WO2024035041A1 - Position estimating device and method - Google Patents

Abstract

A position estimating device, according to one embodiment disclosed in the present document, comprises: a communication module which provides a short-range communication channel within a GPS or RTK shaded area; first and second camera modules spaced apart from each other at a predetermined distance and capable of rotating at least laterally, so as to be able to capture an image of a road within the shaded area; and a processor functionally connected to the first camera module, the second camera module, and the communication module. The processor may: obtain a first lateral angle value between the second camera module and a vehicle in the shaded area using the first camera module; obtain a second lateral angle value between the first camera module and the vehicle using the second camera module; estimate the position of the vehicle by means of triangulation using the first lateral angle value, the second lateral angle value, and a separation distance between the first and second cameras; and transmit information related to the estimated position to the vehicle through the short-range communication channel.

Description

Location estimation device and method

This study is the result of research conducted under the Autonomous Driving Technology Development and Innovation Project (20018198) supported by the Ministry of Trade, Industry and Energy and the Korea Evaluation Institute of Industrial Technology.

Various embodiments disclosed in this document are related to vehicle location estimation technology.

Vehicle location can be estimated based on GPS (global positioning system) or RTK (real-time kinematic positioning). However, GPS or RTK signals are not received in shaded areas, such as inside tunnels or roads surrounded by high-rise buildings. It may not work.

In shaded areas, the vehicle location can be estimated using the vehicle location estimated in the GPS reception area and the vehicle movement information. However, the vehicle location estimated using this method may not be accurate. Moreover, accurate vehicle location estimation is very important in advanced driver assistance devices such as autonomous driving systems, so a method for this is needed.

Various embodiments disclosed in this document may provide a location estimation device and method that can estimate a vehicle location in a shaded area.

A location estimation device according to an embodiment disclosed in this document includes a communication module that provides a short-range communication channel within a GPS or RTK shadow area; first and second camera modules spaced apart from each other at a predetermined distance and capable of rotating at least laterally, so as to be able to photograph a road within the shaded area; The first camera module includes a processor functionally connected to the second camera module and the communication module, and the processor uses the first camera module to detect a first camera between the second camera module and a vehicle in the shaded area. Obtain a lateral angle value, obtain a second lateral angle value between the first camera module and the one vehicle using the second camera module, and obtain the first lateral angle value, the second lateral angle value, and the first lateral angle value. The location of the vehicle may be estimated through triangulation using the separation distance between the first and second cameras, and information related to the estimated location may be transmitted to the vehicle through the short-range communication channel.

In addition, a position estimation method using first and second camera modules that are arranged at a specified distance from each other and can rotate at least to one side so as to be able to photograph a road in a shaded area according to an embodiment disclosed in this document, An operation of detecting a vehicle driving on a road in the shaded section using first and second camera modules; Controlling the rotation of the first camera module and the second camera module to face the vehicle; A side angle between each of the first and second camera modules and the vehicle based on a line connecting the first and second camera modules at a first point in time when the first and second camera modules are facing the vehicle. An operation to obtain angle values; Obtaining vertical angle values of the first and second camera modules based on perpendicular lines connecting the first and second camera modules and a reference plane at the first time point; and estimating the location of the vehicle through triangulation based on the lateral angle values and the vertical angle values.

According to various embodiments disclosed in this document, the vehicle location can be estimated in a shaded area. In addition, various effects that can be directly or indirectly identified through this document may be provided.

1 is an implementation environment of a location estimation device according to an embodiment.

Figure 2 is a diagram for explaining a vehicle location detection technique according to an embodiment.

3 is a configuration diagram of a location estimation device according to an embodiment.

FIG. 4 is a diagram illustrating a triangulation-based location estimation method according to an embodiment.

Figure 5 is a flow chart of a location estimation technique according to one embodiment.

In relation to the description of the drawings, identical or similar reference numerals may be used for identical or similar components.

FIG. 1 shows an implementation environment of a location estimation device according to an embodiment, and FIG. 2 is a diagram for explaining a vehicle location detection technique according to an embodiment.

Referring to FIGS. 1 and 2 , the position estimation system 10 may include a first fixation device 110, a second fixation device 120, a position estimation device 130, and a user device 140.

According to one embodiment, the first fixing device 110 and the second fixing device 120 are cameras such as CCTV equipment installed in a GPS or RTK shaded area (hereinafter referred to as a 'shaded area'). It may be a device that includes. The shaded area may include an area where GPS signals or RTK signals cannot be received, such as indoor parking lots, under overpasses, underpasses, or tunnels. For example, the first and second fixing devices 110 and 120 may be provided on the left and right sides of the road in the shaded area, respectively.

According to one embodiment, the first and second fixing devices 110 and 120 may be arranged to be spaced apart from each other by a certain distance (hereinafter, may be referred to as 'designated separation distance') (e.g., 1 m) within the shaded area. there is. For example, the first fixing device 110 is provided on a first side (eg, left) of the road in the shaded area, and the second fixing device 120 is provided on a second side (eg, right) of the road in the shaded area. It can be provided in .

According to one embodiment, each of the first and second fixing devices 110 and 120 may be provided at a designated height (h1, h2) taken by distinguishing license plates of vehicles on a road in a shaded area. For example, each of the first and second fixing devices 110 and 120 (or a camera included in the first and second fixing devices 110 and 120) captures the image of a preceding vehicle traveling on a plurality of roads within the shaded area. It can be installed at a height that allows you to separate and photograph the license plate and the license plate of the vehicle behind you.

According to one embodiment, each of the first and second fixing devices 110 and 120 may include a camera module rotatable to at least one side. Referring to FIG. 2, for example, the first fixing device 110 rotates and photographs the license plate of a vehicle, so that the second fixing device 120 and the license plate of a vehicle are photographed based on the first fixing device 110. The first (lateral) angle value of the liver can be detected and obtained. As the second fixing device 120 rotates and photographs the license plate of a vehicle, it detects the second (lateral) angle value between the first fixing device 110 and the license plate of a vehicle based on the second fixing device 120. and can be obtained.

According to one embodiment, the first and second fixing devices 110 and 120 include identification information, detection (photography) time information, license plate information and detection information of each of the first and second fixing devices 110 and 120. The first and second sensed data including the first and second (lateral/up/down) angle values may be transmitted to the position estimation device 130 through a first designated communication channel. The first designated communication channel may include, for example, at least one of LAN, FTTH, or xDSL.

According to one embodiment, the location estimation device 130 is configured to use at least one designated service among, for example, a traffic information (e.g., TPEG) providing service, a route guidance service (e.g., TMAP), or a black box data-based service. It may include a business operator server that provides. Alternatively, the location estimation device 130 may be a service use terminal provided by a business operator server that provides the designated service.

According to one embodiment, the position estimation device 130 receives first and second sensing data from the first and second fixing devices 110 and 120, respectively, through a first designated communication channel, and receives first and second sensing data Based on the sensing data, the location of a vehicle can be determined (e.g., estimated). For example, the position estimation device 130 provides a first lateral angle value (α) between the second fixing device 120 and one vehicle based on the first fixing device 110 based on the first and second sensing data, and The second lateral angle value (β) between the second fixing device 120 and one vehicle based on the second fixing device can be confirmed. The position estimation device 130 uses triangulation using the first lateral angle value (α), the second lateral angle value (β), and the separation distance (d _i ) between the first fixing device 110 and the second fixing device. The distance of one vehicle can be estimated.

According to one embodiment, the location estimation device 130 includes three-dimensional location information (latitude, longitude, altitude) of the first and second fixing devices 110 and 120, the first fixing device 110 and the second fixing device. (120) An HD map related to the distance (d _i ) and road information (e.g., elevation of the road) within the shaded area can be stored.

According to one embodiment, the location estimation device 130 may estimate the location of a vehicle by considering the altitude of the road on which the vehicle is traveling based on the HD map. In this regard, when the location estimation device 130 receives the first and second detection data from the first fixation device 110 and the second fixation device 120, respectively, the license plate included in the first and second detection data Based on the information, it can be confirmed that the first and second lateral angle values (α, β) relate to the same vehicle. Additionally, the position estimation device 130 may check the first and second lateral angle values detected at the same time based on the detection time information included in the first and second sensed data. Alternatively, the position estimation device 130 may be configured to store (or set) the first fixing device 110 and the second fixing device 120 based on the identification information of the first fixing device 110 and the second sensing data. The separation distance (d _i ) between the fixing device 110 and the second fixing device 120 can be confirmed.

In one embodiment, the position estimation device 130 may estimate the position of a vehicle further based on the vertical angles (θ, δ) between the first fixing device 110 and the second fixing device 120 and the reference plane. . The detailed configuration will be described later.

According to one embodiment, the location estimation device 130 may transmit the estimated location information (3D location information) of one vehicle to the user device 140 through a second designated communication channel. The second designated communication channel may include, for example, at least one short-range communication channel selected from radio frequency identification (RFID), near field communication (NFC), Bluetooth, Wi-Fi, or Wibro. In this regard, the location estimation device 130 may be provided at least a part (eg, a communication module) in a shaded area to enable short-distance communication with a vehicle passing through the shaded area.

According to one embodiment, the user device 140 is a device that provides a designated service such as route information guidance/storage to a user (e.g., driver) based on the location information of a vehicle received from the location estimation device 130. You can. For example, user device 140 may be a device such as an autonomous driving system, driver assistance device, navigation device, or black box.

According to various embodiments, the user device 140 may request location information of a vehicle from the location estimation device 130 while providing a designated service. The position estimation device 130 receives first and second sensing data from the first and second fixing devices 110 and 120, respectively, at the request of the user device 140, and detects the first and second sensing data. Based on the data, location information of a vehicle can be provided. For example, the user device 140 may be unable to estimate the location information of a vehicle due to a failure state of an inertial device provided therein, a decrease in reliability, a caution section within a shaded area (e.g., a junction in a tunnel), or If the (difficult) condition is confirmed, location information of a vehicle can be requested from the location estimation device 130.

According to various embodiments, at least some of the operations of the position estimation device 130 may be performed by at least one of the first fixing device 110, the second fixing device 120, and the user device 140. You can. For example, when at least one of the first fixing device 110 or the second fixing device 120 provides a short-range communication channel, the location estimation device 130 is located in a vehicle through the at least one fixing device. Information can be transmitted. For convenience of explanation, this document takes the case where the location estimation device 130 directly transmits location information to a vehicle as an example. However, it is not limited to this.

According to various embodiments, the position estimation device 130 may include a first fixing device 110 or a second fixing device 120. For convenience of explanation, this document takes the case where the first fixing device 110 and the second fixing device 120 are camera modules included in the position estimation device 130 as an example. However, it is not limited to this.

According to the above-described embodiment, two fixing devices (110, 120) was used to calculate the position of the vehicle driving within the shaded area. However, according to various embodiments, the user device 140 recognizes two markers installed at fixed positions within the shaded area through an image capture module mounted on the vehicle and calculates the two angle values obtained and the distance between the two markers. Based on this, the vehicle's location can also be calculated.

As such, the location estimation device 130 according to an embodiment is a device capable of detecting the location of a vehicle on a road within a GPS or RTK shadow area (e.g., the first and second fixing devices 110 and 120 of FIG. 1). ) or in connection with it, the vehicle location can be accurately estimated based on the 3D location information of the device and its rotation angle.

FIG. 3 shows a configuration diagram of a location estimation device according to an embodiment, and FIG. 4 is a diagram for explaining a triangulation-based location estimation method according to an embodiment.

Referring to FIG. 3, the location estimation device 300 according to one embodiment includes a first camera module 310, a second camera module 320, a communication module 330, a memory 340, and a processor 350. It can be included. In one embodiment, the location estimation device 300 may omit some components or may further include additional components. Some of the components of the location estimation device 300 are combined to form a single entity, but the functions of the components before combination can be performed in the same manner. For example, the first camera module 310 and the second camera module 320 are provided in at least one first device (e.g., the first fixing device 110 and the second fixing device 120 in FIG. 1) At least a portion of the processor 350 and the memory 340 of the communication module 330 are provided in a second device (e.g., the position estimation device 300 of FIG. 1), and exchange data with each other through the first designated communication channel. can be sent and received. In this case, the processor 350, the communication module 330, and other parts of the memory 340 may be included in the at least one first device.

According to one embodiment, the first and second camera modules 310 and 320 may be installed at a predetermined height and spaced apart from each other on at least one side (eg, left and right, respectively) of the road within the shaded area. The specified height is a height (e.g., about 2 m) that can detect or photograph the license plate of a preceding vehicle and the license plate of a following vehicle that are separated from each other by at least a specified distance (e.g., 1 m), and can be determined experimentally.

According to one embodiment, the first and second camera modules 310 and 320 may be provided to rotate (or switch) their shooting direction to at least one side (e.g., left or right) through a motor member. . The first and second camera modules 310 and 320 may be provided to photograph license plates of vehicles driving on roads in shaded areas. For example, the first and second camera modules 310 and 320 have a certain angle in the vertical direction (or are equipped to rotate in the vertical direction) with the road in the shaded area, and can take pictures while looking down at the road obliquely. It can be equipped or installed to allow.

According to one embodiment, the first and second camera modules 310 and 320 may include at least one image sensor of a charge coupled device (CCD) and a metal oxide semi-conductor (MOS). The first and second camera modules 310 and 320 can photograph the license plate of a vehicle under the control of the processor 350.

The communication module 330 may support establishment of a wired/wireless communication channel between the location estimation device 300 and another device (eg, user device 140), and communication through the established communication channel. The communication channel may include, for example, a short-range communication channel (eg, a second designated communication channel). For example, the short-range communication channel may include at least one of radio frequency identification (RFID), near field communication (NFC), Bluetooth, Wi-Fi, or Wibro. When the first and second camera modules 310 and 320 and the processor 350 are connected to each other through a first designated communication channel, they may be provided to further support the first designated communication channel. The first designated communication channel may include, for example, at least one of LAN, FTTH, or xDSL. Alternatively, the first designated channel may include a long-range/near-field communication channel.

The memory 340 may store various data used by at least one component (eg, the processor 350) of the location estimation device 300. Data may include, for example, input data or output data for software and instructions related thereto. For example, the memory 340 may store at least one instruction for estimating the location of a vehicle. According to one embodiment, the memory 340 may store first location information related to the 3D location of the first camera module 310 and second location information related to the 3D location of the second camera module 320. . The memory 340 may further store the separation distance d _i between the first camera module 310 and the second camera module 320 confirmed from the first location information and the second location information. The memory 340 may further store the vertical heights (h1, h2) of the first camera module 310 and the second camera module 320. The memory 340 may store an HD map related to the first location information and the second location information.

Memory 340 may include various types of volatile memory or non-volatile memory. For example, memory may include read only memory (ROM) and random access memory (RAM). In an embodiment of the present disclosure, the memory may be located inside or outside the processor, and the memory 340 may be connected to the processor 350 through various known means.

The processor 350 may control at least one other component (eg, hardware or software component) of the position estimation device 300 and may perform various data processing or calculations. The processor 350 may include, for example, a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor, an application processor, an application specific integrated circuit (ASIC), or a field programmable gate arrays (FPGA). )), and may have a plurality of cores.

According to one embodiment, the processor 350 may monitor the road in the shaded area through the first camera module 310 and the second camera module 320 provided (installed) in the shaded area. When the processor 350 identifies a previously unidentified vehicle (e.g., a license plate of a vehicle) in the captured image, the processor 350 rotates the first and second camera modules 310 and 320 to detect the vehicle (hereinafter referred to as one vehicle). (which may be mentioned) can be traced to a license plate number.

According to one embodiment, the processor 350 tracks the license plate of a vehicle while rotating the first camera module 310 and the second camera module 320 in at least one direction of up, down, left, and right. With the reference point and the reference point (e.g., optical axis) of the second camera module 320 each facing the license plate of a vehicle, the first and second cameras between the first camera module 310 and the second camera module 320 and a vehicle 2 Lateral angle values can be obtained.

In one embodiment, the processor 350 compares the reference point of the first camera module 310 to the first state where the reference point of the first camera module 310 is facing the second camera module 320, and compares the reference point of the first camera module 310 to the license plate of the vehicle ( Example: The angle change in the second state toward the center line of the license plate) can be obtained as the first lateral angle value. Similarly, the processor 350 compares the reference point of the second camera module 320 to the third state where the reference point of the second camera module 320 is facing the first camera module 310, and compares the reference point of the second camera module 320 with the license plate (e.g. : The angle change in the fourth state toward the center line of the license plate) can be obtained as the second lateral angle value.

According to one embodiment, the processor 350 calculates the work based on the first perpendicular line connecting the first camera module 310 and the reference plane at the first point in time when the first and second lateral angle values (α, β) are acquired. A first vertical angle value (θ) of the vehicle and a second vertical angle value (δ) of a vehicle based on a second perpendicular line connecting the second camera module 320 and the reference surface may be obtained.

According to one embodiment, the processor 350 determines the separation distance between the first camera module 310 and the second camera module 320 stored in the memory 340 and the distance between the first camera module 310 and the second camera module 320. ) You can check each installation height (first height (h1) and second height (h2)). In this regard, when the first (3-dimensional) location information of the first camera module 310 and the second (3-dimensional) location information of the second camera module 320 are stored in the memory 340, the processor 350 Can calculate the separation distance, first height, and second height based on first location information and second location information. The first height h1 may be the distance between the ground and the reference point of the first camera module 310. Alternatively, the first height h1 may be the height obtained by subtracting the distance between the license plate of one vehicle and the ground from the length of the first perpendicular line connecting the reference point of the first camera module 310 and the ground. Similarly, the second height h2 may be the distance between the ground and the second camera module 320. Alternatively, the second height h2 may be the height obtained by subtracting the distance between the license plate of one vehicle and the ground from the length of the second perpendicular line connecting the reference point of the second camera module 320 and the ground. In this regard, since the location of a vehicle's license plate may vary depending on the vehicle, the processor 350 may check the distance between the vehicle's license plate and the ground based on the license plate information of one vehicle from the memory 340, for example.

According to one embodiment, the processor 350 performs first triangulation using the first and second lateral angle values obtained at the first viewpoint and the separation distance between the first camera module 310 and the second camera module 320. Calculation, a first vertical angle value obtained at the first time point, a second triangulation operation using the angle (90 degrees) of the reference plane and the first perpendicular line, and the first height, and a second upper and lower angle value obtained at the first time point , the three-dimensional position of the vehicle can be determined (estimated) by a third triangulation calculation using the angle (90 degrees) of the reference plane and the second perpendicular line and the second height.

Referring to FIG. 4, the reference point of the first camera module 310 is referred to as point A, the reference point of the second camera module 320 is referred to as point B, and the location of the vehicle's license plate is referred to as point V. The processor 350 checks the separation distance AB (=d _i ) between the first camera module 310 and the second camera module 320 from the memory 340 and rotates the first camera module 310 laterally. The first lateral angle value (BAV) α between the second camera module 320 and the vehicle is confirmed, and the second lateral angle value (BAV) between the first camera module 310 and the vehicle is determined through the lateral rotation of the second camera module 320. You can check the angle value (ABV) β.

<V = 180˚-(α+β), so sinV=sin(α+β).

The following equation 1 can be established according to the sine law of triangle ABC.

According to Equation 1, the distance between the first and second camera modules 310 and 320 and one vehicle can be calculated as shown in Equation 2 and Equation 3 below.

Referring to FIG. 4, the point where the reference point and the reference plane of the first camera module 310 connecting the first camera module 310 and the reference plane meet vertically is point C, and the reference point and the reference plane of the second camera module 320 are The point where they meet vertically can be called point D. For example, the point C may be a point spaced from the ground by the installation height of a license plate of a vehicle at a point that touches the ground on a first perpendicular line connecting the reference point of the first camera module 310 to the ground. For example, the point D may be a point spaced apart from the ground by the installation height of a license plate of a vehicle at a point that touches the ground on a second perpendicular line connecting the reference point of the second camera module 320 to the ground. The reference surface may be a surface formed by points C, D, and V.

In this case, the processor 350 checks the height AC (h ₁ ) of the first camera module 310 and the height BD (h ₂ ) of the second camera module 320 from the memory 340, and Check the first vertical angle value (VAC) θ formed by the vehicle and the first camera module 310 and the first perpendicular line connecting the first camera module 310 and the reference plane according to the vertical rotation of 310, and check the first vertical angle value (VAC) θ of the vehicle The second vertical angle value (VBD) β formed by the second camera module 320 and the second perpendicular line connecting the second camera module 320 and the reference surface can be confirmed. Similar to Equations 1 to 3 above, the processor 350 may calculate the distance BV between the first camera module 310 and a vehicle V and the AV between the second camera module 320 and a vehicle.

According to one embodiment, the processor 350 detects a vehicle based on the vehicle's license plate information and detection time information included in (or related to) each captured image through the first and second camera modules 310 and 320. Corresponding captured images, first and second lateral angle values, and first and second vertical angle values can be distinguished.

According to one embodiment, the processor 350 may transmit the determined (estimated) location information of a vehicle to the user device 140 provided in the vehicle through a second designated communication channel (short-range communication channel). . In this regard, the processor 350 determines the communication address (e.g., MAC address) of a vehicle from the memory 340 based on the license plate information of the vehicle included in the images used to estimate the location information of the vehicle. You can. The processor 350 may transmit location information of a vehicle to the user device 140 provided in the vehicle based on the communication address of the vehicle.

According to various embodiments, the processor 350 uses the first image captured by the first camera module 310 and the second image captured by the second camera module 320 as a left-eye image and a right-eye image, By using the separation distance between the first camera module 310 and the second camera module 320 as the parallax, stereo matching is performed on the first and second images to obtain a three-dimensional position coordinate value of a vehicle. It can be estimated.

According to various embodiments, each of the first and second camera modules 310 and 320 may be equipped with a distance sensing means such as a lidar, laser, or infrared sensor. In this case, the processor 350 does not utilize at least some of the rotation angles of the first and second camera modules 310 and 320, and the distance to the vehicle's license plate is the first and second camera modules 310 and 320. You can estimate the 3D position coordinates of a vehicle using .

According to various embodiments, the processor 350 estimates the three-dimensional position of a vehicle based on altitude information of the road on which the vehicle is driving from the HD map instead of the above-described first and second vertical angle values. can do. For example, the processor 350 may detect the first and second camera modules 310 and 320 by triangulation based on the first and second lateral angle values and the separation distance between the first and second camera modules 310 and 320. ) Check the distance between each and the vehicle, and estimate the three-dimensional position of the vehicle based on the location of the vehicle that meets the line extending the distance from each of the first and second camera modules 310 and 320 from the HD map. . Alternatively, the processor 350 may check the altitude of the road on which a vehicle is traveling based on a change in vehicle location in an image including license plate information captured using the first and second camera modules 310 and 320. However, it is not limited to this.

In this way, the position estimation device 300 according to an embodiment can accurately estimate the 3D position coordinate value of the vehicle by the vehicle's external camera in a shaded area, so that even when the performance of the vehicle is not guaranteed, the location estimation device 300 The vehicle location can be accurately estimated even in cautionary sections such as .

Additionally, the position estimation device 300 according to one embodiment may estimate 3D position coordinate values including the lane in which the vehicle driving in the shaded area is traveling based on the HD map.

In addition, the position estimation device 300 according to one embodiment can estimate the position of a vehicle located in a wide range of areas within the shaded area using the rotatable first and second camera modules 310 and 320. You can.

Figure 5 shows a flowchart of a location estimation method according to one embodiment.

Referring to FIG. 5 , in operation 510, the location estimation device 300 may detect a vehicle traveling on a road within the shaded section using the first and second camera modules 310 and 320.

In operation 520, the location estimation device 300 may control the rotation of the first and second camera modules 310 and 320 to face one vehicle.

In operation 530, the location estimation device 300 detects the second camera module 320 based on the first camera module 310 at a first point in time when the first and second camera modules 310 and 320 are facing one vehicle. Second lateral angle values between the first camera module 310 and the vehicle may be obtained based on the first lateral angle value and the second camera module 320 between the first camera module 310 and the vehicle.

In operation 540, the position estimation device 300 determines the position of the first and second camera modules 310 and 320 based on perpendicular lines connecting the first and second camera modules 310 and 320 and the reference plane at the first time point. Top and bottom angle values (the first and second top and bottom angle values described above) can be obtained.

In operation 550, the position estimation device 300 may estimate the 3D position coordinate value of a vehicle through triangulation based on the first and second lateral angle values and the first and second vertical angle values.

Figure 6 is a diagram for explaining a position estimation method according to another embodiment.

Referring to FIG. 6, the position estimation device 300 according to another embodiment includes only one camera module (e.g., the first camera module 310 in FIG. 3) and estimates the vehicle location by the first camera module. can do. In this case, the vertical angle of the first camera module 310 may be fixed.

The memory 340 of the position estimation device 300 includes the height h of the first camera module 310, the angle β between the first camera module 310 and the reference plane (the reference plane and the tower are perpendicular), and the first camera module 310. ) stores the vertical angle α at which the vehicle license plate is viewed. In this case, the processor 350 knows the angle θ = 180 -(α + β), so based on B(x1, y1) and C(x2, y2), the two-dimensional position coordinate value A(x, y) of the vehicle ) can be calculated.

According to another embodiment, the location estimation device 300 may detect a vehicle spaced apart from the first camera module 310 at a predetermined distance.

The various embodiments of this document and the terms used herein are not intended to limit the technical features described in this document to specific embodiments, and should be understood to include various changes, equivalents, or replacements of the embodiments. In connection with the description of the drawings, similar reference numbers may be used for similar or related components. The singular form of a noun corresponding to an item may include one or more of the above items, unless the relevant context clearly indicates otherwise. In this document: “A or B”, “at least one of A and B”, “at least one of A or B”, “A, B or C”, “at least one of A, B and C” and “A, Each of phrases such as “at least one of B, or C” may include any one of the items listed together in the corresponding phrase, or any possible combination thereof. Terms such as "first", "second", or "first" or "second" may be used simply to distinguish one element from another, and may be used to distinguish such elements in other respects, such as importance or order) is not limited. One (e.g. first) component is said to be “coupled” or “connected” to another (e.g. second) component, with or without the terms “functionally” or “communicatively”. Where mentioned, it means that any of the components can be connected to the other components directly (e.g. wired), wirelessly, or through a third component.

The term “module” used in this document may include a unit implemented in hardware, software, or firmware, and may be used interchangeably with terms such as logic, logic block, component, or circuit, for example. A module may be an integrated part or a minimum unit of the parts or a part thereof that performs one or more functions. For example, according to one embodiment, the module may be implemented in the form of an application-specific integrated circuit (ASIC).

Various embodiments of this document are stored in a storage medium (e.g., the memory 340 of FIG. 3) (e.g., internal memory or external memory) that can be read by a machine (e.g., a position estimation system). It may be implemented as software (e.g., a program) containing one or more instructions. For example, a processor (e.g., processor 350) of a device (e.g., location estimation device 300) may call at least one command among one or more commands stored from a storage medium and execute it. This allows the device to be operated to perform at least one function according to the at least one instruction called. The one or more instructions may include code generated by a compiler or code that can be executed by an interpreter. A storage medium that can be read by a device may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' only means that the storage medium is a tangible device and does not contain signals (e.g. electromagnetic waves). This term refers to cases where data is stored semi-permanently in the storage medium. There is no distinction between temporary storage cases.

According to one embodiment, methods according to various embodiments disclosed in this document may be provided and included in a computer program product. Computer program products are commodities and can be traded between sellers and buyers. The computer program product may be distributed in the form of a machine-readable storage medium (e.g. compact disc read only memory (CD-ROM)) or via an application store (e.g. Play Store ^TM ) or on two user devices (e.g. It can be distributed (e.g. downloaded or uploaded) directly between smartphones) or online. In the case of online distribution, at least a portion of the computer program product may be at least temporarily stored or temporarily created in a machine-readable storage medium, such as the memory of a manufacturer's server, an application store's server, or a relay server.

Components according to various embodiments of this document may be implemented in the form of software or hardware such as a digital signal processor (DSP), field programmable gate array (FPGA), or application specific integrated circuit (ASIC), and perform certain roles. can do. 'Components' are not limited to software or hardware, and each component may be configured to reside on an addressable storage medium or may be configured to run on one or more processors. As an example, a component may include components such as software components, object-oriented software components, class components, and task components, as well as processes, functions, properties, procedures, and subroutines. , may include segments of program code, drivers, firmware, microcode, circuitry, data, databases, data structures, tables, arrays, and variables.

According to various embodiments, each component (eg, module or program) of the above-described components may include a single entity or a plurality of entities. According to various embodiments, one or more of the components or operations described above may be omitted, or one or more other components or operations may be added. Alternatively or additionally, multiple components (eg, modules or programs) may be integrated into a single component. In this case, the integrated component may perform one or more functions of each component of the plurality of components in the same or similar manner as those performed by the corresponding component of the plurality of components prior to the integration. . According to various embodiments, operations performed by a module, program, or other component may be executed sequentially, in parallel, iteratively, or heuristically, or one or more of the operations may be executed in a different order, or omitted. Alternatively, one or more other operations may be added.

Claims (10)

In the position estimation device, A communication module that provides a short-range communication channel within a GPS or RTK shaded area; first and second camera modules spaced apart from each other at a predetermined distance and capable of rotating at least laterally, so as to be able to photograph a road within the shaded area; Comprising a processor functionally connected to the first camera module, the second camera module, and the communication module, wherein the processor, Obtaining a first lateral angle value between the second camera module and a vehicle in the shaded area using the first camera module, Obtaining a second lateral angle value between the first camera module and the vehicle using the second camera module, Estimating the location of the vehicle through triangulation using the first lateral angle value, the second lateral angle value, and the separation distance between the first and second cameras, A location estimation device that transmits information related to the estimated location to the vehicle through the short-range communication channel. The method of claim 1, wherein the processor: A position estimation device wherein the first lateral angle value and the second lateral angle value are obtained based on the license plate of the vehicle. In claim 2, It further includes a memory that stores a communication address corresponding to the license plate information of the vehicle, and the processor, A location estimation device that transmits the estimated location to the vehicle based on the communication address. The method of claim 1, wherein the processor: Tracking the license plate number of the vehicle using the first and second camera modules, As the lateral rotation of the first and second camera modules is controlled, the first lateral angle value and the second lateral angle are determined at corresponding points in time while the first and second camera modules are facing the license plate of the vehicle. A position estimation device that acquires a value. The method of claim 1, wherein the processor: Confirming first location information related to the 3D location of the first camera module and second location information related to the 3D location of the second camera module from an HD map (high definition map), A location estimation device that confirms the specified distance based on the first location information and the second location information. The method of claim 1, wherein the processor: Check the height of each of the first and second camera modules relative to the reference plane, the first and second vertical angle values of each camera module based on perpendicular lines connecting each camera module and the reference plane, and the first and second camera modules. A position estimation device for estimating the three-dimensional position of the vehicle further based on the second vertical angle value. The method of claim 6, wherein the processor: A position estimation device for estimating the three-dimensional position of the vehicle based on the first and second lateral angle values and the HD map and further based on the altitude of the road on which the vehicle is traveling. The method according to claim 1, wherein the first camera module and the second camera module, A location estimation device provided on the left and right sides of the road on which the vehicle is traveling. The method according to claim 1, wherein the first camera module and the second camera module, A location estimation device provided on the left and right sides of the road on which the vehicle is traveling. A position estimation method using first and second camera modules that are arranged at a specified distance from each other and can rotate at least to one side so as to be able to photograph a road in a shaded area, comprising: detecting a vehicle driving on a road in the shaded section using the first and second camera modules; Controlling the rotation of the first camera module and the second camera module to face the vehicle; A side angle between each of the first and second camera modules and the vehicle based on a line connecting the first and second camera modules at a first point in time when the first and second camera modules are facing the vehicle. An operation to obtain angle values; Obtaining vertical angle values of the first and second camera modules based on perpendicular lines connecting the first and second camera modules and a reference plane at the first time point; and A position estimation method comprising estimating the position of the vehicle through triangulation based on the lateral angle values and the vertical angle values.

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