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WO2020242007A1 - Appareil de détection d'approche de véhicule et procédé de détection d'approche de véhicule - Google Patents

Appareil de détection d'approche de véhicule et procédé de détection d'approche de véhicule Download PDF

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Publication number
WO2020242007A1
WO2020242007A1 PCT/KR2020/000939 KR2020000939W WO2020242007A1 WO 2020242007 A1 WO2020242007 A1 WO 2020242007A1 KR 2020000939 W KR2020000939 W KR 2020000939W WO 2020242007 A1 WO2020242007 A1 WO 2020242007A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
coordinates
host vehicle
predicted
distance
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.)
Ceased
Application number
PCT/KR2020/000939
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English (en)
Korean (ko)
Inventor
최윤혁
장승현
차진
정태정
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Chemtronics Co Ltd
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Chemtronics Co Ltd
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Filing date
Publication date
Application filed by Chemtronics Co Ltd filed Critical Chemtronics Co Ltd
Publication of WO2020242007A1 publication Critical patent/WO2020242007A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • 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
    • B60W30/08—Active safety systems predicting or avoiding probable or impending collision or attempting to minimise its consequences
    • 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
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/80—Spatial relation or speed relative to objects
    • 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
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/08—Predicting or avoiding probable or impending collision

Definitions

  • the present invention relates to a vehicle approach detection device and a vehicle approach detection method.
  • An object of the present invention is to provide a vehicle approach detection device and a vehicle approach detection method capable of detecting the approach of a vehicle by identifying a location and a predicted path of an approaching vehicle using an inter-vehicle communication technology.
  • a vehicle approach detection method includes: receiving a host vehicle position coordinate and a relative vehicle position coordinate; Generating movement path coordinates connecting host vehicle location coordinates; Calculating a heading angle of the host vehicle; Generating a host vehicle axis perpendicular to the heading angle; Generating predicted path coordinates from the host vehicle axis to the relative vehicle position coordinates based on the movement path coordinates; And generating the predicted position coordinates where the predicted route coordinates and the host vehicle axis meet.
  • a vehicle approach detection method includes: calculating a predicted distance from the predicted position coordinates to the relative vehicle position coordinates according to the predicted path coordinates; Comparing the predicted distance with a preset sensing distance to determine whether the opposite vehicle is approaching; And when the predicted distance is less than or equal to the sensing distance, outputting a vehicle approach signal.
  • a vehicle approach detection method includes: generating a centripetal center based on curvature information of a moving path coordinate; Receiving the relative vehicle angular velocity information and the relative vehicle velocity information from the counterpart vehicle, and calculating a radius between the relative vehicle position coordinate and the centripetal center from the counter vehicle angular velocity information and the relative vehicle velocity information; And generating, on the host vehicle axis, the predicted position coordinates separated by a radius from the centripetal center.
  • a vehicle approach detection method includes the steps of: generating a sensing position coordinate that is moved by a sensing distance along a predicted path coordinate from the predicted position coordinate; Generating a vehicle detection axis passing through the detection position coordinates and a centripetal center; Calculating a critical angle between the vehicle detection axis and the host vehicle axis; Generating the relative vehicle position coordinates and the relative vehicle axis passing through the center; Calculating a relative angle between a counter vehicle axis and a host vehicle axis; Comparing the relative angle and the critical angle to determine whether the opposite vehicle approaches; And outputting a vehicle approach signal when the relative angle is less than or equal to the threshold angle.
  • the sensing distance is set in consideration of the size of the host vehicle and the size of the relative vehicle.
  • the sensing distance includes: a first area adjacent to a driver's seat of the host vehicle; And a second area adjacent to the passenger seat of the host vehicle, and the second area is set to be relatively larger than the first area.
  • a vehicle approach detection apparatus includes: a receiver configured to receive a host vehicle position coordinate and a relative vehicle position coordinate; A generator for generating movement path coordinates by connecting host vehicle location coordinates; And a calculation unit that calculates a heading angle of the host vehicle, wherein the generation unit generates a host vehicle axis perpendicular to the heading angle, and generates predicted path coordinates from the host vehicle axis to the relative vehicle position coordinates based on the movement path coordinates. , Generate predicted position coordinates where the predicted path coordinates and the host vehicle axis meet.
  • a vehicle approach detection apparatus includes: a determination unit that compares a predicted distance calculated by a calculation unit with a preset detection distance to determine whether or not a counterpart vehicle is approaching; And an output unit that outputs a vehicle approach signal when the predicted distance is less than or equal to the sensing distance, wherein the predicted distance is a distance from the predicted position coordinates to the relative vehicle position coordinates along the predicted path coordinates.
  • a computer program is provided which is combined with a computer which is hardware and stored in a recording medium readable by a computer so that the method of claim 1 can be performed.
  • the vehicle approach detection device and the vehicle approach detection method according to an embodiment of the present invention have an effect of detecting the approach of the vehicle by identifying the location and the predicted path of the approaching vehicle using a vehicle-to-vehicle communication technology.
  • FIG. 1 is a schematic diagram showing a relationship between a host vehicle, a counterpart vehicle, and an information providing infrastructure in a vehicle approach detection method according to an embodiment of the present invention.
  • FIG. 2 is a block diagram illustrating a vehicle approach detection apparatus according to an embodiment of the present invention.
  • FIG. 3 is a block diagram illustrating a vehicle approach detection apparatus according to an embodiment of the present invention.
  • FIG. 4 is a diagram illustrating a method of detecting the approach of a vehicle on a straight road in an embodiment of the present invention.
  • FIG. 5 is a flowchart illustrating a method of detecting the approach of a vehicle on a straight road according to an embodiment of the present invention.
  • FIG. 6 is a diagram illustrating a method of detecting an approach of a vehicle on a curved road according to an embodiment of the present invention.
  • FIG. 7 is a flowchart illustrating a method of generating predicted position coordinates on a curved road according to an embodiment of the present invention.
  • FIG. 8 is a flowchart illustrating a method of determining an approach of a vehicle through comparison of a critical angle and a relative angle on a curved road according to an embodiment of the present invention.
  • a vehicle approach detection device detects a vehicle approaching from the rear using a communication technology based on V2X (Vehicle to Everything), and notifies the driver, thereby preventing collisions between vehicles in a blind spot. Can be prevented.
  • V2X Vehicle to Everything
  • FIG. 1 is a schematic diagram showing a relationship between a host vehicle, a counterpart vehicle, and an information providing infrastructure in a vehicle approach detection method according to an embodiment of the present invention.
  • the host vehicle 10 and the counterpart vehicle 20 may be provided to enable mutual wireless communication through an infrastructure.
  • the host vehicle 10 refers to a vehicle equipped with the vehicle approach detection device of the present invention.
  • the host vehicle 10 may be a variety of vehicle types such as a passenger vehicle, a truck, a bus, and a two-wheeled vehicle, and there is no limitation on the vehicle type.
  • the counter vehicle 20 refers to a vehicle driving adjacent to the host vehicle 10.
  • being adjacent to the host vehicle 10 means that it is geographically close to the host vehicle 10, and further, it means that the host vehicle 10 is on a road connected to the road on which it is traveling.
  • the counterpart vehicle 20 may be a vehicle that has the same driving direction as the host vehicle 10 and travels in the same lane as the driving lane of the host vehicle 10 or a neighboring lane. If the host vehicle 10 is traveling on the elevated road, the vehicle traveling under the elevated road is not recognized as the counterpart vehicle 20 because it is not on the connected road even though it is geographically close to the host vehicle 10. May not.
  • the information providing infrastructure 30 may refer to an external server that provides at least one of traffic information, location information, and geographic information.
  • the information providing infrastructure 30 may include a V2I infrastructure including a Global Navigation Satellite System (GNSS) infrastructure that calculates and transmits location coordinates, a base station that relays traffic information, and a navigation server that transmits map data.
  • GNSS Global Navigation Satellite System
  • the host vehicle 10, the counterpart vehicle 20, and the information providing infrastructure 30 communicate with each other in data.
  • Data communication between the host vehicle 10, the counterpart vehicle 20, and the information providing infrastructure 30 is WAVE (Wireless Access for Vehicular Environment) technology for V2X (Vehicle to everything) communication, Cellular technology (5G communication technology, LTE Communication technology, 3GPP technology, etc.).
  • WAVE Wireless Access for Vehicular Environment
  • V2X Vehicle to everything
  • Cellular technology 5G communication technology, LTE Communication technology, 3GPP technology, etc.
  • the V2X communication refers to a communication method capable of performing wireless communication with a server (V2I: Vehicle to Infra), another vehicle (V2V: Vehicle to Vehicle), or a pedestrian (V2P: Vehicle to Pedestrian).
  • V2I Vehicle to Infra
  • V2V Vehicle to Vehicle
  • V2P Vehicle to Pedestrian
  • a vehicle-to-vehicle communication method of V2V is performed, and the distance and operation state between the host vehicle 10 and the counterpart vehicle 20 are performed using a packet message periodically received between vehicles. Can be seen.
  • a hardware module and a software stack to which a standard standard technology is applied are included in the V2X communication system so that packet messages between vehicles or between vehicles and infrastructure can be transmitted and received within a short time in a radio wave environment in which vehicles move at high speed.
  • the WAVE communication technology standardized by the IEEE of the United States can transmit and receive packet messages between vehicles or between vehicles and infrastructure within a short time of less than 100msec up to 1km in a radio wave environment in which vehicles move at high speed.
  • the V2X communication system to which the WAVE communication technology is applied may include a V2X communication module, a GPS module, a memory and a processor.
  • FIG. 2 is a block diagram illustrating a vehicle approach detection apparatus according to an embodiment of the present invention.
  • FIG. 3 is a block diagram illustrating a vehicle approach detection apparatus according to an embodiment of the present invention.
  • the host vehicle includes a vehicle approach detection device 11.
  • the vehicle approach detection device 11 may include the same configuration as the receiving unit 100, the generating unit 200, the calculating unit 300, the determining unit 400, and the output unit 500.
  • the receiving unit 100 may include a coordinate receiving unit 110, a geographic information receiving unit 120, and a vehicle information receiving unit 130.
  • the coordinate receiver 110 receives the host vehicle location coordinates and the counterpart vehicle 20 location coordinates from the GNSS infrastructure of the information providing infrastructure 30 through the above-described V2X communication.
  • the V2X communication may be provided in a V2X manner in which the host vehicle and the counterpart vehicle 20 can communicate with each other when the counterpart vehicle 20 enters within a predetermined distance based on the host vehicle.
  • the received host vehicle location coordinates may be stored in a separate database, and may be used to generate movement path coordinates to be described later.
  • the geographic information receiving unit 120 receives geographic information such as the topography and the height of the ground from the V2I infrastructure.
  • the geographic information may include intersection information, road information, and the like, and may be continuously updated according to map data received from the information providing infrastructure 30.
  • the coordinates of the vehicle position received by the coordinate receiving unit 110 can be analyzed based on the map data, there is an effect of generating coordinates more accurately in consideration of geographic information when generating coordinates in the coordinate generator to be described later. .
  • the vehicle information receiving unit 130 receives vehicle information from the counterpart vehicle 20.
  • the vehicle information may include at least one of a location coordinate of a vehicle, a moving route, a speed, an angular velocity, a driving direction, a destination information, a lane change intention, and a vehicle size.
  • BSM Basic Safety Message
  • the receiving unit 100 includes the detailed configurations described above, there is an advantage in that it is possible to comprehensively review geographic information and topographic information by receiving map data, rather than simply receiving a coordinate position on a two-dimensional plane.
  • vehicle information can be transmitted and received between vehicles, it is possible to generate accurate movement path coordinates using the vehicle speed and angular speed.
  • the generation unit 200 may include a coordinate generation unit 210 and an axis generation unit 220.
  • the coordinate generator 210 generates path coordinates based on the location coordinates of the host vehicle and the partner vehicle 20. For example, by connecting the host vehicle location coordinates to generate movement path coordinates, based on the movement path coordinates, predicted path coordinates from the host vehicle axis to the relative vehicle 20 location coordinates are generated. In addition, the coordinate generator 210 generates predicted position coordinates where the predicted route coordinates meet with the host vehicle axis, and generates a centripet based on curvature information of the moving route coordinates.
  • the axis generation unit 220 easily generates the coordinates in the coordinate generation unit 210, and the distance calculation unit 310 and the angle calculation unit 320 to be described later easily calculate a distance and an angle. It functions to generate. For example, it generates a host vehicle axis perpendicular to the heading angle calculated from the calculation unit 300 to be described later, and also performs a function of generating a counter vehicle axis and a vehicle detection axis.
  • the calculation unit 300 may include a distance calculation unit 310 and an angle calculation unit 320.
  • the distance calculating unit 310 performs a function of calculating a distance between coordinates and an angle between an arbitrary set virtual axis. For example, it is possible to calculate a predicted distance from the predicted position coordinates to the relative vehicle position coordinates along the predicted path coordinates. In addition, the distance calculating unit 310 performs a function of calculating a radius, which is a distance from the centripet to the opponent vehicle 20.
  • the angle calculation unit 320 calculates a heading angle of the host vehicle required to detect vehicle approach. In addition, the critical angle at the centripetal center generated based on each road condition is calculated, and a relative angle between the axis of the partner vehicle and the axis of the host vehicle is calculated.
  • the determination unit 400 may include a distance determination unit 410 and an angle determination unit 420.
  • the distance determining unit 410 compares the predicted distance calculated by the distance calculating unit 310 with a preset sensing distance to determine whether or not the other vehicle 20 approaches. In particular, when the predicted distance on a straight road becomes less than or equal to the preset sensing distance, it is determined that the counterpart vehicle 20 has entered the sensing distance.
  • the angle determination unit 420 compares the relative angle calculated by the angle calculation unit 320 and the critical angle to determine whether the opponent vehicle 20 approaches. In particular, when the relative angle on the curved road becomes less than or equal to the critical angle, it is determined that the opposite vehicle 20 has entered the sensing distance.
  • the output unit 500 outputs a vehicle approach signal based on the determination of the determination unit 400.
  • the vehicle approach signal may be provided as an audio signal such as a horn, a lighting or blinking signal of a light, and in addition, an alarm may be provided to a user using various codes such as sound, light, color, and shape.
  • the sensing distance may be set in consideration of the size of the host vehicle and the size of the counterpart vehicle 20.
  • the preset detection distance is set in consideration of the average size of the counterpart vehicle 20, and after the GPS coordinate transmitter attached to the counterpart vehicle 20 enters the detection distance, the user can grasp the approach of the vehicle. In this case, assuming that the size of the counterpart vehicle 20 is very large, a situation in which the GPS coordinate transmitter does not reach the detection distance may occur even though the front end of the counterpart vehicle 20 has already entered the detection distance. Therefore, the vehicle approach detection signal is transmitted to the user relatively late, and there is a fear of an accident such as a collision between vehicles.
  • the vehicle information may be provided to further include information on the size of the vehicle and the length from the GPS coordinate transmitter to the front end.
  • the sensing distance may be set as short as the corresponding length.
  • the sensing distance is customized in consideration of the size of the opposite vehicle 20, there is an effect of detecting the approach of the opposite vehicle 20 at an appropriate timing regardless of the size of the vehicle.
  • the sensing distance includes a first area adjacent to the driver's seat of the host vehicle, and a second area adjacent to the passenger seat of the host vehicle, and the second area is relatively larger than the first area. Can be set large.
  • the counterpart vehicle 20 entering the blind spot of the second area can be set to be detected earlier.
  • the setting value of the second area may be provided to be changeable by a user.
  • the first region and the second region of the sensing distance of the present invention described above may be provided so as to be individually changed according to the user's setting.
  • FIG. 4 is a diagram illustrating a method of detecting an approach of a vehicle on a straight road according to an embodiment of the present invention.
  • FIG. 5 is a flowchart illustrating a method of detecting an approach of a vehicle on a straight road according to an embodiment of the present invention.
  • the coordinate receiving unit 110 receives the host vehicle location coordinate P1 and the relative vehicle location coordinate P2 (S100).
  • the step of generating the predicted path coordinates from the host vehicle axis X1 to the host vehicle position coordinates P2 is performed by the coordinate generator 210 based on the movement path coordinates (S500).
  • the step of generating the predicted position coordinates P3 where the predicted path coordinates and the host vehicle axis X1 meet are performed by the coordinate generator 210 (S600).
  • the distance calculation unit 310 calculates the predicted distance S2 from the predicted position coordinates P3 to the relative vehicle position coordinates P2 along the predicted path coordinates (S700).
  • the distance determination unit 410 compares the predicted distance S2 and the preset sensing distance S1 to determine whether the other vehicle approaches (S800).
  • the output unit 500 outputs a vehicle approach signal (S900).
  • the vehicle approach detection method described above can be particularly easily applied on a straight road, and the following vehicle approach detection method can be performed on a curved road.
  • FIG. 6 is a diagram illustrating a method of detecting an approach of a vehicle on a curved road according to an embodiment of the present invention.
  • FIG. 7 is a flowchart illustrating a method of generating predicted position coordinates P3 on a curved road according to an embodiment of the present invention.
  • the coordinate generator 210 receives the host vehicle location coordinates P1 and generates movement path coordinates through it. Thereafter, the angle calculation unit 320 calculates the heading angle of the host vehicle, and the coordinate generation unit 210 generates the host vehicle axis X1. The above steps are performed in the same way as the method of detecting vehicle approach on a straight road (S100 to S400).
  • the step of generating the centripetal center C based on the curvature information of the coordinates of the moving path is performed by the coordinate generator 210 (S610).
  • the vehicle information receiving unit 130 receives the relative vehicle angular velocity information and the relative vehicle velocity information from the counterpart vehicle, and the distance calculating unit 310 includes the host vehicle position coordinate P2 from the counter vehicle angular velocity information and the relative vehicle velocity information.
  • the step of calculating the radius R between the centripetal centers C is performed (S620).
  • the coordinate generator 210 generates the predicted position coordinates P3 separated by the radius R from the centripetal center C on the host vehicle axis X1 (S630).
  • FIG. 8 is a flowchart illustrating a method of determining the approach of a vehicle through a comparison of a critical angle Q1 and a relative angle Q2 on a curved road according to an embodiment of the present invention.
  • the step of generating the detection position coordinates P4 moved by the detection distance S1 along the predicted path coordinates from the generated predicted position coordinates P3 by the coordinate generator 210 is performed. (S710).
  • the axis generation unit 220 generates the host vehicle position coordinate P2 and the relative vehicle axis X2 passing through the centripetal C (S740).
  • the angle determination unit 420 compares the relative angle Q2 and the critical angle Q1 to determine whether or not the other vehicle approaches (S800).
  • the output unit 500 outputs a vehicle approach signal (S900).
  • the vehicle approach detection apparatus 11 is characterized in that it can easily determine the location of the counterpart vehicle 20 by receiving GPS location coordinates.
  • the vehicle approach detection device of the present invention can generate a predicted distance from the host vehicle axis to the rear based on the movement path coordinates of the host vehicle, it is possible to immediately detect when an opponent vehicle approaches within the detection distance. It is characterized.
  • vehicle approach detection device and vehicle approach detection method described above are not limited to the configuration and method of the above-described embodiments, but the embodiments are all or part of each embodiment so that various modifications can be made. Is configured by selectively combining.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un procédé de détection d'approche de véhicule selon un mode de réalisation comprenant : une étape consistant à recevoir des coordonnées d'emplacement de véhicule hôte et des coordonnées d'emplacement d'autres véhicules; une étape consistant à générer des coordonnées de trajectoire de déplacement reliant les coordonnées d'emplacement de véhicule hôte; une étape consistant à calculer un angle de cap du véhicule hôte; une étape consistant à générer un axe de véhicule hôte perpendiculaire à l'angle de cap; une étape consistant à générer des coordonnées de trajectoire prédites à partir de l'axe de véhicule hôte vers les coordonnées d'emplacement des autres véhicules sur la base des coordonnées de trajectoire de déplacement; et une étape consistant à générer des coordonnées de position prédites auxquelles les coordonnées de trajectoire prédites et l'axe de véhicule hôte se rencontrent.
PCT/KR2020/000939 2019-05-28 2020-01-20 Appareil de détection d'approche de véhicule et procédé de détection d'approche de véhicule Ceased WO2020242007A1 (fr)

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KR1020190062225A KR102145012B1 (ko) 2019-05-28 2019-05-28 차량 접근 감지 장치 및 차량 접근 감지 방법
KR10-2019-0062225 2019-05-28

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115933436A (zh) * 2022-12-28 2023-04-07 长安大学 车路协同信号感知和衰减模拟方法、系统、设备及介质

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JPH1021500A (ja) * 1996-07-04 1998-01-23 Honda Motor Co Ltd 車速制御装置
KR101362706B1 (ko) * 2012-11-23 2014-02-24 현대엠엔소프트 주식회사 차량의 직진 주행성 확보 시스템 및 그 방법
KR20150080604A (ko) * 2012-11-30 2015-07-09 도요타지도샤가부시키가이샤 차량 위치 추정 기기 및 차량 위치 추정 방법
KR20170123270A (ko) * 2016-04-28 2017-11-07 현대자동차주식회사 어댑티브 크루즈 컨트롤 장치 및 그 방법
KR20190039286A (ko) * 2016-09-09 2019-04-10 닛산 지도우샤 가부시키가이샤 차량의 주행 제어 방법 및 주행 제어 장치

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Publication number Priority date Publication date Assignee Title
JPH1021500A (ja) * 1996-07-04 1998-01-23 Honda Motor Co Ltd 車速制御装置
KR101362706B1 (ko) * 2012-11-23 2014-02-24 현대엠엔소프트 주식회사 차량의 직진 주행성 확보 시스템 및 그 방법
KR20150080604A (ko) * 2012-11-30 2015-07-09 도요타지도샤가부시키가이샤 차량 위치 추정 기기 및 차량 위치 추정 방법
KR20170123270A (ko) * 2016-04-28 2017-11-07 현대자동차주식회사 어댑티브 크루즈 컨트롤 장치 및 그 방법
KR20190039286A (ko) * 2016-09-09 2019-04-10 닛산 지도우샤 가부시키가이샤 차량의 주행 제어 방법 및 주행 제어 장치

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN115933436A (zh) * 2022-12-28 2023-04-07 长安大学 车路协同信号感知和衰减模拟方法、系统、设备及介质

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