Apparatus and method for calculating distance between vehicles
View Patent ↗An apparatus and method for calculating a distance between vehicles to receive position movement information of a subject vehicle and position movement information of an object vehicle from a global positioning system and calculate a distance between the moved subject vehicle and the moved object vehicle based on a position movement distance of the subject vehicle and a position movement distance of the object vehicle at predetermined time as the sum of a vector when calculating the position movement information of the subject vehicle and the position movement information of the object vehicle over time using a dead reckoning formula.
1. An apparatus for calculating a distance between vehicles, the apparatus comprising:
a processor; and
a sensor,
wherein the processor is configured to receive position movement information of a subject vehicle and position movement information of an object vehicle from a global positioning system and to calculate, using values sensed by the sensor, a distance between the moved subject vehicle and the moved object vehicle based on a position movement distance of the subject vehicle and a position movement distance of the object vehicle at a predetermined time as the sum of a vector when calculating the position movement information of the subject vehicle and the position movement information of the object vehicle over time using a dead reckoning formula comprising a yaw rate value at a previous time, a yaw rate value at a present time, a yaw rate value at a time at which the vehicles have been moved, position coordinate values at a previous time, position coordinate values at a time at which the vehicles have been moved, a position movement distance of the subject vehicle, a distance between the subject vehicle and the object vehicle at a previous time, a position movement distance of the object vehicle, and a distance between the moved subject vehicle and the moved object vehicle.
2. The apparatus according to claim 1 , wherein, when calculating the position movement information of the subject vehicle and the position movement information of the object vehicle, the apparatus calculates the distance between the moved subject vehicle and the moved object vehicle based on the position movement distance of the subject vehicle and the position movement distance of the object vehicle at the predetermined time as the sum of a vector using present horizontal velocity values and present vertical velocity values, present yaw rate values, and present heading angle values sensed by the sensor which includes yaw rate sensors, heading angle sensors, and velocity sensors of the subject vehicle and the object vehicle.
3. The apparatus according to claim 1 , wherein the dead reckoning formula comprises Equation 1 and Equation 2:
θ
=
θ
0
+
∫
θ
.
ⅆ
t
x
=
x
0
+
∫
(
V
x
1
2
cos
θ
-
V
y
sin
θ
)
ⅆ
t
y
=
y
0
+
∫
(
V
x
1
2
sin
θ
+
V
y
cos
θ
)
ⅆ
t
〈
Equation
1
〉
where, θ 0 is the yaw rate value at a previous time, {dot over (θ)} is the yaw rate value at a present time, θ is the yaw rate value at a time at which the vehicles have been moved, x 0 and y 0 are the position coordinate values at a previous time, and x and y are the position coordinate values at a time at which the vehicles have been moved:
Dist_2_Veh =− Dist_Sub_Veh + Dist_2_GPS + Dist_Obj_Veh <Equation 2>
where, − Dist_Sub_Veh is the position movement distance of the subject vehicle, Dist_2_GPS is the distance between the subject vehicle and the object vehicle at a previous time, Dist_Obj_Veh is the position movement distance of the object vehicle, and Dist_2_Veh is the distance between the moved subject vehicle and the moved object vehicle.
4. A method for calculating a distance between vehicles comprising:
receiving position movement information of a subject vehicle and position movement information of an object vehicle from a global positioning system;
executing, using a processor, a predetermined dead reckoning formula comprising a yaw rate value at a previous time, a yaw rate value at a present time, a yaw rate value at a time at which the vehicles have been moved, position coordinate values at a previous time, position coordinate values at a time at which the vehicles have been moved, a position movement distance of the subject vehicle, a distance between the subject vehicle and the object vehicle at a previous time, a position movement distance of the object vehicle, and a distance between the moved subject vehicle and the moved object vehicle to calculate the position movement information of the subject vehicle and the position movement information of the object vehicle; and
calculating, using the processor and values sensed by a sensor, a distance between the moved subject vehicle and the moved object vehicle based on a position movement distance of the subject vehicle and a position movement distance of the object vehicle at a predetermined time as the sum of a vector when calculating the position movement information of the subject vehicle and the position movement information of the object vehicle over time using the dead reckoning formula.
5. The method according to claim 4 , wherein the calculating the distance between the moved subject vehicle and the moved object vehicle comprises calculating the distance between the moved subject vehicle and the moved object vehicle based on the position movement distance of the subject vehicle and the position movement distance of the object vehicle at the predetermined time as the sum of a vector using present horizontal velocity values and present vertical velocity values, present yaw rate values, and present heading angle values sensed by the sensor which includes yaw rate sensors, heading angle sensors, and velocity sensors of the subject vehicle and the object vehicle.
6. The method according to claim 4 , wherein the dead reckoning formula comprises Equation 1 and Equation 2:
θ
=
θ
0
+
∫
θ
.
ⅆ
t
x
=
x
0
+
∫
(
V
x
1
2
cos
θ
-
V
y
sin
θ
)
ⅆ
t
y
=
y
0
+
∫
(
V
x
1
2
sin
θ
+
V
y
cos
θ
)
ⅆ
t
〈
Equation
1
〉
where, θ 0 is the yaw rate value at a previous time, {dot over (θ)} is the yaw rate value at a present time, θ is the yaw rate value at a time at which the vehicles have been moved, x 0 and y 0 are the position coordinate values at a previous time, and x and y are the position coordinate values at a time at which the vehicles have been moved:
Dist_2_Veh =− Dist_Sub_Veh + Dist_2_GPS + Dist_Obj_Veh <Equation 2>
where, − Dist_Sub_Veh is the position movement distance of the subject vehicle, Dist_2_GPS is the distance between the subject vehicle and the object vehicle at a previous time, Dist_Obj_Veh is the position movement distance of the object vehicle, and Dist_2_Veh is the distance between the moved subject vehicle and the moved object vehicle.