, the meta information includes information on relative distances, speeds, directions, routes, etc. of moving objects located in front of the current moving object. In the preprocessor 120, the microprocessor 122 may determine moving objects that are farthest from the current moving objects and whose detection areas do not overlap most, using distance information, direction information, and basic detection range information. .

Subsequently, the detection area expansion system 100 of the moving object requests a communication target and receives detection information from the communication target (S640).
Here, the detection area extension system 100 of the moving object may request and receive detection information from a vehicle outside the communication area as a communication target in a multi-hop manner.
In addition, when the detection area expansion system 100 of the moving object receives the detection information periodically from the surrounding vehicles even without a specific request, the detection area expansion system 100 may use the detection information regularly received from the surrounding vehicles without determining the communication target and requesting the detection information. Can be.
In addition, the detection area extension system 100 of the moving object may receive the detection information through communication between the moving object and the base station as well as communication with other moving objects.

At this time, in order to make a communication request to a mobile object determined as a communication target, a method for distinguishing the target mobile object from other mobile objects is required. This is used not only to make a communication request, but also to determine from which mobile the data received via the communication comes from. In the embodiment of the present invention as a method of distinguishing moving bodies, the following two methods are presented.

The first is to use GPS. If the GPS can accurately know the absolute position (latitude, longitude, etc.) of the moving object, the position of the front moving object can also be calculated using the distance information detected by the sensor. Therefore, when making a communication request, if the target mobile object or the value obtained from the mobile object's position is used as a kind of identifier and transmitted together with the request message, the mobiles that receive the request message are sent to the user through the identifier. If the message is sent to him, he can send his own detection information in response. At this time, the mobile object receiving the communication request can use the received identifier as it is when transmitting its detection information, so that the receiving mobile object can distinguish from which mobile object the received information comes from. This is useful when one mobile object receives information from two or more mobile objects, as shown in FIG. 4, to distinguish which mobile object each information comes from. Since both mobile devices that communicate are driving in front of each other, it is difficult to determine the exact location at the time of communicating with each other. Therefore, the identifier containing the location information does not have a single value but the following equation (2) Contains the same range information.

In Equation 2, z is a predicted point of the target moving object, a is the actual position (coordinate) of the target moving object, and r is a threshold value for whether the target moving object is allowed to be at a point that deviates from the prediction point ( threshold), || represents the Euclidean distance. As a result, the moving object located within a radius r of the predicted point z determines that the identifier is for itself.

The second method is to use the velocity information of the target moving object as an identifier. As described above, the sensor mounted on the movable body can also measure the speed of the front movable body. The communication request is made to a moving object moving at the detected speed. There may be moving bodies moving at the same speed, but in the case of radar mounted on a real moving object, if the moving object is detected at short time intervals of ㎲ or ㎱, the probability that there are actually moving bodies moving at exactly the same speed Given this very low, the velocity information of the target mobile can be useful as an identifier. In this case, since only the sensors such as the radar are distinguished from the moving objects in front of the GPS, only the relative position confirmation from the current moving object is possible. The mobiles that receive the request message in the same principle as the previous one know their speed so that they can determine whether or not they are applicable. A more detailed principle is as follows. The transmitting vehicle transmits its absolute velocity (va1), and since the receiving vehicle knows the relative velocity (vr1) of the transmitting vehicle through the above-described calculation of distance change over time or the Doppler shift effect of the radar carrier, When the absolute velocity (va2) is used, the relationship of Equation 3 is established, and thus, it is possible to find out which moving object the absolute velocity received from the transmitting moving object is compared with the relative velocity of the previously calculated moving bodies.

In Equation 3, V _a1 represents the absolute speed of the transmitting mobile, V _a2 represents the absolute speed of the receiving mobile, and V _r1 represents the relative speed of the transmitting mobile.

When the mobile device transmits its own detection information, it uses the identifier included in the communication request message . When all the above-described processes are completed, the preprocessor 120 transmits the identified ID to the transmitter 130 and the receiver 140 and the meta information to the sensor fusion processor 150. The transmitter 130 transmits a request message for detection information to the communication target mobile device having the identifier using the received identifier, and the receiver 140 transmits the preprocessing unit 120 among various information received from other mobile devices. Only the information with the valid identifier received is sent to the sensor fusion processing unit 150.

When generating ID using GPS, the detection area expansion system 100 of the moving object requests the detection information from the communication object and receives the detection information from the communication object, considering that the positions of the moving objects change because they are traveling. Thus, when the distance difference between the position changed according to the movement of the moving object at the absolute position of the ID is less than or equal to a certain threshold value, the received detection information may be recognized as being received from the corresponding moving object which was the communication target.

Subsequently, the detection area extension system 100 of the moving object generates final meta information by fusing the meta information and the detection information through the sensor fusion processing unit 150 (S650).

The detection information received from other moving objects is the data detected based on the distance away from the moving object by a certain distance, and since the moving direction may be different from the current moving object, the final meta information is merged with the meta information without using the information as it is. Can be generated.

The sensor fusion processing unit 150 fuses and combines meta information with detection information of other mobile objects. The information received from other moving objects is information collected based on the position and direction in which the moving objects traveled. Since the position is the end of the area that can be detected by the current moving object, the position is combined by connecting information received from another moving object to the edge of the data detected by the sensor of the current moving object. Therefore, the sensor fusion processor 150 may include a microprocessor for processing such an operation, and at this time, distance and direction information of other moving objects included in meta information is used.

That is, as shown in FIG. 8, the received information reflects in what direction the detected information is located at a certain distance from the current position, and fuses the detection information of the current moving object. Referring to Figure 8, S is the current mobile and a is the communication target mobile that s requested communication. As shown in FIG. 8, a transmits the detected information from the direction of s toward the direction rotated by θ, and s knows this θ so that the coordinates of the moving objects 1 and 2 received from a (y ₃ + y ₁ cosθ, x ₃ + x ₁ sinθ), and (y ₃ + y ₂ cosθ, x ₃ + x ₂ sinθ). FIG. 8 is a diagram illustrating an example of integrating laser detection information by reflecting in which direction the information received from the communication target mobile object is detected and looking in a direction away from the current position according to an embodiment of the present invention.

However, in such data fusion, there may be overlapping information. That is, as shown in FIG. 7, there is a possibility that the target moving object is not at the outermost side of the sensing area. In this case, as shown in Fig. 7, there exists an area where the detection area of the current moving object and the target moving object overlap, and the moving object e.1 is assigned the ID of e by the S moving object and the identifier of 1 by the moving object a. When the moving object is processed, this is important, and the duplication of data as described above occurs when the target moving object exists in the sensing area. The present invention accurately knows the detectable area of the sensor and can also detect the position of the detected moving object. Therefore, determining whether or not the received data is transmitted from the moving object at the edge of the detection area is the first step, which is performed before the combination of the above-described data. The moving object existing in the overlapping area as in the moving object e.1 is given different identifiers by the two moving objects s (current moving object) and a (target moving object), but is actually the same moving object. It is at a distance of (x ₁ , y ₁ ) from s and at a distance of (0, y ₂ ) from a. Also, since a exists at a distance of (x ₁ , y ₁ -y ₂ ) from s, s is the same as moving object e detected by itself and moving object 1 (with coordinates of (0, y ₂ )) detected by a. It can be determined that the mobile body. In this case as well, considering that all the moving vehicles are traveling, a certain threshold value τ is given, and if the distance difference between the position of the moving object (e.1) detected by s and the position detected by a is less than τ, it is determined to be the same moving object. You can do that.

There is a maximum error of τ between two pieces of information determined to be the same moving object, and the pieces of information must be merged into one. The merging method is as follows.

는 이동체 i가 감지한 이동체 s의 위치 정보이다.

는 관찰자 이동체 i의 가중치로 i는 해당 이동체에서 멀수록 가중치가 높다. 예를 들어 가중치가 가장 큰 이동체는 일반적으로 최종 수신자 s가 될 것이다.

이며

는 여러 센싱정보를 가중치 합을 한 이동체 s의 최종 추정 위치이다. 위치 정보뿐만 아니라 속도 정보, 또한 여러가지 센서의 특징 예를 들어 레이더 센서의 반사파 특징을 통해 대상 이동체가 버스, 트럭, 승용차, 오토바이인지 구분한 정보도 식별용으로 사용할 수 있다. 마지막으로 만약 GPS 정보를 받을 수 있다면

의 정보로 GPS 위치값도 포함할 수 있으며 높은 가중치를 갖는다.

Is position information of the moving object s detected by the moving object i .

Is the weight of the observer moving object i , and i is the higher the weight from the moving object. For example, the mobile with the highest weight will generally be the final receiver s .

And

Is the final estimated position of the moving object s obtained by weighting several sensing information. Not only the location information, but also the speed information, and the characteristics of various sensors, for example, the reflected wave feature of the radar sensor, can be used to identify whether the target vehicle is a bus, a truck, a car, or a motorcycle. Finally, if you can get GPS information

The GPS information may also include GPS location values and has a high weight.

In addition, when the detection distance extension system 100 of the moving object measures the direction of the detected moving objects based on the received detection information, the front moving object is detected at a short time interval and the trajectory is represented by a vector to indicate a direction difference from the current moving object. Can be analyzed.

In addition, when the detection area expansion system 100 of the moving object fuses the meta information and the detection information, the detection information received from another moving object reflects the distance and direction difference with the front moving object included in the meta information of the current moving object. The final meta information can be generated by modifying the position and direction of the current moving object.

In addition, the detection area expansion system 100 of the moving object generates final meta information by fusing the meta information including the speed, direction, and distance information of the front moving object with the detection information of the other moving object received from another moving object based on the current position. can do.

In addition, when the detection information expansion system 100 of the moving object processes overlapping information when the meta information and the detection information are fused, the moving object detection system expansion system 100 first checks whether the moving object that transmits the detection information is not inside the detection area of the current moving object, but inside. If there is a moving object inside the detection area, if the coordinate of the specific moving object detected by the sensor of the current moving object and the coordinate difference of the specific moving object included in the detection information of another moving object modified based on the current position are equal to or less than a certain threshold value, It may process the detection information received from the moving object.
Subsequently, the detection area extension system 100 of the moving object outputs the final meta information to the transmitter 130 or the output unit 160 (S660).
Therefore, in the current moving object, the driver may check detection information of the current moving object through the output unit 160 and add detection information received from another moving object to confirm the extended detection information.

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In addition, the driver may expand the detection area or limit the detection area through the input unit 170 with respect to the detection information displayed on the output unit 160. That is, the sensor fusion processor 150 may receive an external input from the input unit 170. This is information about the range of data the driver wants to see. In extreme cases, it is necessary to determine the maximum value when the front mobile vehicles are continuously present and the information obtained through communication is infinitely divergent. This setting may be input by the driver who is a user of the system through the input unit 170, and the sensor fusion processing unit 150 combines the data in an appropriate range by receiving the value.

After all the above processes, the final meta information is transmitted to the output unit 160 and the transmitter 130. The meta information transmitted to the transmitter 130 may be transmitted in response to a communication request from the rear of the current moving object.

In the embodiment of the present invention has been described by taking a vehicle as an example, it is equally applicable to a ship sailing the sea, a vehicle flying in the sky, a spacecraft sailing in space, and the like.

As described above, the present invention overcomes the limitation of the limited detection area of a single sensor by using communication between mobiles and between mobiles and base stations, and helps to create a more efficient traffic environment by mitigating accidents and congestion. In order to receive the detection information of the moving object through wireless communication with the other moving object within the detection area of one moving object, the detection area of the original sensor can be expanded by fusing the received detection information with the existing detection information. It is possible to realize a method and a system for expanding a detection area of a moving object using the APC.
As those skilled in the art to which the present invention pertains may implement the present invention in other specific forms without changing the technical spirit or essential features, the embodiments described above are intended to be illustrative in all respects and should not be considered as limiting. Should be. The scope of the present invention is shown by the following claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention. do.

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The present invention can be applied to a moving object such as a vehicle, a ship, or an aircraft moving on a road, at sea, and in the sky and detecting surrounding traffic information through distance, speed, and visual information such as a radar or a vision sensor.

100: detection area expansion system of the moving object 110: sensing unit
120: preprocessor 130: transmitter
140 receiver 150 sensor fusion processor
160: output unit 170: input unit

Claims (22)

Sensing unit for detecting traffic information in a specific area;
A preprocessor configured to process the detected traffic information to generate meta information;
Receiving unit for receiving the detection information transmitted from the outside;
A sensor fusion processor configured to fuse the meta information and the detection information to generate final meta information; And
An output unit for outputting the final meta information;
Detection zone expansion system of a moving object comprising a.
The method of claim 1,
A transmitter for transmitting the final meta information to the outside;
Detection area expansion system of a moving object further comprises.
The method of claim 1,
The sensing unit includes one or more sensors at different positions in front of the moving object, and detects traffic information to the area beyond the other moving object through the one or more sensors even if there are other moving objects in the vicinity of the moving object. Detection area expansion system.
The method of claim 1,
The preprocessor includes a GPS module for receiving the position information from the GPS satellites to obtain the absolute position information of the moving object.
The method of claim 1,
The preprocessor minimizes the capacity of the traffic information by filtering other information than the direct traffic information of the moving object among the traffic information detected by the sensing unit, and measures the speed and direction of the detected moving objects based on the traffic information thus obtained. And a microprocessor for assigning specific IDs to the detected moving objects.
The method of claim 1,
The sensor fusion processor is configured to fuse the meta information generated by the preprocessor and the detection information received from another mobile object based on a current position to generate the final meta information. .
The method according to claim 6,
The meta information includes the speed, direction, distance, coordinate information of the front moving object detection system expansion system of the moving object.
The method according to claim 6,
The sensor fusion processing unit generates the final meta information by modifying the detection information received from another moving object based on the position and direction of the current moving object by reflecting the distance and the direction difference with the front moving object included in the meta information. Detection area expansion system of a moving object, characterized in that.
The method according to claim 6,
The sensor fusion processing unit, when duplicated data is generated during the fusion of the meta information and the received detection information, whether or not the moving object transmitting the received detection information is not inside the detection area of the current moving object; First, if the moving object is located inside the detection area, the coordinate of the specific moving object detected in the current moving object and the coordinate difference of the specific moving object included in the detection information of the other moving object modified based on the current position are equal to or less than the specific threshold value. A detection zone expansion system for a moving object, characterized in that the processing by the moving object.
The method of claim 1,
An input unit for receiving a command for checking or limiting a detection extension area based on the final meta information;
Detection area expansion system of a moving object further comprises.
(a) detecting traffic information in a specific area;
(b) processing the detected traffic information to generate meta information;
(c) determining a communication target to request detection information based on the traffic information;
(d) requesting the communication object to receive detection information from the communication object;
(e) fusing the meta information and the detection information to generate final meta information; And
(f) outputting the final meta information;
Method of expanding the detection area of the moving object comprising a.
The method of claim 11,
Step (e) measures the speed and direction of the detected moving objects based on the data obtained by filtering out information other than the direct information of the moving object from the received detection information and minimizing the capacity of the data. A method for expanding a detection area of a moving object, which assigns a specific ID to the moving object.
The method of claim 11,
In the step (e), when the direction of the detected moving objects is measured based on the received detection information, the front moving object is detected at a short time interval, and the trajectory is represented by a vector to analyze the direction difference with the current moving object. Characterized in that the detection area expansion method of the moving object.
The method of claim 11,
In the step (c), when selecting a communication target to request detection information based on the traffic information, the location, direction, and detectable area of other moving objects detected in the current moving object without making a communication request to all the moving objects ahead. And determining, as the communication targets, moving objects that are farthest from the current moving object and whose detection areas do not overlap with each other as the communication target.
The method of claim 11,
In the step (c), when determining the communication target, the absolute position (latitude / longitude) of the front moving object is determined based on the GPS information and the detection information, and the absolute position (latitude / longitude) is used as the ID. Determine the communication target,
In step (d), the mobile station is traveling, and the position changes when the detection information is requested from the communication object to receive the detection information from the communication object. And detecting the received detection information as being transmitted from the corresponding mobile object which is the communication target, when the distance difference with the position changed according to the movement of the mobile object is less than or equal to a certain threshold value.
The method of claim 11,
In the step (c), when the communication target is determined, the communication target is determined using the speed information of the front mobile body as an ID.
The method of claim 11,
In the step (e), when the meta information and the detection information are fused, detection information received from another moving object is reflected by a distance and a direction difference with the front moving object included in the meta information of the current moving object. And modifying the location based on the position and the direction to generate the final meta information.
The method of claim 11,
In the step (e), the final meta information is generated by fusing the meta information including the speed, direction, and distance information of the front moving object with the detection information of the other moving object received from another moving object based on the current position. Method of expanding the detection area of the moving object.
The method of claim 11,
In the step (e), when processing the overlapping information in the fusion of the meta information and the detection information, first determine whether the moving object transmitting the detection information is not inside the detection area of the current moving object, If there is a moving object inside the detection area, if the coordinate difference of the specific moving object detected in the current moving object and the coordinate difference of the specific moving object included in the detection information of the other moving object modified based on the current position is less than a certain threshold, the detection received from the same moving object. Method of expanding the detection area of a moving object, characterized in that to process the information.
The method of claim 11,
The step (d) is a method for expanding the detection area of a moving object, characterized in that to receive and request the detection information in a multi-hop manner to the vehicle outside the communication area to the communication target.
The method of claim 11,
Step (d) is characterized in that when receiving detection information from the surrounding vehicles at regular intervals even without a specific request, it determines the communication target and uses the detection information periodically received from the surrounding vehicles without requesting the detection information. Method of expanding the detection area of a moving object.
The method of claim 11,
The step (d) is a method for expanding the detection area of a mobile object, characterized in that the detection information is received through communication between the mobile station and the base station as well as other mobile.

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