WO2015170869A1

WO2015170869A1 - Method and system for detecting surrounding moving object using cooperative communication

Info

Publication number: WO2015170869A1
Application number: PCT/KR2015/004503
Authority: WO
Inventors: 서승우; 최믿음; 최승탁
Original assignee: 서울대학교산학협력단
Priority date: 2014-05-07
Filing date: 2015-05-06
Publication date: 2015-11-12

Abstract

A system for detecting a surrounding moving object using cooperative communication according to the present specification comprises: a sensing unit which has at least one sensor and detects moving objects located within the detection range of the sensor to generate sensing information; a communication unit which transmits first local measurement information indicative of traffic information of the moving objects generated on the basis of the sensing information to the outside and receives at least one second local measurement information from the outside; and a convergence processing unit which combines pre-generated extension measurement information, the first local measurement information, and the second local measurement information so as to generate new extension measurement information containing traffic information of the extension measurement information, traffic information of the first local measurement information, and traffic information of the second local measurement information.

Description

Method and system for detecting nearby moving objects using cooperative communication

The present disclosure relates to a system and a method for detecting a surrounding mobile object using cooperative communication, and more particularly, to a system and a method for extending the scope of detection and improving the accuracy through cooperative communication.

Recently, various sensor-based environmental awareness technologies are used to ensure the safety of the vehicle while driving. In such technologies, objects around the vehicle, for example, via on-vehicle sensors capable of detecting the surrounding objects omnidirectionally, such as laser scanners (LIDARs), radars, cameras, etc. The location information may be provided, or information about objects located in a blind spot of the vehicle may be provided.

Such sensor-based environmental awareness technology greatly contributes to driving safety of the vehicle in that it provides the driver of the vehicle with object information of a location that is difficult to see with the naked eye, but has some technical limitations.

One such limitation is that conventional sensor-based environmental techniques cannot collect location information for objects located outside the detection area of the sensor. In addition, when displaying the position of the surrounding objects collected through the sensors on the map, due to the error of the GPS signal used when determining the global position of the vehicle, there is a limit that the global position of the surrounding objects are also displayed incorrectly.

It is an object of the present specification to provide a peripheral moving object detection system and method having an improved detection range to detect a moving object outside the detection range of a sensor.

Another object of the present disclosure is to provide a peripheral moving object detection system and method that can more accurately detect and track the speed or position of surrounding moving objects including itself, even when errors such as GPS signals occur.

According to an embodiment of the present disclosure, a system for detecting a surrounding moving object using cooperative communication includes: a sensing unit including one or more sensors and generating sensing information by detecting moving objects located within a detection range of the one or more sensors; A communication unit which transmits first local measurement information indicating the traffic information of the moving objects generated based on the sensing information to the outside and receives at least one second local measurement information from the outside; And combining the pre-generated extended measurement information, the first area measurement information and the second area measurement information, so that the traffic information of the extended measurement information, the traffic information of the first area measurement information, and the second area measurement information. And a fusion processing unit for generating new extended measurement information including traffic information.

In an embodiment, the apparatus may further include a preprocessor configured to extract the traffic information of the moving objects from the sensing information to generate the first area measurement information.

In an embodiment, the apparatus may further include an input / output interface configured to receive a user input for controlling the communication unit.

In an embodiment, the movable body equipped with the one or more sensors may recognize the surrounding environment in all directions.

In an embodiment, the traffic information may include information representing an absolute position, relative position, speed, or direction of the moving object.

In an embodiment, the fusion processing unit estimates traffic information of the moving objects when generating the new extended measurement information by fusing the previously generated extended measurement information, the first local measurement information, and the second local measurement information. Tracking improves position accuracy. In an embodiment, the fusion processing unit extracts feature information overlapping the previously generated extended measurement information, the first area measurement information, and the second area measurement information.

In an embodiment, the fusion processing unit may compare the traffic information of the first moving object with the traffic information of the second moving object, and as a result of the comparison, the difference between the traffic information of the first moving object and the traffic information of the second moving object is a threshold value. If it is similar within the range, it is determined that the first mobile body and the second mobile body represent the same mobile body, and the traffic information of the first mobile body and the traffic information of the second mobile body are put into a plurality of measurement values, and the single state is estimated to be accurate. To improve.

In an embodiment, when the fusion processor determines the identity of the first mobile unit and the other mobile unit by comparing the traffic information with the first mobile unit, another mobile unit having a difference in traffic information with the first mobile unit within a threshold value may be selected. In the case of two or more, the mobile body having the smallest difference in traffic information from the first mobile body is determined to be the same mobile body as the first mobile body.

In an embodiment, when the first traffic information for the first area of the first area measurement information and the second traffic information for the second area of the second area measurement information overlap each other, Comparing a first topology representing a moving object distribution in the first region and a second topology representing a moving object distribution in the second region, and if the similarity between the first topology and the second topology is higher than a predetermined criterion. It is determined that the moving bodies in the first region constituting the first topology and the moving bodies in the second region constituting the second topology represent the same moving bodies.

In an embodiment, the fusion processor compares a first topology representing a mobile body distribution in the first region with a second topology representing a mobile body distribution in the second region, and determines whether the first mobile body is the same mobile body. If two or more moving objects whose similarity between the second topology and the second topology is higher than a predetermined criterion are determined, the moving object having the most similar topology is determined to be the same moving object.

In an embodiment, the fusion processor may be configured such that when the moving objects in the first region constituting the first topology and the moving bodies in the second region constituting the second topology represent the same moving bodies, the first topology and the first The extended measurement information is generated by linearly and nonlinearly converting the first area measurement information or the second area measurement information so that the two topologies overlap each other.

In an embodiment, the similarity between the first topology and the second topology is determined in advance when the magnitude of an error vector representing a difference between the first topology and the second topology is equal to or less than a predetermined value. It is judged to be higher than the determined standard.

In an embodiment, when the convergence processing unit generates the new extended measurement information by fusing the first area measurement information and the at least one second area measurement information, the area measurement information of a more adjacent moving object is preferentially hierarchically. Fuse to generate extended measurement information.

In an embodiment, when the convergence processor generates the extended measurement information by fusing the first area measurement information and the at least one second area measurement information, the GPS of the moving objects in the at least one second area measurement information. By comparing the positions or by comparing the communication signal strength of the at least one second geo-measuring information, the second geo-measurement information transmitted by a more adjacent mobile body is fused first.

In an embodiment, the convergence processing unit may fuse the generated new extended measurement information with other second local measurement information received from another moving object to further include traffic information of the second second local measurement information. Update the information or create another extended measurement information in place of the new extended measurement information.

In an embodiment, the new extended measurement information is configured to have a wider detection range for the moving object or more accurate traffic information than the first local measurement information.

According to embodiments of the present disclosure, a method for detecting positions of surrounding moving objects of a moving object through a detection system mounted on a moving object includes receiving second local measurement information of the other moving object through cooperative communication with other moving objects. ; Traffic information of the first area measurement information and the second area measurement are merged with the received second area measurement information, the first area measurement information generated by the detection system, and the extended measurement information previously generated by the detection system. Generating new extension measurement information configured to include traffic information of the information and traffic information of the previously generated extension measurement information; And outputting traffic information on the surrounding mobiles to the user based on the generated new extended measurement information.

In another embodiment, the method may further include receiving another second geo-measuring information from another moving object; And fusing the received second local measurement information with the new extended measurement information to update the new extended measurement information to further cover the traffic information of the second local measurement information or to substitute another new extended measurement information. Generating extended measurement information.

According to the embodiments of the present disclosure, it is possible to detect a position or a speed, etc., even for a mobile object located outside the detection range of the sensor through cooperative communication with other mobile objects, and thus, the detection range of the surrounding mobile object detection system may be dramatically increased. The location information of the moving objects may be estimated more accurately with reference to the received local measurement information.

In addition, a safer and more efficient driving strategy can be established according to the wider detection range, so that problems such as traffic congestion can be avoided in advance, and information on blind spots that could not be detected by the equipped sensors can be obtained. It can reduce the risk.

In addition, since the peripheral vehicle detection system uses open cooperative communication, unlike the conventional technologies, which have limited access to traffic information, anyone without any special limitation has an advantage of always obtaining necessary information.

Furthermore, since each mobile entity participating in the cooperative communication functions as a receiving entity and a transmitting entity at the same time, it does not need a separate infrastructure dedicated to providing information to the mobile entity, and thus a cooperative communication system can be constructed at a relatively low cost. Can be.

1 is a diagram illustrating an outline of a peripheral moving object detection system according to an exemplary embodiment of the present specification.

2 is a block diagram illustrating a detailed configuration of a surrounding moving object detection system according to an exemplary embodiment of the present specification.

3 is a diagram conceptually illustrating a method in which the convergence processor 130 illustrated in FIG. 1 generates extended measurement information by fusing a plurality of geometric information.

FIG. 4 is a diagram for describing an example of generating extended measurement information for a wide range of areas by using cooperative communication 1000 between a plurality of moving objects.

FIG. 5 is a flowchart illustrating a method of generating, by a nearby moving object detecting system, local measurement information through its sensor and transmitting the same to another moving object according to one embodiment of the present specification.

FIG. 6 is a flowchart illustrating a method of detecting a location of surrounding moving objects by a nearby moving object detection system through cooperative communication with another moving object, according to an exemplary embodiment.

DETAILED DESCRIPTION The following detailed description refers to the accompanying drawings that show, by way of illustration, specific embodiments in which the invention may be practiced. Embodiments of the detailed description are provided for the purpose of disclosing the detailed description for those skilled in the art to practice the invention described herein.

Each embodiment of the present specification may describe a different case, but it does not mean that the embodiments are mutually exclusive. For example, specific shapes, structures, and characteristics described in connection with one embodiment of the detailed description can be equally implemented in other embodiments without departing from the spirit and scope of the invention. In addition, it is to be understood that the location or arrangement of individual components of the embodiments disclosed herein may be variously changed without departing from the spirit and scope of the invention.

Meanwhile, in various embodiments, the same or similar reference numerals refer to the same or similar components. In the accompanying drawings, the size of each component may be exaggerated for description, and need not be the same or similar to the size actually applied.

1 is a diagram illustrating an outline of a peripheral moving object detection system according to an exemplary embodiment of the present specification. Referring to FIG. 1, the surrounding moving object detection system 100 (hereinafter, referred to as a detection system) is mounted on a moving object 10 such as a vehicle, and other

moving objects

21, 22, and 23 within its detection range DR. , 24) to generate local measurement information (LI) around the moving object 10. Here, the local measurement information refers to traffic information such as the speed, location, direction, etc. of oneself and surrounding moving objects measured or detected by a certain moving object detection system (for example, 100). In addition, the detection system 100 receives local measurement information from another mobile body (eg, 22) through cooperative communication, and then fuses the local measurement information generated by itself with the extended measurement information (EI). information). In this case, the extended measurement information refers to traffic information newly generated by comparing and combining certain local measurement information with other local measurement information to have a wider range or higher accuracy. On the other hand, the detection system 100 may provide the local measurement information generated by itself through other cooperative communication to another mobile.

The detection system 100 detects the peripheral moving

objects

21, 22, 23, and 24 with respect to the omnidirectional direction of the moving object 10 (ie, 360 degree detection). In addition, the cooperative communication between the detection system 100 and another moving object (more precisely, the moving object detection system mounted on the other moving object) is performed in the form of broadcast both transmission and reception. That is, the geospatial information transmitted from a certain mobile object is transmitted to a plurality of arbitrary mobile objects without specifying a destination, and the receiving mobile object receives any of the geometric information transmitted from other mobile objects for itself. Can be used to generate extended measurement information.

In particular, such a detection system 100, for example, allows all moving

objects

10, 21, 22, 23, 24 to be inaccurately aware of their position and to localize some of them (e.g. 21, 22). In a limited situation in which information can be transmitted, the moving object 10 may be more advantageously used to refer to such local measurement information to newly know or more accurately estimate the location information of itself or surrounding moving objects.

Hereinafter, the specific configuration and operation method of the detection system 100 will be described with reference to embodiments, and the technical features and effects of the detection system 100 will be described in more detail.

2 is a block diagram showing a detailed configuration of a detection system according to an embodiment of the present disclosure. 2, the detection system 100 includes a sensing unit 110, a preprocessor 120, a fusion processor 130, an input / output interface 140, and a communication unit 150.

The sensing unit 110 includes at least one sensor to detect sensing information such as the position, speed, acceleration, direction, or size of the detection system 100 itself and surrounding moving objects. The sensing unit 110 includes at least one sensor that can detect sensing information of itself or a moving object, such as a laser scanner (LiDAR), a GPS receiver, a radar (RADAR), or a camera. Here, the GPS receiver refers to a module that acquires global position information of the moving object 10 or the detection system 100 through satellite information received from a GPS satellite.

In an embodiment, the sensing unit 110 includes at least one sensor for recognizing the surrounding environment in all directions of the moving object 10 (see FIG. 1), and when the sensing unit 110 includes two or more sensors, each sensor is a moving object. By being provided at different positions of the front surface of the whole of (10), respectively, even if the other moving object is located in proximity to one sensor so that the sensor can no longer detect the moving object, It can be configured to detect beyond the moving object through other sensors.

The sensing information detected by the sensing unit 110 through its sensors is transmitted to the preprocessor 120.

The preprocessor 120 generates the local measurement information LI by processing the sensing information transmitted from the sensing unit 110. First, the preprocessor 120 extracts traffic information related to the traffic of the mobile body (for example, the position, speed, direction, etc. of the mobile body) from the transmitted sensing information. In addition, the preprocessing unit 120 generates regional measurement information (LI) representing the traffic of itself and surrounding mobiles based on the extracted traffic information. As such, the preprocessing unit 120 may selectively extract only data necessary for generating the local measurement information LI among the sensing information and filter the remaining data, thereby minimizing the amount of traffic information to be processed.

In an embodiment, the preprocessor 120 may assign a unique ID to each of the detected moving objects based on the traffic information.

In an embodiment, the position of the moving object indicated by the local measurement information may include an absolute position such as a global coordinate of the moving object or a relative position between the moving object and another moving object (for example, relative distance between moving objects and possible directions). Can be.

The local measurement information LI generated by the preprocessor 120 is provided to the fusion processor 130 to generate the extended measurement information EI, or is provided to the communication unit 150 to be transmitted to another moving object. In an embodiment, the local measurement information LI generated by the preprocessor 120 may be provided to the communication unit 150 via the fusion processor 130.

The fusion processor 130 may use the local measurement information LI (hereinafter, referred to as magnetic local measurement information) generated by the preprocessor 120 and the local measurement information received from another moving object (eg, 22 in FIG. 1) (hereinafter, referred to as another region). Measurement information) is fused to generate extended measurement information (EI) with an extended detection range or improved accuracy than magnetic local measurement information.

As an exemplary embodiment, when the extended measurement information EI is generated in advance, the fusion processing unit 130 fuses the existing extended measurement information EI with the local measurement information received from another moving object and expands the existing extended measurement information. It is possible to generate new extended measurement information with extended detection range or improved accuracy than (EI).

On the other hand, when the plurality of local measurement information is received from a plurality of peripheral moving objects, the fusion processing unit 130, for example, by first fusion local measurement information of the nearest moving object with its own local measurement information, the first extended measurement information Receive in a hierarchical fusion method based on the proximity between itself and the surrounding moving object, such as a method for generating a second extended measurement information by generating the first extended measurement information and fusing the first extended measurement information with the local measurement information of the next adjacent moving object. Collected local measurement information.

In this case, the fusion processor 130 may refer to the GPS position information or the strength of the communication signal received from the neighboring mobiles to determine the proximity to the neighboring mobiles. For example, the fusion processor 130 may determine that a nearby mobile body that is displayed closer to the GPS position information or transmits a stronger communication signal is a relatively closer mobile body.

In an embodiment, the fusion processing unit 130 may more accurately estimate the location information of the surrounding mobile objects known to the user by comparing the local measurement information or the extended measurement information EI with the local measurement information received from another moving object. have. For example, when the fusion processor 130 fuses its own local measurement information or extended measurement information (EI) with the local measurement information of another mobile object received, the convergence processing unit 130 of the moving objects shown in the local measurement information or extended measurement information (EI) Location accuracy can be improved by estimating and tracking traffic information.

In an embodiment, the convergence processor 130 extracts feature information that overlaps with its local measurement information or extended measurement information (EI) and local measurement information of another mobile object received, and thus, traffic information of neighboring mobile objects, for example, Absolute and relative coordinates of surrounding moving bodies can be estimated.

In this case, the fusion processing unit 130 may determine the state of each moving object on the magnetic localization information such as position, speed, and direction in order to fuse the magnetic localization information (or the previously generated extended measurement information) with other local measurement information. It is possible to track the state of each moving object by recording the change of parameter value, for example, and the result of tracking the state of each moving object is different from the local measurement information (for example, its own area). It can be used to determine whether the moving objects on the measurement information and other local measurement information) are the same moving objects.

In an embodiment, the fusion processing unit 130 compares the traffic information of the first mobile object on the magnetic localization information (or the parasitic extended measurement information) with the traffic information of the second mobile object on the other local measurement information, and compares the result. If the difference between the traffic information of the first mobile and the traffic information of the second mobile is similar within a threshold value, it may be determined that the first mobile and the second mobile represent the same mobile. In this case, the convergence processor improves accuracy by estimating a single state by placing the traffic information of the first mobile body and the traffic information of the second mobile body into a plurality of measurement values.

In an embodiment, when the fusion processor 130 determines the identity of the first mobile body and the other mobile body by comparing the traffic information with the first mobile body described above, another mobile body having a difference in traffic information with the first mobile body within a threshold value is determined. When is more than two, the mobile body having the smallest difference in traffic information from the first mobile body can be determined as the same mobile body as the first mobile body.

In the process of fusing the magnetic local measurement information (or the parasitic extended measurement information) and the other local measurement information, the fusion processor 130 may locate the first moving object on the magnetic local measurement information and the second moving object on the other local measurement information. The magnetic localization information or other localization information may be shifted, i.e., linear and nonlinearly converted so that the positions of the overlap with each other. In this case, when the traffic information of the first moving object and the traffic information of the second moving object overlap each other, the fusion processor 130 may determine that the first moving object and the second moving object represent the same moving object. In this case, the second moving object on the other area measurement information may indicate a moving object that has transmitted other area measurement information.

Further, as a result of linear and nonlinear conversion of the magnetic localization information or other local measurement information, if there are other moving objects in addition to the position on the magnetic local measurement information and the position on the other local measurement information in addition to the first and second moving objects, such moving objects It may be determined that each represents the same moving object on the magnetic localization information and the other local measurement information. In an embodiment, traffic information of the moving objects may be further referred to to determine whether moving objects having overlapping positions on the magnetic localization information and other local measurement information represent the same moving object.

In an embodiment, the convergence processor 130 may include the first traffic information of the first area on the magnetic area measurement information (or the previously generated extended measurement information) and the second traffic information of the second area on the other area measurement information. When overlapping with each other, the first topology representing the mobile body distribution in the first region and the second topology representing the mobile body distribution in the second region are compared, and the similarity between the first topology and the second topology is above a predetermined reference. In a high case, it may be determined that the moving bodies in the first region constituting the first topology and the moving bodies in the second region constituting the second topology represent the same moving bodies.

In an embodiment, when the fusion processor 130 compares the first topology representing the mobile body distribution in the first region and the second topology representing the mobile body distribution in the second region, the fusion processor 130 determines whether the first mobile body is the same mobile body. When there are two or more moving objects whose similarity between the topology and the second topology is higher than a predetermined criterion, the moving objects having the most similar topology may be determined as the same moving object.

In an embodiment, the similarity determination between the first topology and the second topology may, for example, obtain an error vector representing a difference between the first topology and the second topology, and then calculate the magnitude of the error vector. If it is smaller than the threshold value, the method may determine that the similarity between the first topology and the second topology is higher than a predetermined criterion, but the present invention is not limited thereto, and is well known in the art for determining similarity between topologies. General methods may be used in place of or in addition to the above methods.

In an embodiment, the convergence processor 130 may include the first traffic information of the first area on the magnetic area measurement information (or the previously generated extended measurement information) and the second traffic information of the second area on the other area measurement information. When overlapping with each other, it is determined whether the position of another mobile body (transmitting mobile body) which has transmitted the other area measurement information is included in the detection area DR of the sensing unit 110, and is included in the detection area of the sensing unit 110. In this case, the extended measurement information may be generated by matching the positions of the transmitting mobile and other mobiles on the other area measurement information based on the position of the transmitting mobile object detected by the sensing unit 110.

Meanwhile, the fusion processor 130 may more accurately correct the traffic information (particularly, location information) of the mobile objects overlapped on the respective local measurement information with reference to the magnetic local measurement information and the received other local measurement information. Specifically, when the fusion processing unit 130 generates the extended measurement information by fusing the magnetic local measurement information (or the extended measurement information) with other local measurement information, the same moving object on the magnetic local measurement information and the other local measurement information is generated. Traffic data can be combined into one traffic data. For example, when the speed of a moving object is displayed as 100 and 110 in the magnetic localization information and the other local measurement information, respectively, the fusion processing unit 130 gives priority to the information determined to be more accurate of the two data, which is the moving object. (Eg, the fusion processor 130 may give more priority to the data on the magnetic area measurement information detected through the sensing unit 110 than the data on the other area measurement information, and thus the self-measurement information). 100 of the phase data is determined to be the speed of the moving object). However, this is merely an example, and the scope of the present specification is not limited thereto. For example, the convergence processor 130 may take the average of the traffic information (eg, (100 + 110) / 2 = 105), take the median of the plurality of traffic information, or the deviation from the average of the traffic information. The smallest traffic information may be taken to determine the aggregated traffic information.

In an embodiment, the determined integrated traffic information may be used as traffic information of the generated extension measurement information.

The fusion processor 130 tracks the traffic information of the moving object with reference to the magnetic localization information, the received other local measurement information, or the extended measurement information (for example, tracks the change of traffic information over time). ), The position, velocity or direction of travel of the moving object can be estimated from the result. In addition, the fusion processor 130 may analyze and predict a difference in the direction of travel between the moving object on which the detection system 100 is mounted and another moving object.

In an embodiment, when the location information of a moving object is information displayed as a relative position, the fusion processing unit 130 may perform convergence with local measurement information or extended measurement information including traffic information of a moving object whose absolute position is known. The absolute position of the moving object can be estimated. For example, the position of the moving object A on the first geometric information is (x, y) = (10, 10) in the global coordinates, and the relative position between the moving object A and the moving body B on the second local measurement information is' A moving object. Is separated by 10 in the x-axis direction from the moving object B ', the fusion processing unit 130 fuses the first local measurement information and the second local measurement information to determine the absolute position of the moving object B on the second local measurement information ( 10 + 10, 10) = (20, 10).

In an embodiment, the fusion processor 130 may assign a unique ID or identify a unique ID to a transmitting mobile object that has transmitted other geometric information, and may assign the unique ID to the specific mobile object on the generated extended measurement information. Can match. In this case, the unique ID may be assigned or identified with reference to meta information (for example, a serial number of a product or a chassis number of the moving object) transmitted from the transmitting mobile object.

The input / output interface 150 provides input / output means for controlling the detection system 100 and outputting the result. For example, the detection system 100 can vary its cooperative radius of communication in a manner that adjusts the strength of the communication signal to be transmitted or received, and such a change in the cooperative radius of communication may be user input via the input / output interface 150. Can be controlled according to.

Alternatively, the detection system 100 may change the area or direction in which the cooperative communication is to be performed by adjusting the direction of the cooperative communication signal according to a user input through the input / output interface 150.

Alternatively, the detection system 100 may set or change a period for transmitting magnetic area measurement information or receiving other area measurement information according to a user input through the input / output interface 150.

Alternatively, the detection system 100 may display a current cooperative communication radius or area to the user in response to a user input through the input / output interface 150 or limit a possible cooperative communication radius or area to a certain range.

The communicator 150 performs cooperative communication between the detection system 100 and another mobile object. The communication unit 150 receives the magnetic localization information LI from the preprocessing unit 120 or the fusion processing unit 130 and transmits it to another mobile unit (for example, in the form of broadcasting) or from other mobile units. Receives other area measurement information and transmits it to the fusion processor 130. In an embodiment, the communication unit 150 may further transmit the extended measurement information EI generated by the fusion processing unit 130 to another moving object.

On the other hand, the communication unit 150, for example, according to a user input through the input and output interface 140, the surrounding environment (for example, traffic or communication environment), traffic information of the other mobile body measured by the sensing unit 110, or The cooperative communication radius may be changed by adjusting the signal strength of the cooperative communication with reference to the traffic information of the detection system 100 measured by another mobile.

In addition, the communication unit 150 may, for example, according to a user input through the input / output interface 140, may include a surrounding environment (eg, a traffic or communication environment), traffic information of another mobile object measured by the sensing unit 110, or By referring to the traffic information of the detection system 100 measured by another mobile, it is possible to change the area or direction in which the cooperative communication is performed by adjusting the direction of the cooperative communication signal.

In addition, the communication unit 150 may limit possible cooperative communication radius or area within a certain range, for example, according to a user input through the input / output interface 150.

In an embodiment, the communication unit 150 may transmit the ID of the moving object on which the detection system 100 is mounted together with the magnetic area measurement information LI. The ID of the mobile object to be transmitted may be determined by referring to unique meta information related to the mobile object (for example, a serial number of a product or a chassis number of the mobile object) or a communication address used for cooperative communication.

In an embodiment, when the communication unit 150 has two or more other local measurement information received from other moving objects, the communication unit 150 may give priority to the other local measurement information received according to a predetermined criterion. Then, different regional measurement information may be differentially transmitted to the convergence processor 130 according to the assigned priority (for example, after the highest priority has been transmitted to the convergence processor 130, the local measurement information may be transferred to the convergence processor 130). And other regional measurement information are sequentially transmitted to the fusion processing unit 130 within a range that does not overlap.

In this case, the predetermined criterion for determining the priority among other geometric information is, for example, the shorter the distance to the other mobile body that has transmitted other geometric information, or the communication signal for transmitting other geometric information ( For example, the more the strength of the carrier (carrier), the higher priority can be given to the corresponding geographic measurement information.

According to the configurations described so far, the detection system 100 receives the other local measurement information through the cooperative communication with other mobile objects and fuses it with the self-localized information generated by itself, thereby expanding the mobile traffic information over a wider range. Create extended measurement information that provides. At this time, the traffic information of the extended measurement information is corrected to have a higher accuracy than the traffic information of the own local measurement information with reference to the plurality of local measurement information.

Accordingly, the detection system 100 may detect a position, a speed, a direction, and the like even with respect to a moving object that is located outside the detection range of the sensor provided by the detection system. Accordingly, the detection range of the peripheral moving object detection system 100 is dramatically wider. Can lose.

In addition, a safer and more efficient driving strategy can be established according to the wider detection range, so users can avoid problems such as traffic congestion in advance, and also obtain information on blind spots that could not be detected by the equipped sensor alone. The risk of occurrence is reduced.

In addition, since the peripheral vehicle detection system 100 uses open cooperative communication, unlike the conventional technologies, in which access to traffic information is limited, anyone without any particular limitation has an advantage of obtaining necessary information from other vehicles.

3 is a diagram conceptually illustrating a method in which the convergence processor 130 illustrated in FIG. 1 generates extended measurement information by fusing a plurality of geometric information. In FIG. 3, a method of generating extended measurement information EI by fusion of two pieces of local measurement information LI1 and LI2 having a partially overlapping topology is described.

The illustrated local measurement information LI1 and LI2 may be different local measurement information each received from another moving object, one of which is magnetic localization information generated by the detection system 100 and the other is local measurement information. It may be.

Alternatively, one of them may be existing extended measurement information generated by the detection system 100 (although it is indicated here as local measurement information), and the other may be other local measurement information. In this case, the extended measurement information EI generated through the fusion 131 becomes newly created or updated extended measurement information instead of the existing extended measurement information.

Referring to FIG. 3, the location of the moving objects is displayed as small squares in each of the area measurement information LI1 and LI2. Each area measurement information LI1 and LI2 has regions having similar topologies A and A '. In this case, the fusion processor 130 determines the similarity between the topologies A and A 'of the regions, and then determines whether they are topologies representing the same moving bodies. Since a detailed method of determining the similarity between the topologies has already been described with reference to FIG. 2, the description thereof is omitted here.

When it is determined that the topologies A and A 'represent the same moving bodies, the fusion processor 130 may perform local measurement information LI1, such that the topologies A and A' overlap each other for the fusion 131. LI2) is converted linearly and nonlinearly. In this example, the second area measurement information LI2 is linearly and nonlinearly converted to overlap the first area measurement information LI1. The result of fusion 131 of the local measurement information LI1 and LI2 so that the positions of the corresponding moving bodies overlap with each other is generated and output as the extended measurement information EI.

According to the above method, the extended measurement information EI may represent traffic information of moving objects over a wider range than the individual area measurement information LI1 and LI2. For example, the first area measurement information LI1 displays only the topology A and three moving objects located on its left side, and the second area measurement information LI2 displays the topology A 'and the other three located on its right side. Although only two moving objects are displayed, the extended measurement information may display all moving objects displayed in the first area measurement information LI1 and the second area measurement information LI2 as one measurement information. Therefore, in general, instead of referring to only one piece of geometric information, it is possible to collect a wider range of traffic information by referring to the extended measurement information in which they are fused.

On the other hand, when the traffic information for the same moving object of each of the local measurement information (LI1, L2) is different from each other, it is the same as described above to determine the preferred value derived by combining them as the traffic information of the extended measurement information.

FIG. 4 is a diagram for describing an example of generating extended measurement information for a wide range of areas by using cooperative communication 1000 between a plurality of moving objects. Referring to FIG. 4, the plurality of moving

objects

1010, 1020, and 1030 transmit and receive their local measurement information with other mobile objects through the cooperative communication 1000, and fuse such local measurement information for a wider range. Create extended measurement information.

In FIG. 4, it is assumed that three moving

bodies

1010, 1020, and 1030 are provided with the detection system 100 of the present disclosure, respectively. In addition, it is assumed that the moving

objects

1010, 1020, and 1030 provided with the detection system 100 generate local measurement information using their own sensors, and broadcast the generated local measurement information to other moving objects.

Individual

geospatial information

1011, 1021, and 1031 generated by each of the moving

objects

1010, 1020, and 1030 may display traffic information only within a detection range of a sensor included in each of the moving

objects

1010, 1020, and 1030. have. For example, the first area measurement information 1011 of the first moving object 1010 displays traffic information only for three moving objects including itself within the first detection range 1012. Similarly, the second area measurement information 1021 of the second mobile object 1020 displays traffic information only for five mobile objects including itself within the second detection range 1022, and the third mobile object 1030 may be configured to display traffic information. The third area measurement information 1031 displays traffic information only for four mobile objects including itself within the third detection range 1032.

At this time, the first area measurement information 1011 and the second area measurement information 1021 commonly include traffic information for the moving object a, and the second area measurement information 1021 and the third area measurement information 1031. Is commonly assumed to include traffic information for mobile b.

Each of the moving

objects

1010, 1020, and 1030 transmits

local measurement information

1011, 1021, and 1031 generated by the moving objects to other moving objects. In this case, the moving

objects

1010, 1020, and 1030 transmit

local measurement information

1011, 1021, and 1031 through cooperative communication using the

communication units

1013, 1023, and 1033, and the

communication units

1013, 1023, and 1033 at this time. May be provided in the form embedded in the detection system 100, or may be provided in the form of a communication terminal (for example, a smart phone carried by a user) that is independent of other modules of the detection system 100 in hardware. have.

In addition, any of the moving

objects

1010, 1020, 1030 receives the local measurement information transmitted by the other moving objects and fuses with the local measurement information generated by itself, thereby detecting each sensor of the moving

objects

1010, 1020, 1030. The extended measurement information 1100 covering the detection range is generated. At this time, the convergence of the local measurement information (1011, 1021, 1031) is performed based on the moving objects (a, b) commonly displayed in the two or more local measurement information. For example, the linear or nonlinear transformation of the first or second geometric information is performed such that the mobile object a on the first geometric information 1011 and the mobile object a on the second geometric information 1021 overlap each other. One extended measurement by linearly and nonlinearly converting the second or third area measurement information such that the moving object b on the second area measurement information 1021 and the moving object b on the third area measurement information 1031 overlap each other. Generates information 1100.

Meanwhile, in the process of generating the extended measurement information 1100 through fusion, other technical means described with reference to FIGS. 1 to 3 may be additionally or additionally applied.

According to this method, by providing the local measurement information (1011, 1021, 1031) between the moving objects (1010, 1020, 1030) through the cooperative communication system 1000, even for a mobile object located outside the detection range of the sensor provided by the moving object Traffic information can be obtained, and the wider detection range enables traffic information on blind spots that could not be detected previously, as well as establishing safer and more efficient driving strategies.

FIG. 5 is a flowchart illustrating a method of generating, by a nearby moving object detecting system, local measurement information through its sensor and transmitting the same to another moving object according to one embodiment of the present specification. Referring to FIG. 5, the method for generating and transmitting local measurement information includes steps S110 to S140.

In operation S110, the detection system 100 detects moving objects located within a detection range of the sensor through the sensing unit 110. The detection result is provided to the preprocessor 120 as sensing information.

In operation S120, the preprocessor 120 filters unnecessary data among the provided sensing information to extract traffic information (eg, position, speed, direction, etc.) of the moving objects. Through such a filtering process, the preprocessor 120 minimizes the capacity of traffic information to be processed.

In operation S130, the preprocessor 120 generates regional measurement information based on the extracted traffic information. The generated local measurement information is provided to the fusion processing unit 130 or the communication unit 150.

In step S140, the communication unit 150 transmits the area measurement information received from the preprocessor 120 or via the fusion processor 130 through cooperative communication with other mobile objects. In this case, the transmission of the local measurement information may be performed in the form of broadcasting (broadcasting) simultaneously transmitted to a plurality of arbitrary moving objects without specifying a destination. The transmitted local measurement information is referred to another mobile object to generate extended measurement information.

Meanwhile, other details that are not described herein regarding the sensing unit 110, the preprocessor 120, and the communication unit 150 are the same as those described with reference to FIGS. 1 to 4.

According to the above method, a local measurement information providing means for generating extended measurement information is disclosed. At this time, since the mobile communication of the local measurement information uses an open cooperative communication, there is an advantage that anyone can always obtain the necessary local measurement information without any special limitation, unlike the conventional technologies that have limited access to traffic information.

Furthermore, since each mobile unit participating in the cooperative communication functions as a receiving entity and a transmitting entity at the same time, it does not need a separate infrastructure dedicated to providing information about the mobile unit, thus reducing the detection system 100 at a relatively low cost. Establish cooperative communication for

FIG. 6 is a flowchart illustrating a method of detecting a location of surrounding moving objects by a nearby moving object detection system through cooperative communication with another moving object, according to an exemplary embodiment. Referring to FIG. 6, the method for detecting the surrounding moving object includes steps S210 to S250.

In step S210, the communication unit 150 of the detection system 100 receives the local measurement information of the other mobile through the cooperative communication.

In operation S220, the fusion processor 130 receives the received local measurement information from the communication unit 150 and generates extended measurement information by fusing the local measurement information generated by the detection system 100.

In operation S230, the detection system 100 determines whether new area measurement information is received from another moving object. When the new area measurement information is received, the method for detecting the surrounding moving objects proceeds to step S240. Otherwise, the method of detecting the surrounding moving objects proceeds to step S250.

In step S240, the fusion processing unit 130 fuses the new area measurement information with the existing extended measurement information to generate new extended measurement information to replace the existing extended measurement information, or update the existing extended measurement information. When the generation or update is completed, the method for detecting the surrounding moving objects proceeds to step S250.

In operation S250, the detection system 100 outputs traffic information including necessary geographic information or information on a moving object to the user, based on the generated or updated extended measurement information. Alternatively, the detection system 100 may output the generated or updated extended measurement information itself.

Meanwhile, other details that are not described herein regarding the fusion processing unit 130 and the communication unit 150 are the same as those described with reference to FIGS. 1 to 4.

According to the above method, by combining local measurement information with other moving objects to generate extended measurement information having a wider detection range, the position or speed can be detected even for moving objects located outside the detection range of the sensor. The detection range of the surrounding moving object detection system can be dramatically expanded.

In the detailed description of the present invention, a specific embodiment has been described. However, each embodiment may be modified in various forms without departing from the scope of the present invention.

In addition, although specific terms have been used herein, they are used only for the purpose of describing the present invention and are not used to limit the scope of the present invention as defined in the meaning or claims. Therefore, the scope of the present invention is not limited to the above-described embodiment, but should be defined as set forth in the appended claims.

Claims

A sensing unit having one or more sensors and generating traffic information by detecting moving objects located within a detection range of the one or more sensors;

A communication unit which transmits first area measurement information indicating the traffic information to the outside and receives at least one second area measurement information from the outside; And

The previously generated extended measurement information, the first area measurement information and the second area measurement information are merged to obtain traffic information of the extended measurement information, traffic information of the first area measurement information, and traffic of the second area measurement information. And a fusion processor for generating new extended measurement information encompassing the information.
The method of claim 1,

And a preprocessor configured to extract traffic information of the moving objects from the sensing information to generate the first area measurement information.
The method of claim 1,

And an input / output interface for receiving a user input for controlling the communication unit.
The method of claim 1,

The fusion processing unit,

When the new extended measurement information is generated by fusing the previously generated extended measurement information, the first area measurement information and the second area measurement information, traffic information of the moving objects is estimated and tracked to improve location accuracy. System for detecting nearby moving objects using cooperative communication.
The method of claim 1,

The fusion processing unit,

And extracting feature information overlapping the pre-generated extended measurement information, the first area measurement information, and the second area measurement information.
The method of claim 5,

The fusion processing unit,

And estimate surrounding traffic information of the moving objects using the feature information.
The method of claim 6,

The fusion processing unit,

Confirming that the first moving object of the first area measurement information and the second moving object of the second area measurement information represent the same moving object, and the first area so that the positions of the first moving object and the second moving object overlap each other; And linearly and non-linearly convert the measurement information or the second area measurement information to generate the extended measurement information.
The method of claim 6,

The fusion processing unit,

It is confirmed that the first moving object of the pre-generated extended measurement information and the second moving object of the second area measurement information represent the same moving object, and the first moving object and the second moving object overlap with each other. And linearly and non-linearly convert the area measurement information or the second area measurement information to update the extended measurement information.
The method of claim 5,

The fusion processing unit,

The traffic information of the first mobile body of the first area measurement information or the previously generated extended measurement information is compared with the traffic information of the second mobile body of the second area measurement information, and as a result of the comparison, the traffic information of the first mobile body and the If the difference between the traffic information of the second mobile body is similar within a threshold value, it is determined that the first mobile body and the second mobile body represent the same mobile body, and the traffic information of the first mobile body and the traffic information of the second mobile body are plural. A system for detecting nearby moving objects using collaborative communications that improves accuracy by estimating a single state by placing a measurement of.
The method of claim 5,

The fusion processing unit,

When determining the sameness of the first moving object and the other moving object by comparing the traffic information with the first moving object of the first area measurement information or the pre-generated extended measurement information, the difference of the traffic information with the first moving object is critical. And when there are two or more different moving objects within the value, determining the moving object having the smallest difference in traffic information from the first moving object as the same moving object as the first moving object.
The method of claim 5,

The fusion processing unit,

When the first traffic information for the first area of the first area measurement information and the second traffic information for the second area of the second area measurement information overlap each other, a first vehicle indicating a distribution of the moving body in the first area; Comparing a topology and a second topology representing a distribution of moving objects in the second region, and if the similarity between the first topology and the second topology is higher than a predetermined criterion, configuring the first topology And determine that the moving objects in the first area and the moving objects in the second area constituting the second topology represent the same moving objects.
The method of claim 11,

The fusion processing unit,

Similarity between the first topology and the second topology when comparing a first topology representing a mobile body distribution in the first region and a second topology representing a mobile body distribution in the second region to determine whether the same mobile body is the same. Is more than two moving objects higher than a predetermined criterion, the moving object having the most similar topology is determined as the same moving object.
The method of claim 11,

The fusion processing unit,

If the moving bodies in the first region constituting the first topology and the moving bodies in the second region constituting the second topology represent the same moving bodies, the first and second topologies overlap each other. A system for detecting a surrounding moving object by using cooperative communication, wherein the area measurement information or the second area measurement information is linearly and nonlinearly converted to generate the extended measurement information.
The method of claim 11,

The similarity between the first topology and the second topology is

A system for detecting a surrounding mobile object using cooperative communication, which is determined to be higher than the predetermined criterion when the magnitude of an error vector representing a difference between the first topology and the second topology is less than or equal to a predetermined value. .
The method of claim 1,

The fusion processing unit,

When generating the new extended measurement information by fusing the first area measurement information and the at least one second area measurement information, the area measurement information of a more adjacent moving object is first hierarchically fused to generate extended measurement information. System for detecting nearby moving objects using cooperative communication.
The method of claim 15,

The fusion processing unit,

When generating the extended measurement information by fusing the first area measurement information and the at least one second area measurement information, comparing GPS positions of moving objects within the at least one second area measurement information or the at least one And comparing the communication signal strengths of the second area measurement information to preferentially fuse the second area measurement information transmitted by the more adjacent mobile objects.
The method of claim 1,

The fusion processing unit,

Fusing the generated new extended measurement information with other second local measurement information received from another moving object to update the new extended measurement information or to further cover the traffic information of the other second local measurement information; A system for detecting nearby moving objects using collaborative communication that generates another extended measurement information in place of the information.
The method of claim 1,

The new extended measurement information,

And detect a surrounding mobile object using cooperative communication, wherein the detection range for the mobile object is wider or have more accurate traffic information than the first local measurement information.
In the method for detecting the position of the moving objects around the moving object through a detection system mounted on the moving object,

Receiving second geo-measurement information of the other mobile unit through cooperative communication with other mobile units;

Traffic information of the first area measurement information and the second area measurement are merged with the received second area measurement information, the first area measurement information generated by the detection system, and the extended measurement information previously generated by the detection system. Generating new extension measurement information configured to include traffic information of the information and traffic information of the previously generated extension measurement information; And

And outputting traffic information on the surrounding mobiles to the user based on the generated new extended measurement information.
The method of claim 19,

Receiving other second local measurement information from another moving object; And

Fusing the received second regional measurement information with the new extended measurement information to update the new extended measurement information to further cover the traffic information of the second local measurement information or to perform another expansion instead of the new extended measurement information; Generating measurement information, the method comprising the step of detecting surrounding moving objects using cooperative communication.