V2V communication-based vehicle identification apparatus and identification method thereof
View Patent ↗Disclosed herein are a vehicle-to-vehicle (V2V) communication-based vehicle identification apparatus and an identification method thereof. The V2V communication-based vehicle identification apparatus includes a radar sensor unit sensing radar information corresponding to relative distances to object vehicles, a GPS module unit generating GPS information from GPS satellites, a V2V communication unit transmitting the generated GPS information to the object vehicles and receiving GPS information of the object vehicles from the object vehicles through vehicle to vehicle (V2V) communication, and a controller calculating probabilities that the GPS information of the object vehicles will be located at areas, set based on the sensed radar information, and identifying vehicles corresponding to the radar information and the GPS information of the object vehicles based on the calculated probabilities.
1. A V2V communication-based vehicle identification apparatus comprising:
a radar sensor unit sensing radar information corresponding to relative distances to object vehicles;
a GPS module unit generating GPS information from GPS satellites;
a V2V communication unit transmitting the generated GPS information to the object vehicles and receiving GPS information of the object vehicles from the object vehicles through vehicle to vehicle (V2V) communication; and
a controller calculating probabilities that the GPS information of the object vehicles is located within reference areas, which are determined based on the sensed radar information, and identifying one or more vehicles corresponding to the radar information and the GPS information of the object vehicles based on the calculated probabilities,
wherein the controller selects at least one combination of which a probability value among the calculated probabilities is larger than a reference value, and identifies one or more vehicles corresponding to the radar information and the GPS information of the selected combination.
2. The V2V communication-based vehicle identification apparatus according to claim 1 , wherein the controller sets oval areas as areas where the object vehicles are located based on the sensed radar information.
3. The V2V communication-based vehicle identification apparatus according to claim 2 , wherein in the oval areas, only linear radar detection is permitted.
4. The V2V communication-based vehicle identification apparatus according to claim 1 , wherein the controller calculates the probabilities Bel(x t ) that the GPS information of the object vehicles will be located using Equation 1 below,
bel
(
x
t
)
=
η
p
(
z
t
❘
x
t
)
bel
(
x
t
)
_
Bel
(
x
t
+
1
)
_
=
∫
p
(
x
t
+
1
❘
x
t
)
bel
(
x
t
)
ⅆ
x
t
=
∑
x
t
p
(
x
t
+
1
❘
x
t
)
bel
(
x
t
)
[
Equation
1
]
here, η is a normalization constant, z t is an improved relative distance between a processed GPS position and a radar position, p(z t |x t ) is a measurement accuracy probability, and p(x t +1|x t ) is a state transition update probability.
5. A V2V communication-based vehicle identification method comprising:
sensing, by a radar sensor unit radar, information corresponding to relative distances to object vehicles;
receiving, by a V2V communication unit, GPS information of the object vehicles from the object vehicles;
setting, by a controller, oval areas within which the object vehicles are located based on the sensed radar information;
calculating, by the controller, probabilities that the GPS information of the object vehicles is located within the set oval areas;
identifying, by the controller, one or more vehicles corresponding to the radar information and the GPS information of the object vehicles based on the calculated probabilities; and
selecting at least one combination of which a probability value among the calculated probabilities is larger than a reference value, and identifying one or more vehicles corresponding to the radar information and the GPS information of the selected combination.
6. The V2V communication-based vehicle identification method according to claim 5 , wherein in the oval areas, only linear radar detection is permitted.
7. The V2V communication-based vehicle identification method according to claim 5 , wherein the probabilities Bel(x t ) that the GPS information of the object vehicles will be located are calculated using Equation 1 below,
bel
(
x
t
)
=
η
p
(
z
t
❘
x
t
)
bel
(
x
t
)
_
Bel
(
x
t
+
1
)
_
=
∫
p
(
x
t
+
1
❘
x
t
)
bel
(
x
t
)
ⅆ
x
t
=
∑
x
t
p
(
x
t
+
1
❘
x
t
)
bel
(
x
t
)
[
Equation
1
]
here, η is a normalization constant, z t is an improved relative distance between a processed GPS position and a radar position, p(z t |x t ) is a measurement accuracy probability, and p(x t +1|x t ) is a state transition update probability.