KR20240098271A - A method and apparatus for guiding a radio lane. - Google Patents
A method and apparatus for guiding a radio lane. Download PDFInfo
- Publication number
- KR20240098271A KR20240098271A KR1020220179596A KR20220179596A KR20240098271A KR 20240098271 A KR20240098271 A KR 20240098271A KR 1020220179596 A KR1020220179596 A KR 1020220179596A KR 20220179596 A KR20220179596 A KR 20220179596A KR 20240098271 A KR20240098271 A KR 20240098271A
- Authority
- KR
- South Korea
- Prior art keywords
- moving object
- antennas
- vehicle
- signal
- preceding vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/14—Adaptive cruise control
- B60W30/16—Control of distance between vehicles, e.g. keeping a distance to preceding vehicle
- B60W30/162—Speed limiting therefor
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
- B60W60/001—Planning or execution of driving tasks
- B60W60/0015—Planning or execution of driving tasks specially adapted for safety
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/32—Adaptation for use in or on road or rail vehicles
- H01Q1/3208—Adaptation for use in or on road or rail vehicles characterised by the application wherein the antenna is used
- H01Q1/3225—Cooperation with the rails or the road
-
- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01Q—ANTENNAS, i.e. RADIO AERIALS
- H01Q1/00—Details of, or arrangements associated with, antennas
- H01Q1/27—Adaptation for use in or on movable bodies
- H01Q1/32—Adaptation for use in or on road or rail vehicles
- H01Q1/325—Adaptation for use in or on road or rail vehicles characterised by the location of the antenna on the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2556/00—Input parameters relating to data
- B60W2556/45—External transmission of data to or from the vehicle
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2720/00—Output or target parameters relating to overall vehicle dynamics
- B60W2720/24—Direction of travel
Landscapes
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Remote Sensing (AREA)
- Human Computer Interaction (AREA)
- Traffic Control Systems (AREA)
Abstract
Description
선행 차량의 운행방향을 추적하는 기술로서 상세하게는 무선전파로 선행 차량의 운행방향을 인식하고 추적하는 기술에 대한 것이다.This is a technology that tracks the driving direction of a preceding vehicle. Specifically, it is about technology that recognizes and tracks the driving direction of a preceding vehicle using wireless radio waves.
군집주행은 자율주행기술 기반의 자율협력 주행기술로서 후행차량들이 일정간격으로 선행차량을 뒤따르며 하나의 차량처럼 운행하는 기술로서 V2X 기술을 이용해 앞차와 뒤차가 서로 가속, 감속, 정차 등 차량 제어 정보를 공유하고 차량 간격은 그룹 내 차량들의 움직임 및 잠재적인 이상상황 정보를 차량간 통신을 통하여 교환하고, 이에 따른 제어를 통하여 선행차량과 후행차량을 운행하는 기술이다.Platooning is an autonomous cooperative driving technology based on autonomous driving technology, in which trailing vehicles follow the preceding vehicle at regular intervals and drive as one vehicle. Using V2X technology, the front and rear vehicles share vehicle control information such as acceleration, deceleration, and stopping with each other. Sharing and vehicle spacing is a technology that exchanges the movement and potential abnormal situation information of vehicles in a group through inter-vehicle communication and operates the preceding and following vehicles through corresponding control.
선행차량의 도로상 위치를 센서로 측정하여 군집주행하는 한국공개특허 제1020200052734호는 군집주행 트레일러의 후미 중심과 좌측 차선(Line) 간의 거리 및 트레일러의 후미 중심과 우측 차선 간의 거리를 센서로 측정하여 트랙터의 조향을 제어함으로써, 곡선로상에서 트레일러가 도로를 이탈하는 것을 방지할 수 있는 군집주행 차량의 조향 제어 장치 및 그 방법의 기술이다. 한국공개특허 제 1020210035940호는 GPS를 이용한 군집주행 방법으로 GPS 음영 지역을 주행시 센싱 장치를 통해 획득되는 타차량의 데이터를 이용하여 미리 정의된 추측 항법 알고리즘으로 적용하여 군집주행을 하는 기술이다. Korean Patent Publication No. 1020200052734, which performs platooning by measuring the position of the preceding vehicle on the road with a sensor, measures the distance between the rear center of the platooning trailer and the left lane and the distance between the rear center of the trailer and the right lane with a sensor. This is a technology for a steering control device and method for a platoon vehicle that can prevent a trailer from leaving the road on a curved road by controlling the steering of the tractor. Korean Patent Publication No. 1020210035940 is a platooning method using GPS, which uses data from other vehicles acquired through a sensing device when driving in a GPS shadow area and applies a predefined dead-reckoning algorithm to platooning.
본 발명은 선행차량의 비콘신호로 선행차량의 직진, 좌우 회전을 인식하여 종래기술의 선행차량의 운행인식에 필요한 시간, 비용, 노력을 최소화하는데 그 목적이 있다.The purpose of the present invention is to minimize the time, cost, and effort required to recognize the operation of the preceding vehicle in the prior art by recognizing the leading vehicle's straight ahead and left and right turns using the beacon signal of the preceding vehicle.
선행차량의 후미중앙에 비콘을 설치하여 신호를 송출하고 후행차량의 선두 좌우측에 각각안테나를 설치하고 이를 수신하여 수신시간차를 측정하여 선행차량의 방향의 변화를 인식하여 후행 차량의 진행방향을 제어하는 방법이다.A beacon is installed in the center of the rear of the preceding vehicle to transmit a signal, and antennas are installed on the left and right sides of the leading vehicle to receive it, measure the reception time difference, recognize changes in the direction of the preceding vehicle, and control the direction of the following vehicle. It's a method.
영상정보를 이용한 차량 주행인식 알고리즘이 필요치 않으며 악천후의 영상 획득의 문제점을 해소하고, 터널, 지하 등에서도 빠르고 정확한 선행차량의 진행 정보인식이 가능하다. 또한 영상을 이용하지 않으므로 선행차량을 인식하기 위한 카메라, 메모리, 고속의 CPU등이 필요치 않아 처리시간과 비용이 절감되는 효과가 있다.There is no need for a vehicle driving recognition algorithm using image information, it solves the problem of acquiring images in bad weather, and enables fast and accurate recognition of progress information of preceding vehicles even in tunnels and underground areas. Additionally, since it does not use video, there is no need for a camera, memory, or high-speed CPU to recognize the preceding vehicle, which has the effect of reducing processing time and costs.
본 명세서에 첨부된 도면들은 본 발명의 바람직한 실시 예를 예시하는 것이며, 첨부된 전체 도면에 걸쳐, 동일한 구성 요소에는 동일한 참조 부호를 하였다. 도면은 명확한 설명을 강조하기 위해서 표현을 과장하거나 설명을 도면에 표현하기 어려운 경우는 생략하였다. 도면은 발명의 상세한 설명과 함께 기술사상을 더욱 이해시키는 역할을 하는 것이므로, 도면에 기재된 사항에만 한정되어 해석되지 않아야 한다.
도 1은 본 발명의 일 실시 예에 따른 차량의 차선인식 설명도
도 2는 본 발명의 일 실시 예를 나타내는 도면
도 3은 본 발명의 일 실시 예에 따른 송신기 및 수신기 구성 예시도The drawings attached to this specification illustrate preferred embodiments of the present invention, and like reference numerals designate like elements throughout the entire drawings. In order to emphasize a clear explanation, the drawings omit cases where expressions are exaggerated or the explanation is difficult to express in the drawings. Since the drawings serve to further understand the technical idea along with the detailed description of the invention, they should not be interpreted as limited to the matters described in the drawings.
1 is an explanatory diagram of lane recognition of a vehicle according to an embodiment of the present invention.
Figure 2 is a diagram showing an embodiment of the present invention.
Figure 3 is an exemplary configuration of a transmitter and receiver according to an embodiment of the present invention.
본 발명의 실시예들은 당해 기술 분야에서 통상의 지식을 가진 자에게 본 발명을 더욱 완전하게 설명하기 위해 제공되는 것이며, 아래에 설명되는 실시예들은 여러 가지 다른 형태로 변형될 수 있으며, 본 발명의 범위가 아래의 실시예들로 한정되는 것은 아니다. 오히려, 이들 실시예는 본 발명을 더욱 충실하고 완전하게 하며 당업자에게 본 발명의 사상을 완전하게 전달하기 위하여 제공되는 것이다.The embodiments of the present invention are provided to more completely explain the present invention to those skilled in the art, and the embodiments described below may be modified into various other forms, and the embodiments of the present invention may be modified. The scope is not limited to the examples below. Rather, these examples are provided to make the present invention more faithful and complete and to fully convey the spirit of the present invention to those skilled in the art.
아래에서 본 발명을 설명함에 있어서, 본 발명의 구성요소를 지칭하는 용어들은 각각의 구성요소들의 기능을 고려하여 명명된 것이므로, 통상적이거나 사전적인 의미로서 구성요소를 한정해서 해석되어서는 아니되며, 기술적 사상에 부합하는 의미와 개념으로 해석되어야만 한다. 본 발명의 요지를 불필요하게 흐릴 수 있다고 판단되는 공지 기능 및 구성에 대해 상세한 기술은 생략된다.In describing the present invention below, terms referring to the components of the present invention are named in consideration of the function of each component, and should not be construed as limiting the components in the usual or dictionary sense, and should not be interpreted as technical. It must be interpreted with meaning and concepts that correspond to the ideology. Detailed descriptions of well-known functions and configurations that are judged to unnecessarily obscure the gist of the present invention are omitted.
군집주행 기술은 차량과 차량 간, 차량과 인프라 간 무선통신을 활용, 차량·도로환경 정보를 서로 주고받아 자율주행을 지원하는 기술로 V2X기반 군집주행 차량 제어기술, 모바일 앱기반 군집운영 서비스 기술과 자율협력주행 기술을 활용하여 후행차량들이 일정간격을 두고 선행차량을 자동으로 추종하며 하나의 차량처럼 운행하는 기술로 물류 효율성과 교통안전뿐만 아니라, 운전 자동화에 따른 운전자의 피로도가 감소되고, 졸음운전 사고도 획기적으로 줄일 수 있을 것이다.Cluster driving technology is a technology that supports autonomous driving by exchanging vehicle and road environment information using wireless communication between vehicles and between vehicles and infrastructure. It includes V2X-based platooning vehicle control technology, mobile app-based platoon operation service technology, and By utilizing autonomous cooperative driving technology, the following vehicles automatically follow the preceding vehicle at a certain interval and operate as one vehicle, which not only improves logistics efficiency and traffic safety, but also reduces driver fatigue due to automated driving and reduces drowsy driving. Accidents could also be dramatically reduced.
본 발명은 현재 카메라나 레이더를 이용하여 전방차량의 진행을 추정하여 주행하는 방식을 선행차량의 방사 전파신호를 수신하여 후행차량이 선행차량의 움직임을 인식하고 추정하도록 하여 카메라나 레이더의 테이터를 처리하여 인식하는 시간을 보다 빠른처리시간으로 선행차량의 움직임을 인식하고 비, 눈 안개의 악천후에도 인식할수 있다.The present invention currently uses a camera or radar to estimate the progress of the vehicle ahead and process the data from the camera or radar by receiving the radio wave signal from the preceding vehicle and allowing the following vehicle to recognize and estimate the movement of the preceding vehicle. As a result, the movement of the preceding vehicle can be recognized with a faster recognition time and even in bad weather such as rain, snow, and fog.
이하, 첨부 도면들 및 첨부 도면들에 기재된 내용들을 참조하여 본 발명의 다양한 실시예를 상세하게 설명하지만, 본 발명이 실시예에 의해 제한되거나 한정되는 것은 아니고, 특별히 언급하지 않는 한 실시예들은 서로 결합될 수 있다Hereinafter, various embodiments of the present invention will be described in detail with reference to the accompanying drawings and the contents described in the accompanying drawings, but the present invention is not limited or limited by the embodiments, and unless specifically stated, the embodiments are mutually exclusive. can be combined
첨부된 도 1의 바람직한 실시예로 선행차량의 위치에 대한 후행차량의 선행차량 위치 인식에 대하여 상세히 설명한다.Recognition of the position of a preceding vehicle by a following vehicle relative to the position of the preceding vehicle will be described in detail in the preferred embodiment of Figure 1 attached.
선행 차량의 후면 중앙에 송신기(100)를 장착하고 후행차량의 전면 좌우측에 수신단말기의 두 안테나(110, 111)를 장착한 차량이 직선차로(120)를 주행할때 후행차량이 선행차량의 뒤에 있을때는 선행차량의 송신기(100)의 송출 전파신호가 후행차량의 두 안테나(110, 111)에서 동시에 도달하여 수신단말기에 수신시간차가 나타나지 않을 것이다. 그러나 후행차량이 선행차량의 좌후측으로 치우쳐 운행한다면 의 선행차량의 송출 전파신호가 후행차량의 두 안테나(110, 111)에 동시에 수신되지 않고 시간차로 수신될 것이다. 두 안테나(110, 111)의 수신신호가 동시에 수신되도록 수신단말기에서 수신시간차에 따른 방향 전환을 요청하는 제어신호를 후행차량에 전송하여 항시 선행차량과 같은 방향을 유지하도록 할수 있을 것이다.When a vehicle equipped with a transmitter 100 in the rear center of the preceding vehicle and two receiving terminal antennas 110 and 111 mounted on the front left and right sides of the following vehicle drives on a straight lane 120, the following vehicle is behind the preceding vehicle. In this case, the radio signal transmitted from the transmitter 100 of the preceding vehicle arrives simultaneously from the two antennas 110 and 111 of the following vehicle, and no reception time difference will appear in the receiving terminal. However, if the following vehicle drives to the left and rear of the preceding vehicle, the radio signal transmitted by the preceding vehicle will not be received simultaneously by the two antennas 110 and 111 of the following vehicle, but will be received with a time difference. So that the reception signals of the two antennas 110 and 111 are received simultaneously, the receiving terminal can transmit a control signal requesting a direction change according to the reception time difference to the following vehicle, thereby maintaining the same direction as the preceding vehicle at all times.
두 안테나에서 신호가 동시에 수신하였다면 두 안테나와 송출지점간의 거리는 서로 동일하며 이는 이등변 삼각형의 꼴이 될것이다. 신호의 송출지점은 두 안테나를 잇는 직선과 중앙지점에서 수직으로 교차하는 직선상의 위치한 지점되므로 송출지점은 두 안테나의 정면방향에 있음을 알수 있을것이다. 두 안테나에서 신호가 동시에 수신되는 경우는 송출지점의 방향을 향한 것으로 인지할수 있다. 이러한 특성은 자신의 방향을 알고자 하는 다양한 분야에 적용할수 있을 것이다.If signals are received from two antennas at the same time, the distance between the two antennas and the transmission point is the same, which will be in the shape of an isosceles triangle. Since the signal transmission point is located on a straight line connecting the two antennas and a straight line that intersects perpendicularly at the center point, you can see that the transmission point is in the front direction of the two antennas. When signals are received simultaneously from two antennas, they can be recognized as being directed in the direction of the transmission point. These characteristics can be applied to various fields where you want to know your direction.
첨부된 도 2의 바람직한 실시예로 곡선차로를 주행하는 선행차량의 위치에 대한 후행차량의 선행차량 위치 인식에 대하여 상세히 설명한다.In the attached preferred embodiment of FIG. 2, recognition of the position of a preceding vehicle by a following vehicle relative to the position of a preceding vehicle traveling on a curved lane will be described in detail.
곡선차로(121)를 주행할때는 선행차량이 직선차로에서 곡선차로로 방향이 전환되면서 후행차량의 전방향에서 벗어나게 되어 송신기(100)에서 신호를 송출하므로 후행차량의 두 안테나(110, 111)에는 벗어난 만큼의 수신시간차로 도달하여 수신단말기에 수신시간차가 나게 되며 된다. 후행 차량은 두 안테나(110, 111)의 수신신호가 동시에 수신되도록 수신단말기에서 수신시간차에 따른 방향 전환을 요청하는 제어신호를 후행차량에 전송하여 선행차량과 같은 방향으로 방향전환을 하여 선행차량을 따라 곡선도로를 주행할수 있을 것이다.When driving on a curved lane 121, the preceding vehicle changes direction from a straight lane to a curved lane and deviates from the forward direction of the following vehicle, so the transmitter 100 transmits a signal, so the two antennas 110 and 111 of the following vehicle deviate from the direction of the following vehicle. It arrives with a reception time difference, causing a reception time difference at the receiving terminal. The following vehicle transmits a control signal requesting a direction change according to the reception time difference from the receiving terminal so that the reception signals of the two antennas 110 and 111 are received simultaneously, and changes direction in the same direction as the preceding vehicle, blocking the preceding vehicle. You will be able to drive on curved roads.
수신단말기에서 두 안테나(110, 111)로 수신한 두 신호의 수신의 시간차의 판단은 수신한 두 신호의 수신시간의 비교 내지는 두 수신 신호 파형의 위상비교로 판단이 가능하다.The reception time difference between the two signals received by the two antennas 110 and 111 in the receiving terminal can be determined by comparing the reception times of the two received signals or by comparing the phases of the waveforms of the two received signals.
선박이나 항공기, 드론, UAM 등의 이동체의 후면 중앙에 신호송신기를 부착하고 신호를 송출하며 운행을 하면 후행 이동체의 전면에 수신기의 두 안테나를 부착하여 선행 이동체의 송신기의 신호를 추적하여 선행 이동체의 이동을 추적하여 운항, 주행 또는 비행하는 것도 가능하고, 움직임을 추적하는 다양한 분야에 적용할수 있을 것이다.When a signal transmitter is attached to the center of the rear of a moving vehicle such as a ship, aircraft, drone, or UAM, and the signal is transmitted and driven, the two antennas of the receiver are attached to the front of the following moving vehicle to track the signal from the preceding moving vehicle's transmitter. It is possible to navigate, drive, or fly by tracking movement, and it can be applied to various fields that track movement.
앞차량의 후방안테나의 송출신호에 선행차량의 전방 정보와 가감속등의 주행 정보를 송출하여 후행차량과 정보를 교환하며 군집주행도 가능할것이다.By transmitting driving information such as forward information and acceleration/deceleration of the preceding vehicle to the signal transmitted from the rear antenna of the vehicle in front, platooning will be possible by exchanging information with the following vehicle.
수신단말기의 두 안테나에 수신되어, 각기 처리되는 두 신호는 수신에서 비교판단 처리까지 두 신호는 동일한 전송시간과 처리시간이어야 함은 당연하다.It is natural that the two signals received by the two antennas of the receiving terminal and processed separately must have the same transmission and processing time from reception to comparative decision processing.
두 안테나로 수신된 신호는 두 안테나와 두 전송케이블, 처리모듈을 통과하며, 두 전송케이블의 길이오차 또는 유전율편차에 따른 처리시간편차와, 처리모듈의 내부부품의 처리시간편차에 따라 발생되는 두 신호간의 처리시간의 오차는 보정되어야 하며 오차의 보정은 하드웨어적인 지연회로의 추가방법과 소프트웨어적인 연산으로 오차를 감하는 방법이 가능할 것이다.The signal received by the two antennas passes through the two antennas, the two transmission cables, and the processing module, and the processing time deviation due to the length error or dielectric constant deviation of the two transmission cables and the processing time deviation of the internal components of the processing module generate two signals. The error in processing time between signals must be corrected, and the error can be corrected by adding a hardware delay circuit or subtracting the error through software calculation.
선행차량은 후행차량에 신호를 끊김없이 연속으로 송출하여야 하므로 선행차량의 송신기의 고장에 즉각적인 대처를 위해 송신기의 예비 송신모듈을 추가하고, 후행차량의 수신단말기에 예비 수신모듈을 추가하여 항시 안전한 운행을 하도록 한다.Since the leading vehicle must continuously transmit signals to the following vehicle without interruption, a spare transmitting module is added to the transmitter to immediately respond to a failure of the preceding vehicle's transmitter, and a spare receiving module is added to the receiving terminal of the following vehicle to ensure safe operation at all times. Do this.
안테나의 송출신호에 송신기의 상태정보를 포함하여 송출하면, 시스템은 송신기의 상태에 따른 즉각적인 조치를 할수 있을 것이다. 또한 수신모듈에 점검기능을 부가하여 항시 동작상태를 점검하고 신호수신이상, 신호처리이상, 센서등 이상발생시 조치를 할수 있도록 상태정보를 제어부에서 출력하여 항시 안전한 차량운행이 되도록 하는것도 가능할 것이다.If the antenna's transmission signal includes the status information of the transmitter and is transmitted, the system will be able to take immediate action according to the status of the transmitter. In addition, it would be possible to ensure safe vehicle operation at all times by adding an inspection function to the receiving module to check the operating status at all times and output status information from the control unit so that actions can be taken in case of signal reception abnormality, signal processing abnormality, sensor abnormality, etc.
본 발명의 기술 분야에서 통상의 지식을 가진 자는 본 발명의 기술적 사상을 다양한 형태로 개량 변경하는 것이 가능하여, 이러한 개량 및 변경은 통상의 지식을 가진 자에게 자명한 것인 한 본 발명의 보호 범위에 속하게 될 것이다. A person skilled in the art of the present invention can improve and change the technical idea of the present invention into various forms, and as long as such improvements and changes are obvious to a person skilled in the art, it is within the scope of protection of the present invention. will belong to
100,101,102: 차로 매설안테나
110, 111: 차량 안테나
120 : 직선차로
121 : 곡선차로100,101,102: Antenna buried in car
110, 111: vehicle antenna
120: straight lane
121: curved lane
Claims (6)
선행이동체에 후면 중앙에 설치된 송신기의 안테나를 통하여 신호를 송출하는 단계;와
후행이동체의 전면의 좌우에 두 안테나를 설치하고 상기 두 안테나로 상기 선행이동체의 상기 송출신호를 수신하는 단계;와
상기 두 안테나에 수신된 두 신호의 수신시간 내지 위상을 검출하는 단계;와
상기 검출된 수신시간 내지 위상을 비교하여 차이가 있을 경우 동일한 시간 내지 위상이 되도록 상기 후행이동체의 진행방향을 제어하는 제어신호를 출력하여 상기 선행이동체와 동일한 방향이 되도록 하여 운행하는 단계;를 포함하는 군집주행 방법.In the platooning method of moving objects
Transmitting a signal through the antenna of a transmitter installed at the center of the rear of the preceding moving object; and
Installing two antennas on the left and right sides of the front of the following moving object and receiving the transmission signal of the preceding moving object with the two antennas;
Detecting the reception time or phase of the two signals received by the two antennas; and
A step of comparing the detected reception time or phase and, if there is a difference, outputting a control signal to control the direction of movement of the following moving object so that it is the same time or phase, and driving it in the same direction as the preceding moving object; Group driving method.
상기 선행이동체에 후면 중앙에 설치된 상기 안테나로 송출하는 상기 신호는, 상기 선행이동체의 운행로 전방의 교통정보 내지 운행로 전방의 운행로 상황정보, 내지 상기 선행이동체의 운행정보가 더 포함되는 신호인 군집주행 방법.In claim 1
The signal transmitted through the antenna installed at the center of the rear of the preceding moving object is a signal that further includes traffic information ahead of the preceding moving object, situational information on the driving path ahead of the preceding moving object, or operating information of the preceding moving object. Group driving method.
이동체는 차량 내지 비행체 내지 선박을 포함하는 군집주행 방법. In claim 1
A swarm driving method where the moving object includes a vehicle, aircraft, or ship.
후행이동체의 전방 좌우측에 설치되는 두 안테나;와
상기 두 안테나와 진행방향신호 수신모듈을 연결하는 동일한 길이의 두 전송케이블;과
상기 두 안테나의 신호를 수신하는 두 수신부;와 상기 두 수신부의 수신신호의 수신시간 내지 위상을 검출하는 검출부;와 비교 판단하는 판단부;와 판단결과로 제어신호를 송출하는 제어;부를 포함하는 상기 수신모듈;을 포함하는 선행이동체진행방향인식장치.In the preceding moving object moving direction recognition device that recognizes the moving direction signal of the moving object,
Two antennas installed on the left and right sides in front of the trailing vehicle; and
Two transmission cables of the same length connecting the two antennas and the direction signal reception module; and
Two receiving units that receive signals from the two antennas; and a detection unit that detects the reception time or phase of the received signals of the two receivers; and a determination unit that compares and determines; and a control unit that transmits a control signal as a result of the determination. A preceding moving object progress recognition device including a receiving module.
상기수신모듈은 상 기두 안테나와 상기 두 안테나 케이블과 상기수신모듈의 신호수신 처리과정에서 발생되는 두 수신신호 간의 처리시간 편차를 보정하는 편차보정부;를 더 포함하는 선행이동체진행방향인식장치.In claim 4
The receiving module further includes a deviation correction unit that corrects the processing time deviation between the two antennas, the two antenna cables, and the two received signals generated during the signal reception processing of the receiving module.
상기 이동체의 좌우측에 설치되는 두 안테나는 이동체의 앞뒤로 설치되는 두 안테나;인 선행이동체진행방향인식장치.In claim 4
The two antennas installed on the left and right sides of the moving object are the two antennas installed in front and behind the moving object.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020220179596A KR20240098271A (en) | 2022-12-20 | 2022-12-20 | A method and apparatus for guiding a radio lane. |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1020220179596A KR20240098271A (en) | 2022-12-20 | 2022-12-20 | A method and apparatus for guiding a radio lane. |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| KR20240098271A true KR20240098271A (en) | 2024-06-28 |
Family
ID=91669188
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR1020220179596A Pending KR20240098271A (en) | 2022-12-20 | 2022-12-20 | A method and apparatus for guiding a radio lane. |
Country Status (1)
| Country | Link |
|---|---|
| KR (1) | KR20240098271A (en) |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20200052734A (en) | 2018-11-07 | 2020-05-15 | 현대자동차주식회사 | Apparatus for controlling steering of platooning vehicle and method thereof |
| KR20210035940A (en) | 2019-09-24 | 2021-04-02 | 현대모비스 주식회사 | Method for platooning of vehicles |
-
2022
- 2022-12-20 KR KR1020220179596A patent/KR20240098271A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR20200052734A (en) | 2018-11-07 | 2020-05-15 | 현대자동차주식회사 | Apparatus for controlling steering of platooning vehicle and method thereof |
| KR20210035940A (en) | 2019-09-24 | 2021-04-02 | 현대모비스 주식회사 | Method for platooning of vehicles |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107993487B (en) | Method and device for avoiding emergency vehicle | |
| JP5152244B2 (en) | Target vehicle identification device | |
| US11626015B2 (en) | Vehicle system using vehicle-to-infrastructure and sensor information | |
| US10493987B2 (en) | Target-lane relationship recognition apparatus | |
| US11242056B2 (en) | Apparatus and method for controlling smart cruise control system | |
| US11055933B2 (en) | Method for operating a communication network comprising a plurality of motor vehicles, and motor vehicle | |
| KR102386317B1 (en) | Vehicle and collision avoidance method for the same | |
| US11541868B2 (en) | Vehicle control device and vehicle control method | |
| KR102630991B1 (en) | Method for determining driving posision of vehicle, apparatus thereof and driving control system | |
| US20190243378A1 (en) | Radar-based guidance and wireless control for automated vehicle platooning and lane keeping on an automated highway system | |
| US20160377709A1 (en) | Determining an object distance using radio frequency signals | |
| CN110134125A (en) | Vehicle automatic driving method, device and vehicle | |
| US20200211393A1 (en) | Vehicle and method of controlling the same | |
| KR20240098271A (en) | A method and apparatus for guiding a radio lane. | |
| US12072747B2 (en) | Power over cable via stub effect mitigation method and system for camera interface of high speed printed circuit board for autonomous vehicles | |
| JPH06180799A (en) | Method for information communication with on-road vehicle | |
| JP4850531B2 (en) | In-vehicle radar system | |
| US20150274173A1 (en) | Information transmitter | |
| US10769455B2 (en) | System and method of compensating for position of vehicle using determined road-line offsets | |
| US11335186B2 (en) | Communication system | |
| JP2018205048A (en) | Device and system for detecting position | |
| KR20240097478A (en) | A method and apparatus for guiding a radio lane. | |
| US20250081336A1 (en) | High speed camera interface pcb floor plan for autonomous vehicles | |
| AU2023201201B2 (en) | Own position calculating device | |
| US20240031946A1 (en) | Antenna device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PA0109 | Patent application |
St.27 status event code: A-0-1-A10-A12-nap-PA0109 |
|
| PA0201 | Request for examination |
St.27 status event code: A-1-2-D10-D11-exm-PA0201 |
|
| PN2301 | Change of applicant |
St.27 status event code: A-3-3-R10-R13-asn-PN2301 St.27 status event code: A-3-3-R10-R11-asn-PN2301 |
|
| PG1501 | Laying open of application |
St.27 status event code: A-1-1-Q10-Q12-nap-PG1501 |
|
| D13-X000 | Search requested |
St.27 status event code: A-1-2-D10-D13-srh-X000 |
|
| E902 | Notification of reason for refusal | ||
| PE0902 | Notice of grounds for rejection |
St.27 status event code: A-1-2-D10-D21-exm-PE0902 |
|
| T11-X000 | Administrative time limit extension requested |
St.27 status event code: U-3-3-T10-T11-oth-X000 |
|
| P11-X000 | Amendment of application requested |
St.27 status event code: A-2-2-P10-P11-nap-X000 |
|
| P11-X000 | Amendment of application requested |
St.27 status event code: A-2-2-P10-P11-nap-X000 |
|
| P13-X000 | Application amended |
St.27 status event code: A-2-2-P10-P13-nap-X000 |