KR20220098862A - Vehicle driving aids - Google Patents

Abstract

The present invention relates to a method and apparatus for assisting driving of a vehicle using a GPS signal and an inertial sensor.
A vehicle driving assistance method according to an embodiment of the present invention includes receiving a GPS signal; Based on the received GPS signal
calibrating the parameters of the inertial sensor; The corrected parameter is applied to measure the movement of the vehicle, and the measured value is
outputting; and obtaining driving information of the vehicle by using the measured value output from the inertial sensor.
can do.

Description

Vehicle driving aids

The present invention relates to a method and apparatus for assisting the operation of a vehicle, and more particularly, using a GPS signal and an inertial sensor.

Thus, it relates to a method and apparatus for assisting the operation of a vehicle.

In general, vehicles are equipped with various systems to protect the driver and occupants, assist driving, and improve ride comfort.

and these systems are being improved and developed rapidly. However, with improved riding comfort and

All conditions create a simple and boring driving situation for the driver, causing the driver's drowsiness and carelessness.

will make Accordingly, the possibility of an accident due to driver's drowsiness and carelessness increases.

The vehicle safety driving assistance device according to the existing vehicle driving environment is the most representative method for recognizing the vehicle driving environment.

Another method is to recognize lanes and signs through camera images.

However, the recognition of the lane through the existing camera image has a very low reliability, and the visibility is poor at night or

In case of rain, the performance is so low that it cannot be used.

On the other hand, it is very important to understand the intention of the driver for the safe operation of the vehicle. And of the driver's intentions, especially important

One thing is the direction in which you want to drive the vehicle. The vehicle recognizes the road condition on which the driver intends to drive in advance.

If you can do this, you will be able to recognize and prepare for the great risks that may occur in the operation of the vehicle.

Therefore, in recent years, a technology that can help the safe driving of a vehicle by predicting the direction the driver wants to drive in advance.

There is an urgent need for research on

It is an object of the present invention by correcting the parameters of the inertial sensor based on the GPS (Global Positioning System) signal,

An object of the present invention is to provide a method and apparatus for assisting the operation of a vehicle.

According to an embodiment of the present invention to achieve the above object, the step of receiving a GPS signal; the received GPS signal.

correcting the parameters of the inertial sensor based on the; The corrected parameter is applied to measure the movement of the vehicle, and

outputting a constant value; and obtaining driving information of the vehicle using the measured value output from the inertial sensor.

A vehicle driving assistance method including a system is provided.

According to an embodiment of the present invention to achieve the above object, a GPS module for receiving a GPS signal; the received GPS signal

a correction unit for correcting the parameters of the inertial sensor based on the arc; The corrected parameter is applied to measure the movement of the vehicle

and an inertial sensor for outputting a measured value; The driving information of the vehicle is captured using the measured value output from the inertial sensor.

an information acquisition unit to obtain; and a control unit for controlling the GPS module, the compensator, the inertial sensor, and the information acquisition unit

There is provided a vehicle driving assistance device comprising a.

Vehicle driving assistance method and apparatus according to an embodiment of the present invention is the movement of the vehicle through an inertial sensor in which the parameter error is corrected.

By predicting the position, it is possible to more accurately predict the actual vehicle movement, thereby improving the safety of driving the vehicle.

According to an embodiment of the present invention, the parameter of the inertial sensor is corrected based on a GPS (Global Positioning System) signal.

By doing so, it is possible to correct the error of the inertial sensor.

According to an embodiment of the present invention, when correcting the parameter of the inertial sensor rather than correcting the output value of the inertial sensor

Therefore, there is an advantage in that it is not necessary to perform real-time correction of the measurement value error output through the inertial sensor. In addition,

The observation result of vehicle movement through an inertial sensor whose parameters have been corrected by GPS information for a long time is instantaneous.

The advantage is that it can have high accuracy and reliability compared to the existing vehicle motion prediction method based only on GPS signals.

have.

1 is a block diagram of a vehicle driving assistance device according to an embodiment of the present invention.
2 and 3 are diagrams for explaining the characteristics of the inertial sensor of the vehicle driving assistance device related to the embodiment.
FIG. 4 is a flowchart illustrating a method of assisting driving of a vehicle through the vehicle driving assistance device illustrated in FIG. 1 .
5 is a diagram illustrating an example of a method of correcting a parameter of an inertial sensor.
6 and 7 are diagrams illustrating a driving path of a vehicle measured through an inertial sensor whose parameters are corrected.
8 is a view showing an example of a method of performing a black box function using the vehicle driving assistance device shown in FIG.
to be.

Hereinafter, a vehicle driving assistance method and apparatus related to an embodiment of the present invention will be described with reference to the accompanying drawings.

do.

1 is a block diagram of a vehicle driving assistance device according to an embodiment of the present invention.

The illustrated vehicle driving assistance device 100 may be installed inside the vehicle to help the vehicle drive. driving the vehicle

The auxiliary device 100 includes a communication unit 110 , a correction unit 120 , an inertial sensor 130 , a driving route generation unit 140 , an information acquisition unit 150 , and analysis

It may include a unit 160 , a display unit 170 , a database 180 , a control unit 190 , and the like. 1 shows various components

The vehicle driving assistance device 100 with cattle is shown. However, all of the illustrated components are essential components.

not. The vehicle driving assistance device may be implemented by more components than the illustrated components, and fewer

The vehicle driving assistance device may also be implemented by the component.

Hereinafter, the components will be described in turn.

The communication unit 110 may include a GPS module 111 , a reception unit 112 , a transmission unit 113 , and the like.

The GPS module 111 receives location information from a plurality of artificial satellites. Here, the location information may include coordinate information indicated by latitude and longitude. For example, the GPS module 111 may provide accurate time and location information from three or more satellites.

By measuring the distance, the current position can be accurately calculated according to the trigonometric method of three different distances. with 3 satellites

A method of obtaining distance and time information from the satellite and correcting the error with one satellite can be used. In particular, the GPS module is

From the location information received from

can get

The receiver 112 may receive various signals or information from an external terminal or an external server. For example, the receiver

112 receives the operation information of the other vehicle from another vehicle (not shown), or actually from a traffic control system (not shown).

You can receive time traffic information.

In addition, the transmitter 113 may transmit various signals or information to an external terminal or an external server. For example, the transmitter

The 113 may transmit its own location information or driving information to another vehicle or an external server (not shown).

[0022] The correction unit 120 may correct the error of the inertial sensor 130. As an example, the compensator 120 uses the received GPS signal.

It is possible to correct the parameter error of the inertial sensor 130 . In this specification, the parameter correction of the inertial sensor 130 is

It may include predicting or determining a parameter for error compensation of the controller 130 . Parameters of the inertial sensor 130

The term refers to a parameter used for calculating the measured value of the inertial sensor 130 . The inertial sensor 130 receives the parameters

It can be used to calculate the measured value of the vehicle's motion. For a method of correcting the parameter error of the inertial sensor 130,

The characteristics of the inertial sensor 130 will be described later.

[0023] The inertial sensor 130 detects the inertial force of motion, and a variety of acceleration, speed, direction, distance, etc. of a moving object to be measured

A sensor that provides navigation-related information. That is, by estimating the movement of the vehicle using the inertial sensor 130, the position of the vehicle

value can be estimated. The inertial sensor 130 may include an acceleration sensor (accelerometer), and an angular velocity sensor (gyroscope).

have. In the case of an acceleration sensor, it is a sensor for measuring the acceleration acting on the vehicle, and the composition of the acceleration acting on the vehicle is

There are acceleration due to gravity acceleration, acceleration and deceleration of the vehicle, and acceleration due to external impact. In addition, in the case of an angular velocity sensor,

It is a sensor for measuring the amount of rotation, and it can recognize the degree of inclination of the vehicle body during movement such as acceleration/deceleration or rotation.

let it be In addition, through information from the acceleration sensor and angular velocity sensor, the condition of the vehicle's driving road surface and the inclination of the driving road

It can also serve as recognition of unintentional movement of the vehicle.

On the other hand, the position of the vehicle may be predicted by receiving a GPS signal, but in the case of a GPS signal, the accuracy reaches several m.

Because the accuracy is very poor and the update cycle of the information is quite long, it gives the driver an approximate route to the destination.

It can be used to the extent that it is applied to navigation that informs. Disadvantages of navigation using GPS signals

This can be supplemented through the real-time vehicle state prediction capability of the inertial sensor 130 . Because, the inertial sensor 130 is information

This is because the update period is very short, so the real-time movement of the vehicle can be determined quite accurately. Inertial sensor (130)

By applying the real-time vehicle condition prediction ability of

Based on this, it is possible to find out the actual location of the vehicle on the navigation map in real time. As a result the vehicle

It can perform a function as a vehicle driving assistance device for safe driving of the vehicle according to the driving environment of the vehicle. for example,

If the vehicle does not decelerate sufficiently when entering a curved road, no matter how excellent the existing Electronic Stability (ESC)

Control) technology cannot prevent a vehicle accident, but it cannot accurately determine when the vehicle enters a curved road.

If possible, in case the driver's carelessness

It can prevent you from drifting out of your lane or overturning. In addition, the position of the vehicle through the accuracy of the inertial sensor 130

Whether the vehicle is about to leave the road when the vehicle is driving on the road, if the information can be found reasonably close to reality.

Or it could even find out if you're trying to cross the centerline so that your vehicle doesn't cause an accident.

However, since the inertial sensor 130 continuously integrates the value of the angular velocity sensor to calculate a measured value, the following

Problems can arise.

2 and 3 are diagrams for explaining the characteristics of the inertial sensor of the vehicle driving assistance device related to the embodiment.

As shown in FIG. 2 , the inertial sensor 130 has its own error, so that an error may occur between the measured value and the actual value.

can That is, since the inertial sensor 130 calculates a measured value through integration, the error of the angular velocity sensor itself is also integrated.

As shown in FIG. 3 , a drift phenomenon in which the prediction error for the state and location of the vehicle continuously increases may occur.

can

In order to correct the error caused by the drift phenomenon as described above, the above-described correction unit 120 uses the received GPS signal to

A parameter error of the inertial sensor 130 may be corrected.

The driving route generator 140 may generate a driving route from the current vehicle location to the destination input by the driver on the map.

have. The map may be pre-stored or may be received in real time. Or, the current vehicle location information

It may be grasped through a GPS signal, or it may be grasped through a measurement value of the inertial sensor 130 whose parameters have been corrected.

The information acquisition unit 150 measures the movement of the vehicle output from the inertial sensor 130 to which the parameter corrected by the GPS signal is applied.

Using the value, driving information of the vehicle may be acquired. The driving information is information related to driving of the vehicle,

It may include a hang position, a traveling speed of the vehicle, a traveling direction of the vehicle, and the like.

The analysis unit 160 may analyze driving state information of the vehicle at a specific time. The analysis unit 160, the driving information of the other vehicle

When received, the driving state of the corresponding vehicle (the vehicle provided with the analysis unit 160 ) and the other vehicle may be compared and analyzed. example

For example, the analysis unit 160 at a specific time synchronized based on the driving information of the corresponding vehicle and the driving information of other vehicles

It is possible to compare and analyze the driving conditions of other vehicles.

The display unit 170 may display and output information processed by the vehicle driving assistance apparatus 100 . For example, the minute

The driving state of the corresponding vehicle and other vehicles analyzed by the stone unit 160 may be displayed.

When the display unit 170 displays the driving state of the corresponding vehicle and other vehicles analyzed by the analysis unit 160, the image

The existing vehicle driving assistance device 100 may perform a black box function. A black box is an image recording device,

By recording the accidents before and after the crash, it is possible to provide information necessary to understand the circumstances of the accident.

The database 180 stores various programs, data, information, and the like. For example, the database 180 may

Route information, received real-time traffic information, map information for route guidance, and the like may be stored.

The control unit 190 includes the communication unit 110 , the correction unit 120 , the inertial sensor 130 , the travel route generation unit 140 , the information acquisition unit 150 , and the analysis unit

It is possible to organically control overall functions performed by 160 , the display unit 170 , and the database 180 .

4 is a flowchart illustrating a vehicle driving assistance method according to an embodiment of the present invention.

The GPS module 111 may receive a GPS signal (S410). When the GPS signal has a long update cycle and an accuracy reaches several m

Although the accuracy of the door is lowered, unlike the inertial sensor 130, the accuracy below a certain value is continuously maintained regardless of the passage of time.

can be maintained as The inertial sensor 130 has a very high reaction rate and a very short information update period. Such

Due to its characteristics, it can be used for real-time vehicle condition prediction of the vehicle.

However, in order to predict the driving direction and position of the vehicle, the sensor value must be integrated more than once. In this case,

2 and 3, the error of the sensor itself is also integrated, so that as time goes by, the prediction error of the vehicle state is

A phenomenon called a drift (drift) in which the point becomes larger may occur.

In order to compensate for the shortcomings of the inertial sensor 130 as described above, the compensator 120 is an inertial sensor based on the received GPS signal.

It is possible to correct the parameter of (130) (S420)

Hereinafter, an embodiment of correcting the parameters of the inertial sensor 130 will be described.

As described above, FIG. 2 shows the relationship between the actual value and the measured value of the inertial sensor 130 .

100: vehicle driving assistance device
110: communication department
111: GPS module
112: receiver
113: transmission unit

Claims (10)

receiving a GPS signal;
correcting a parameter of the inertial sensor based on the received GPS signal;
measuring the movement of the vehicle by applying the corrected parameter, and outputting a measured value; and
and acquiring driving information of the vehicle by using the measured value output from the inertial sensor.
A method of assisting vehicle driving with The method of claim 1, wherein calibrating the parameter of the inertial sensor comprises:
Even if the difference between the position measurement value of the vehicle measured based on the received GPS signal and the position measurement value of the inertial sensor is minimized
A vehicle driving assistance method, characterized in that for correcting the lock. The method of claim 1 , wherein the vehicle driving assistance method comprises:
The vehicle characterized in that it further comprises the step of controlling the operation of the vehicle based on the obtained driving information of the vehicle.
How to assist in driving a vehicle. The method of claim 3, wherein the operation control step of the vehicle comprises:
The vehicle driving assistance method, characterized in that it is performed using the route guidance information of the vehicle. The method of claim 1 , wherein the vehicle driving assistance method comprises:
receiving driving information of another vehicle;
The driving image of the other vehicle at a specific time synchronized based on the driving information of the other vehicle and the driving information of the vehicle
Analyzing the state and the driving state of the vehicle; and
Further comprising the step of displaying the analyzed driving state of the other vehicle and the driving state of the vehicle
A method of assisting driving a vehicle with a gong. a GPS module for receiving a GPS signal;
a correction unit for correcting a parameter of the inertial sensor based on the received GPS signal;
an inertial sensor to which the corrected parameter is applied to measure the movement of the vehicle and to output a measured value;
an information acquisition unit configured to acquire driving information of the vehicle by using the measured value output from the inertial sensor; and
It characterized in that it comprises a control unit for controlling the GPS module, the correction unit, the inertial sensor, and the information acquisition unit.
vehicle driving aids. The method of claim 6, wherein the correction unit
and correcting the difference between the vehicle position measurement value measured based on the received GPS signal and the position measurement value of the inertial sensor to be minimized. The method of claim 6, wherein the control unit
The vehicle driving assistance device according to claim 1, wherein the driving of the vehicle is controlled based on the obtained driving information of the vehicle. The method of claim 8, wherein the vehicle operation control of the controller
Vehicle driving assistance device, characterized in that performed using the route guidance information of the vehicle. 7. The method of claim 6,
The vehicle driving assistance device further includes a receiving unit, an analysis unit, and a display unit,
The receiving unit receives the driving information of another vehicle,
The analysis unit at a specific time synchronized based on the received driving information of the other vehicle and the driving information of the vehicle
Analyze the driving state of the other vehicle and the driving state of the vehicle,
The display unit displays the analyzed driving state of the other vehicle and the driving state of the vehicle.
A vehicle driving assistance device.

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