Vehicle control apparatus and method thereof

Abstract

A vehicle control apparatus includes a lidar, a memory, and a processor configured to identify a virtual frame corresponding to a second external vehicle from trajectory information on the basis that the trajectory information of the second external vehicle representing a first time that is acquired by the lidar does not satisfy a reference reliability, corrected virtual track information is obtained; and determining whether or not the second external vehicle is in a moving state, whether or not the difference between the first forward direction of the virtual frame and the second forward direction of the host vehicle is equal to or less than a predetermined angle, the type of the second external vehicle, the number of pieces of virtual trajectory information from the second time to the first time, and the length included in the virtual trajectory path. The virtual trajectory information can be output as the trajectory information representing the second external vehicle at the first time, depending on the position of the virtual frame, whether the vehicle changes the lane, or any combination thereof.

Description

Technical Field

[0001] The present invention relates to a vehicle control device and a method thereof, and more particularly, to a technology for identifying external objects using a laser radar. Background Art

[0002] Self-driving cars or vehicles with assisted driving devices can use lidar to understand the surrounding environment and collect data for driving.

[0003] The vehicle can obtain data indicating the position of objects around the vehicle through the laser radar. The laser radar can obtain the distance from the laser radar to the object by the interval between the time when the laser is transmitted and the time when the laser reflected from the object is received. The vehicle can identify the position of a point included in the outside of the object in the space where the vehicle is located based on the angle of the transmitted laser and the distance to the object.

[0004] A technology for accurately identifying a front-to-front vehicle blocked by a front vehicle is required. When the front-to-front vehicle blocked by the front vehicle cannot be accurately identified, at least one of the forward direction of a virtual frame corresponding to the front-to-front vehicle, the position of the virtual frame corresponding to the front-to-front vehicle, the trajectory path for tracking the front-to-front vehicle, or any combination thereof may be incorrectly identified, which may result in a situation where the driving path of an autonomous driving vehicle or a vehicle with an assisted driving device is incorrectly set. Summary of the invention

[0005] An embodiment of the present invention provides a vehicle control apparatus and method thereof for accurately tracking a second external vehicle traveling in front of a first external vehicle.

[0006] An embodiment of the present invention provides a vehicle control device and method thereof that generates virtual trajectory information using trajectory information of a second external vehicle traveling ahead of a first external vehicle, and outputs the generated virtual trajectory information as trajectory information representing the second external vehicle.

[0007] An embodiment of the present invention provides a vehicle control device and a method thereof for stably outputting a forward direction of a virtual frame corresponding to a second external vehicle blocked by a first external vehicle, a position of a virtual frame corresponding to the second external vehicle, and a trajectory path for tracking the second external vehicle.

[0008] The technical problems of the present invention are not limited to the technical problems mentioned above, and those skilled in the art can clearly understand other technical problems not mentioned from the following description.

[0009] The vehicle control device according to the embodiment of the present invention may include a laser radar (LiDAR, light detection and ranging), a memory, and a processor. The processor is configured to, based on the fact that the trajectory information of the second external vehicle at the first moment traveling in front of the first external vehicle obtained by the laser radar does not meet the reference reliability, identify a virtual frame corresponding to the second external vehicle from the trajectory information, obtain virtual trajectory information that corrects at least a part of the information related to the identified virtual frame, and output the virtual trajectory information as the trajectory information of the second external vehicle at the first moment based on whether the second external vehicle is in a moving state, whether the difference between the first forward direction of the virtual frame and the second forward direction of the host vehicle is less than a specified angle, the type of the second external vehicle, the number of virtual trajectory information stored in the memory and containing the virtual trajectory information from the second moment before the first moment to the first moment, the length of the virtual trajectory path included in the virtual trajectory information, the position of the virtual frame included in the virtual trajectory information, whether the host vehicle changes lanes, or at least one of any combination thereof.

[0010] In one embodiment, when the trajectory information representing the second external vehicle does not satisfy a set reference reliability, the processor can identify whether the second external vehicle is in a moving state, the type of the second external vehicle, the first forward direction of the virtual frame corresponding to the second external vehicle, or whether at least one of any combination thereof satisfies specified conditions, and when it is identified that the specified conditions are met, the corrected virtual trajectory information is acquired.

[0011] In one embodiment, the virtual trajectory information can be obtained by correcting at least one of the trajectory path of the second external vehicle, the first forward direction of the virtual frame, and the position of the virtual frame.

[0012] In one embodiment, the processor is capable of acquiring the virtual trajectory information based on the fact that the second external vehicle is in a moving state, the trajectory information of the second external vehicle at the first moment does not meet the reference reliability, the type of the second external vehicle is a passenger car or a commercial vehicle (commercial vehicle) or a vehicle of unknown type, the virtual frame is in a lateral moving state, or the first forward direction of the virtual frame is not the same direction as that of the vehicle.

[0013] In one embodiment, the processor is capable of not acquiring virtual trajectory information and deleting multiple virtual trajectory information stored in the memory and containing virtual trajectory information from the second moment to the first moment based on the fact that the second external vehicle is in a moving state, the trajectory information of the second external vehicle representing the first moment does not meet the reference reliability, the type of the second external vehicle is not a passenger car or a commercial vehicle or a vehicle of unknown type, the virtual frame is not in a lateral movement state, and the first forward direction of the virtual frame is the same direction as that of the vehicle.

[0014] In one embodiment, the processor is capable of correcting the position of the virtual box at the first moment based on trajectory information of the second external vehicle representing the first moment and each position of the virtual box included in each data set corresponding to the second external vehicle from the second moment to the first moment stored in the memory.

[0015] The processor is capable of obtaining trajectory information of the second external vehicle representing the first moment and a third moving direction for correcting the first moving direction of the virtual frame, wherein the first moving direction is contained in each data set corresponding to the second external vehicle from the second moment to the first moment and stored in the memory.

[0016] The processor may acquire the virtual trajectory information based on the corrected position of the virtual frame at the first moment and the third advancing direction.

[0017] In one embodiment, the processor is capable of storing the acquired virtual trajectory information in the memory based on the fact that the second external vehicle is in a moving state, the difference between the first forward direction of the virtual frame and the second forward direction of the vehicle is below a specified angle, the type of the second external vehicle is classified as a vehicle, the number of multiple virtual trajectory information stored in the memory is above a reference number, the length of the virtual trajectory path included in the virtual trajectory information exceeds a reference length, the position of the virtual frame exists in a specified area, and the vehicle does not change lanes.

[0018] In one embodiment, the processor can identify a first dispersion of multiple first tracking points included in the virtual trajectory information and a second dispersion of multiple second tracking points included in the trajectory information of the second external vehicle representing the first moment based on the acquisition of the virtual trajectory information, and store the virtual trajectory information in a memory based on the first dispersion being less than a reference dispersion and the second dispersion being greater than a reference dispersion.

[0019] In one embodiment, the virtual frame includes a first virtual frame, and the processor is capable of selecting a relatively larger first value from a width of the first virtual frame obtained through multiple points of the second external vehicle corresponding to the first moment and a reference width, and selecting a relatively larger second value from a length of the first virtual frame obtained through multiple points of the second external vehicle corresponding to the first moment and a reference length, and generating a second virtual frame for correcting the size of the first virtual frame based on the first value and the second value.

[0020] In one embodiment, the processor is capable of identifying a first coordinate in the direction of the second axis among the first axis, the second axis, and the third axis based on a third point corresponding to the center of a line segment formed by the first point corresponding to the first value and the second point, and identifying the position of the second virtual frame based on the first coordinate in the direction of the second axis and the second coordinate in the direction of the first axis of the first virtual frame included in the trajectory information of the second external vehicle representing the first moment that does not meet the reference reliability.

[0021] In one embodiment, the processor can store each virtual trajectory information in the memory using a moving-window method according to the acquisition time of each virtual trajectory information stored in the memory and including the virtual trajectory information from the second moment to the first moment.

[0022] In one embodiment, the processor is capable of performing time compensation for each virtual trajectory information stored in the memory based on at least one of the longitudinal speed of the vehicle, the lateral speed of the vehicle, the reference time, the yaw rate of the vehicle, the coordinates of the virtual frame of the second external vehicle corresponding to the first moment, or any combination thereof.

[0023] In one embodiment, the processor is capable of identifying that the vehicle has entered a curved section based on at least one of the vehicle's speed, the vehicle's yaw angular velocity, or any combination thereof, and correcting at least one of the first forward direction of the virtual frame, the position of the virtual frame, the size of the virtual frame, the trajectory path for tracking a second external vehicle, or any combination thereof based on a portion of the virtual trajectory path contained in the virtual trajectory information.

[0024] A vehicle control method based on an embodiment of the present invention may include the following operations: by a processor, based on the fact that trajectory information of a second external vehicle obtained by a laser radar (LiDAR, light detection and ranging) at a first moment traveling in front of a first external vehicle does not meet a reference reliability, a virtual frame corresponding to the second external vehicle is identified from the above trajectory information, and virtual trajectory information for correcting at least a portion of the information related to the identified virtual frame is obtained; and based on whether the second external vehicle is in a moving state, whether the difference between the first forward direction of the above virtual frame and the second forward direction of the own vehicle is below a specified angle, the type of the above second external vehicle, the number of multiple virtual trajectory information stored in a memory and containing the above virtual trajectory information from a second moment before the above first moment to the above first moment, the length of the virtual trajectory path contained in the above virtual trajectory information, the position of the virtual frame contained in the above virtual trajectory information, whether the own vehicle changes lanes, or at least one of any combination thereof, the above virtual trajectory information is output as trajectory information of the second external vehicle representing the first moment.

[0025] In one embodiment, when the trajectory information representing the second external vehicle does not satisfy the set reference reliability, it is identified whether the second external vehicle is in a moving state, the type of the second external vehicle, the first forward direction of the virtual frame corresponding to the second external vehicle, or whether at least one of any combination thereof satisfies specified conditions, and when it is identified that the above-mentioned specified conditions are met, the corrected virtual trajectory information is acquired.

[0026] In one embodiment, the virtual trajectory information can be obtained by correcting at least one of the trajectory path of the second external vehicle, the first forward direction of the virtual frame, and the position of the virtual frame.

[0027] A vehicle control method based on one embodiment may include the following operations: obtaining the above-mentioned virtual trajectory information based on the fact that the above-mentioned second external vehicle is in a moving state, the trajectory information of the second external vehicle representing the first moment does not meet the reference reliability, the type of the second external vehicle is a passenger car or a commercial vehicle or a vehicle of unknown type, the virtual frame is in a lateral moving state, or the first forward direction of the virtual frame is not the same direction as that of the vehicle.

[0028] A vehicle control method based on one embodiment may include the following operations: based on the fact that the second external vehicle is in a moving state, the trajectory information of the second external vehicle representing the first moment does not meet the reference reliability, the type of the second external vehicle is not a passenger car or a commercial vehicle or a vehicle of unknown type, the virtual frame is not in a lateral movement state and the first forward direction of the virtual frame is the same direction as that of the vehicle, virtual trajectory information is not obtained, and multiple virtual trajectory information from the second moment to the first moment stored in the memory and containing virtual trajectory information is deleted.

[0029] A vehicle control method based on one embodiment may include the following operations: correcting the position of the virtual frame at the first moment based on the trajectory information of the second external vehicle representing the first moment and each position of the virtual frame included in each data set corresponding to the second external vehicle from the second moment to the first moment stored in the memory; obtaining the third forward direction for correcting the first forward direction of the virtual frame included in the trajectory information of the second external vehicle representing the first moment and each data set corresponding to the second external vehicle from the second moment to the first moment stored in the memory; and obtaining virtual trajectory information based on the corrected position of the virtual frame at the first moment and the third forward direction.

[0030] A vehicle control method based on one embodiment may include the following operations: based on the second external vehicle being in a moving state, the difference between the first forward direction of the virtual frame and the second forward direction of the vehicle being below a specified angle, the type of the second external vehicle being classified as a vehicle, the number of multiple virtual trajectory information stored in the memory being above a reference number, the length of the virtual trajectory path included in the virtual trajectory information exceeding a reference length, the position of the virtual frame existing in a specified area, and the vehicle not changing lanes, the acquired virtual trajectory information is stored in the above-mentioned memory.

[0031] A vehicle control method based on an embodiment may include the following operations: based on obtaining the above-mentioned virtual trajectory information, identifying a first dispersion of multiple first tracking points included in the above-mentioned virtual trajectory information and a second dispersion of multiple second tracking points included in the trajectory information of a second external vehicle representing the above-mentioned first moment; and based on the above-mentioned first dispersion being less than a reference dispersion and the above-mentioned second dispersion being greater than the reference dispersion, storing the above-mentioned virtual trajectory information in a memory.

[0032] In one embodiment, the above-mentioned virtual frame includes a first virtual frame, and the vehicle control method includes the following operations: selecting a relatively larger first value from a width of the above-mentioned first virtual frame obtained through multiple points of the second external vehicle corresponding to the above-mentioned first moment and a reference width; selecting a relatively larger second value from a length of the first virtual frame obtained through the above-mentioned multiple points of the second external vehicle corresponding to the above-mentioned first moment and a reference length; and generating a second virtual frame for correcting the size of the above-mentioned first virtual frame based on the above-mentioned first value and the above-mentioned second value.

[0033] A vehicle control method based on one embodiment may include the following operations: identifying a first coordinate in a second-axis direction among the first axis, the second axis, and the third axis based on a third point corresponding to the center of a line segment formed by the first point corresponding to the first value and the second point; and identifying a position of the second virtual frame based on the first coordinate in the second-axis direction and the second coordinate in the first-axis direction of the first virtual frame included in the trajectory information of the second external vehicle representing the first moment that does not satisfy the reference reliability.

[0034] The above-mentioned vehicle control method based on one embodiment may include the following operations: storing each virtual trajectory information in the above-mentioned memory using a moving-window method according to the acquisition time of each virtual trajectory information stored in the memory and containing the virtual trajectory information from the above-mentioned second moment to the above-mentioned first moment; and performing time compensation for each virtual trajectory information stored in the memory based on at least one of the longitudinal speed of the vehicle, the lateral speed of the vehicle, the reference time, the yaw angular velocity of the vehicle, the coordinates of the virtual frame of the second external vehicle corresponding to the above-mentioned first moment, or any combination thereof.

[0035] The present technology can accurately track a second external vehicle traveling in front of a first external vehicle.

[0036] In addition, the present technology generates virtual trajectory information using trajectory information representing a second external vehicle traveling in front of a first external vehicle, and can output the generated virtual trajectory information as trajectory information representing the second external vehicle.

[0037] In addition, the present technology can stably output the advancing direction of the virtual frame corresponding to the second external vehicle blocked by the first external vehicle, the position of the virtual frame corresponding to the second external vehicle, and the trajectory path for tracking the second external vehicle.

[0038] In addition, various effects directly or indirectly known from this specification can be provided. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] Figure 1An example of a block diagram of a vehicle control device according to an embodiment of the present invention is shown.

[0040] Figure 2 An example of storing virtual track information in a memory in an embodiment of the present invention is shown.

[0041] Figure 3 An example of obtaining the moving direction of the virtual frame in an embodiment of the present invention is shown.

[0042] Figure 4 An example of correcting the size and position of a virtual frame in an embodiment of the present invention is shown.

[0043] Figure 5 An example of performing time compensation in an embodiment of the present invention is shown.

[0044] Figure 6 An example of a vehicle changing lanes or driving on a curved road in an embodiment of the present invention is shown.

[0045] Figure 7 An example of comparing the dispersion of the trajectory path and the dispersion of the virtual trajectory path in one embodiment of the present invention is shown.

[0046] Figure 8 An example of a vehicle traveling on a curved road in an embodiment of the present invention is shown.

[0047] Fig. 9 An example of correcting the heading direction of the virtual frame corresponding to the second external vehicle in an embodiment of the present invention is shown.

[0048] Fig.10 An example of a flowchart related to a vehicle control method according to an embodiment of the present invention is shown.

[0049] Fig.11 An example of a flowchart related to a vehicle control method according to an embodiment of the present invention is shown.

[0050] Fig.12 An example of the result of applying the present invention is shown.

[0051] Fig.13 A vehicle control device or a computing system related to a vehicle control method according to an embodiment of the present invention is shown. DETAILED DESCRIPTION

[0052] Hereinafter, some embodiments of the present invention are described in detail through exemplary drawings. It should be noted that when the elements of each drawing are labeled with reference numerals, the same reference numerals are attached to the same elements as much as possible even if they are shown in different drawings. In addition, when describing the embodiments of the present invention, if it is determined that the specific description of the relevant known structure or function will hinder the understanding of the embodiments of the present invention, its detailed description will be omitted.

[0053] When describing the elements of the embodiments of the present invention, the terms such as first, second, A, B, (a), (b) can be used. Such terms are only used to distinguish the element from other elements, and the nature, order or sequence of the corresponding elements are not limited by the terms. In addition, unless a different definition is made, all terms used herein (including technical terms or scientific terms) have the same meaning as those generally understood by those skilled in the art. Terms that are the same as those defined in commonly used dictionaries should be interpreted as having the same meaning as that in the context of the relevant technology, and should not be interpreted as having an idealized or overly formalized meaning, unless such a meaning is clearly defined in this application.

[0054] The present invention includes various embodiments for accurately identifying a front-to-front vehicle blocked by a front vehicle. Hereinafter, the front vehicle may be referred to as a first external vehicle, and the front-to-front vehicle may be referred to as a second external vehicle. However, the names of the front vehicle and the front-to-front vehicle are not limited thereto.

[0055] Below, refer to Figures 1 to 13 , specifically describe the embodiments of the present invention.

[0056] Figure 1 An example of a block diagram of a vehicle control device according to an embodiment of the present invention is shown.

[0057] Reference Figure 1 The vehicle control device 100 according to one embodiment of the present invention can be arranged inside or outside the vehicle, and a part of the components included in the vehicle control device 100 can be arranged inside or outside the vehicle. In this case, the vehicle control device 100 can be integrated with the internal control unit of the vehicle, or can be implemented as an independent device and connected to multiple control units of the vehicle through a separate connection mechanism. For example, the vehicle control device 100 can also include Figure 1 Other parts not shown in the figure.

[0058] The vehicle control device 100 according to an embodiment can include a processor 110, a laser radar 120, and a memory 130. The processor 110, the laser radar 120, or the memory 130 can be electronically and / or operably coupled with each other via an electronic component including a communication bus.

[0059] Hereinafter, a case where a plurality of hardwares are operably combined may include a case where a direct connection and / or an indirect connection between the plurality of hardwares is established in a wired and / or wireless manner so that a second hardware among the plurality of hardwares is controlled by the first hardware.

[0060] Although shown in different blocks, the embodiments are not limited thereto. Figure 1 Some of the hardware components of the vehicle control device 100 may be included in a single integrated circuit including a SoC (system on a chip). The type and / or quantity of hardware components included in the vehicle control device 100 are not limited to Figure 1 For example, the vehicle control device 100 may only include Figure 1 A portion of the hardware shown.

[0061] The vehicle control device 100 according to an embodiment may include hardware for processing data according to one or more instructions. The hardware for processing data may include a processor 110 .

[0062] For example, hardware for processing data can include an ALU (arithmetic and logic unit), an FPU (floating point unit), an FPGA (field programmable gate array), a CPU (central processing unit), and / or an AP (application processor). The processor 110 can have a single-core processor structure or can have a multi-core processor structure including a dual core, a quad core, a hexa core, or an octa core.

[0063] The laser radar 120 of the vehicle control device 100 according to an embodiment can obtain multiple data sets for identifying surrounding objects of the vehicle control device 100. For example, the laser radar 120 can identify at least one of the position, movement direction, speed, or any combination thereof of the surrounding objects based on the pulsed laser signal emitted from the laser radar 120 being reflected on the surrounding objects and returned.

[0064] For example, the laser radar 120 can obtain multiple data sets representing external objects in a space formed by a first axis, a second axis, and a third axis based on a pulsed laser signal reflected from surrounding objects. For example, the laser radar 120 can obtain multiple data sets representing external objects using multiple points in a space formed by a first axis, a second axis, and a third axis based on receiving a pulsed laser signal at every specified period. For example, the first axis can include an x-axis. For example, the second axis can include a y-axis. For example, the third axis can include a z-axis.

[0065] The processor 110 of the vehicle control device 100 according to an embodiment can emit light from the vehicle using the laser radar 120. For example, the processor 110 can receive the light emitted from the vehicle. The processor 110 can identify at least one of the position, speed, and movement direction of the surrounding objects, or any combination thereof, based on the time when the light emitted from the vehicle is transmitted and the time when the light emitted from the vehicle is received.

[0066] For example, the processor 110 can acquire a plurality of data sets representing the external object using a plurality of points based on the time when the light emitted from the vehicle is emitted and the time when the light emitted from the vehicle is received.

[0067] The memory 130 of the vehicle control device 100 according to an embodiment may include a hardware component for storing data and / or instructions input to and / or output from the processor 110 of the vehicle control device 100 .

[0068] For example, the memory 130 can include a volatile memory including a RAM (random-access memory) and / or a non-volatile memory including a ROM (read-only memory).

[0069] For example, the volatile memory can include at least one of DRAM (dynamic RAM), SRAM (static RAM), Cache RAM (cache random access memory), PSRAM (pseudoSRAM), or any combination thereof.

[0070] For example, the non-volatile memory can include at least one of PROM (programmable ROM), EPROM (erasable PROM), EEPROM (electrically erasable PROM), flash memory, hard disk, optical disk, SSD (solid state drive), eMMC (embedded multi-media card), or any combination thereof.

[0071] The processor 110 of the vehicle control device 100 according to an embodiment can obtain the trajectory information of the second external vehicle at the first moment when the second external vehicle is traveling in front of the first external vehicle through the laser radar 120. For example, the trajectory information can include at least one of the speed of the external vehicle, the position of the virtual frame corresponding to the external vehicle, the forward direction of the virtual frame corresponding to the external vehicle, or any combination thereof.

[0072] In one embodiment, the processor 110 can identify whether the second external vehicle is in a moving state, the type of the second external vehicle, the first forward direction of the virtual frame corresponding to the second external vehicle, or whether at least one of any combination thereof satisfies specified conditions based on the fact that the trajectory information of the second external vehicle obtained by the lidar 120 at the first moment of driving in front of the first external vehicle does not satisfy the reference reliability.

[0073] For example, the processor 110 can obtain virtual track information for correcting at least one of a track path for tracking the second external vehicle, a first forward direction of the virtual frame, a position of the virtual frame, or any combination thereof based on satisfying a specified condition. For example, the track path for tracking the second external vehicle can be generated based on reference points included in the virtual frame corresponding to the second external vehicle identified at each time.

[0074] In one embodiment, the processor 110 is able to output the virtual trajectory information as trajectory information of the second external vehicle at the first moment based on whether the second external vehicle is in a moving state, whether the difference between the first forward direction of the virtual frame and the second forward direction of the host vehicle is below a specified angle, the type of the second external vehicle, the number of multiple virtual trajectory information stored in the memory 130 and containing the virtual trajectory information from a second moment before the first moment to the first moment, the length of the trajectory path included in the virtual trajectory information, the position of the virtual frame included in the virtual trajectory information, whether the host vehicle changes lanes, or at least one of any combination thereof.

[0075] In one embodiment, the processor 110 is able to obtain virtual trajectory information based on the fact that the second external vehicle is in a moving state, the trajectory information of the second external vehicle representing the first moment does not meet the reference reliability, the type of the second external vehicle is a passenger car or a commercial vehicle (commercial vehicle) or a vehicle of unknown type, and the virtual frame is in a lateral moving state or the first forward direction of the virtual frame is not the same direction as that of the vehicle.

[0076] For example, the virtual frame being in a lateral movement state can include a state in which a line segment corresponding to the rear surface of the second external vehicle forming the virtual frame forms a right angle with the advancing direction of the virtual frame. For example, the advancing direction of the virtual frame can include one of a front direction, a left direction, a right direction, or a rear direction.

[0077] For example, the case where the first moving direction of the virtual frame is not the same direction as the vehicle can include a state where the first moving direction is not the same direction as the direction in which the vehicle is traveling (for example, the positive direction of the x-axis).

[0078] In one embodiment, the processor 110 is able to delete multiple virtual trajectory information stored in the memory 130 and including the virtual trajectory information from before the first moment to the first moment without acquiring the virtual trajectory path based on the fact that the second external vehicle is in a moving state, the trajectory information of the second external vehicle representing the first moment does not meet the reference reliability, the type of the second external vehicle is not a passenger car or a commercial vehicle or a vehicle of an unknown type, the virtual frame is not in a lateral movement state, and the first forward direction of the virtual frame is the same direction as that of the own vehicle.

[0079] In one embodiment, the processor 110 can correct the position of the virtual frame at the first moment based on the trajectory information of the second external vehicle representing the first moment and the position of each virtual frame corresponding to the second external vehicle included in each data set corresponding to the second external vehicle from the second moment before the first moment to the first moment stored in the memory 130.

[0080] In one embodiment, the processor 110 is capable of obtaining trajectory information of the second external vehicle representing the first moment and a third forward direction for correcting the first forward direction of the virtual frame included in each data set corresponding to the second external vehicle from the second moment to the first moment stored in the memory 130.

[0081] In one embodiment, the processor 110 can acquire virtual track information based on the corrected position of the virtual frame at the first moment and the third heading direction. The processor 110 can output the acquired virtual track information as track information representing the second external vehicle at the first moment.

[0082] In one embodiment, the processor 110 can store the acquired virtual trajectory information in the memory 130 based on the second external vehicle being in a moving state, the difference between the first forward direction of the virtual frame and the second forward direction of the host vehicle being less than a specified angle, the type of the second external vehicle being classified as a vehicle, the number of the plurality of virtual trajectory information stored in the memory 130 being greater than a reference number (e.g., about 20), the length of the trajectory path included in the virtual trajectory information exceeding the reference length, the position of the virtual frame existing in a specified area, and the host vehicle not changing lanes. For example, the processor 110 can store the acquired virtual trajectory information in a buffer of the memory 130.

[0083] In one embodiment, the processor 110 can identify a plurality of first tracking points included in the virtual trajectory information based on the acquired virtual trajectory information. For example, the plurality of first tracking points can include a plurality of points included in the virtual trajectory information that constitute a virtual trajectory path. The processor 110 can identify a first dispersion of the plurality of first tracking points included in the virtual trajectory information based on the acquired virtual trajectory information.

[0084] In one embodiment, the processor 110 can identify a plurality of second tracking points included in the trajectory information of the second external vehicle representing the first moment. For example, the plurality of second tracking points can include a plurality of points constituting a trajectory path included in the trajectory information of the second external vehicle representing the first moment. The processor 110 can identify a second dispersion of the plurality of second tracking points included in the trajectory information of the second external vehicle representing the first moment.

[0085] For example, the first spread and the second spread can include at least one of variance, standard deviation, range, interquartile range, absolute deviation, coefficient of variation, bias, or any combination thereof.

[0086] In one embodiment, the processor 110 can store the virtual trajectory information in the memory 130 based on the first scatter being less than the reference scatter and the second scatter being greater than the reference scatter. For example, the processor 110 can store the virtual trajectory information in a buffer of the memory 130 based on the first scatter being less than the reference scatter and the second scatter being greater than the reference scatter.

[0087] In one embodiment, the processor 110 can identify a first virtual frame corresponding to the virtual frame. The processor 110 can identify a relatively large first value among the width of the first virtual frame acquired from a plurality of points corresponding to the second external vehicle at the first moment and a reference width. For example, the processor 110 can select a relatively large first value among the width of the first virtual frame acquired from a plurality of points corresponding to the second external vehicle at the first moment and a reference width.

[0088] In one embodiment, the processor 110 can identify a relatively larger second value among the length of the first virtual frame acquired from the plurality of points of the second external vehicle corresponding to the first moment and the reference length. For example, the processor 110 can select a relatively larger second value among the length of the first virtual frame acquired from the plurality of points of the second external vehicle corresponding to the first moment and the reference length.

[0089] The processor 110 can generate a second virtual frame that corrects the size of the first virtual frame based on the selected first value and the selected second value. For example, the second virtual frame can include a virtual frame included in the virtual track information and corresponding to the second external vehicle.

[0090] In one embodiment, the processor 110 can identify a third point corresponding to the center of a line segment formed by the first point and the second point corresponding to the first value. The processor 110 can identify a first coordinate in the second axis direction among the first axis, the second axis, and the third axis based on the third point corresponding to the center of the line segment formed by the first point and the second point corresponding to the first value. For example, the first coordinate in the second axis direction can include a y coordinate.

[0091] In one embodiment, the processor 110 identifies the position of the second virtual frame based on the identified first coordinate in the second axis direction and the second coordinate in the first axis direction of the first virtual frame included in the trajectory information of the second external vehicle representing the first moment that does not meet the reference reliability. For example, the second coordinate in the first axis direction can include an x ​​coordinate.

[0092] In one embodiment, according to the acquisition time of each virtual trajectory information stored in the memory 130 and including the virtual trajectory information from before the first moment to the first moment, the processor 110 may store each virtual trajectory information in the memory 130 using a moving-window method.

[0093] In one embodiment, the processor 110 can perform time compensation for each virtual track information stored in the memory 130 based on at least one of the longitudinal speed of the vehicle, the lateral speed of the vehicle, the reference time, the yaw rate of the vehicle, the coordinates of the virtual frame of the second external vehicle corresponding to the first moment, or any combination thereof. The content of performing time compensation for each virtual track information will be referred to below. Figure 5 Give a description.

[0094] In one embodiment, the processor 110 can identify that the vehicle enters a curved road section based on at least one of the speed of the vehicle, the yaw rate of the vehicle, or any combination thereof.

[0095] In one embodiment, the processor 110 can correct at least one of the first forward direction of the virtual frame, the position of the virtual frame, the size of the virtual frame, the trajectory path for tracking the second external vehicle, or any combination thereof based on a portion of the virtual trajectory path included in the virtual trajectory information.

[0096] As described above, the processor 110 of the vehicle control device 100 according to an embodiment can obtain virtual trajectory information that corrects at least one of the first forward direction of the virtual frame, the position of the virtual frame, the size of the virtual frame, the trajectory path for tracking the second external vehicle, or any combination thereof. The processor outputs the virtual trajectory information as trajectory information representing the second external vehicle at the first moment, so that when the second external vehicle is blocked by the first external vehicle, the second external vehicle can be effectively tracked.

[0097] Figure 2 An example of storing virtual track information in a memory in an embodiment of the present invention is shown.

[0098] Reference Figure 2 , based on a vehicle control device of an embodiment (eg, Figure 1 A processor (eg, Figure 1 The processor 110) uses a laser radar (e.g., Figure 1 The lidar 120) is capable of acquiring multiple data sets related to a second external vehicle traveling in front of a first external vehicle.

[0099] In one embodiment, the processor can obtain virtual track information. For example, the virtual track information can include information about a second external vehicle traveling in front of a first external vehicle. For example, the virtual track information can include information about a second external vehicle blocked by the first external vehicle.

[0100] For example, the processor generates a signal based on the trajectory information of the second external vehicle representing the first moment, stored in the memory (eg, Figure 1 The processor can store the acquired virtual track information in the memory.

[0101] For example, the processor can store the plurality of virtual track information in the memory based on a moving window method. For example, the processor can store the plurality of virtual track information in a buffer area 201 formed in the memory based on a moving window method.

[0102] For example, the processor can store the virtual track information 211 of the second external vehicle corresponding to the first moment in the first area of ​​the buffer of the memory. The processor can move the virtual track information 211 of the second external vehicle corresponding to the first moment stored in the first area to the second area based on acquiring the virtual track information of the second external vehicle corresponding to the second moment at the second moment before the first moment, and store the virtual track information of the second external vehicle corresponding to the second moment in the first area.

[0103] For example, when the virtual trajectory information cannot be stored in the buffer 201, the processor can delete the virtual trajectory information 213 stored in the n-1 area. For example, when multiple virtual trajectory information fills the buffer 201 and cannot store the newly acquired virtual trajectory information, the processor can delete the virtual trajectory information 213 stored in the n-1 area.

[0104] For example, based on obtaining the virtual trajectory information 211 of the second external vehicle representing the first moment, the processor can recognize that the virtual trajectory information fills the buffer 201, thereby deleting the virtual trajectory information 213 stored in the n-1 area of ​​the buffer 201 earliest, and can store the virtual trajectory information 211 of the second external vehicle representing the first moment in the buffer 201.

[0105] As described above, the processor of the vehicle control device according to one embodiment stores a plurality of virtual track information in the memory in a moving window manner, thereby being able to effectively store (or update) the virtual track information at the first moment.

[0106] Figure 3 An example of obtaining the moving direction of the virtual frame in an embodiment of the present invention is shown.

[0107] Reference Figure 3 , based on a vehicle control device of an embodiment (eg, Figure 1 A processor (eg, Figure 1 The processor 110) is capable of identifying a storage device stored in the memory (e.g., Figure 1 The memory 130 of the present invention may include a plurality of data sets corresponding to the second external vehicle before the first moment. For example, the plurality of data sets may include at least one of information related to the virtual frame corresponding to the second external vehicle, information related to the travel of the second external vehicle, or any combination thereof. For example, the information related to the travel of the second external vehicle may include at least one of the travel path of the second external vehicle, the speed of the second external vehicle, the travel direction of the second external vehicle, or any combination thereof. For example, the travel path of the second external vehicle may be generated by including a reference point in the virtual frame corresponding to the second external vehicle. For example, based on taking the center point of the virtual frame corresponding to the rear surface of the second external vehicle as the reference point, it may be generated by tracking the reference point.

[0108] In one embodiment, the processor can obtain the moving direction of the virtual frame 311 of the second external vehicle corresponding to the first moment based on the virtual track information representing the second external vehicle at the first moment.

[0109] For example, the processor can identify a virtual driving path included in the virtual trajectory information representing the second external vehicle at the first time. For example, the virtual driving path can include a plurality of points representing the driving path of the second external vehicle.

[0110] For example, the processor can identify a first point 321 and a second point 323 of a virtual driving path included in virtual track information representing a second external vehicle at a first moment. For example, the first point 321 can be referenced as a starting point included in the virtual track information. For example, the second point 323 can be referenced as an end point included in the virtual track information.

[0111] For example, the processor can obtain the advancing direction 331 of the virtual frame 311 corresponding to the second external vehicle at the first moment based on the first point 321 and the second point 323. For example, the processor can identify the advancing direction 331 of the virtual frame 311 based on the ray from the first point 321 toward the second point 323.

[0112] In one embodiment, the processor can identify the distance 325 between the first point 321 and the second point 323. The processor can store the virtual track information based on the distance 325 between the first point 321 and the second point 323 exceeding the reference distance (e.g., 5m). For example, the operation of storing the virtual track information can include Figure 2 .

[0113] In one embodiment, the processor can identify the angle of the heading 331 based on the first point 321 and the second point 323. For example, the angle of the heading 331 can include the angle between the straight line corresponding to the first axis among the first axis, the second axis, and the third axis and the heading 331.

[0114] In one embodiment, the processor can store the virtual track information including the heading direction 331 based on the angle of the heading direction 331 being smaller than a reference angle (eg, about 15 degrees).

[0115] For example, based on the acquired heading direction 331 of the virtual frame 311, the processor can acquire virtual track information of a second external vehicle including the heading direction 331 and representing the first moment. Figure 2 The operation stores the virtual track information including the heading direction 331 in a memory (eg, Figure 1 Memory 130).

[0116] In one embodiment, the processor can output (or update) the stored virtual trajectory information as trajectory information representing the second external vehicle at the first moment.

[0117] As described above, the processor of the vehicle control device according to one embodiment can have the effect of accurately outputting the advancing direction of the second external vehicle blocked by the first external vehicle.

[0118] Figure 4 An example of correcting the size and position of a virtual frame in an embodiment of the present invention is shown.

[0119] Reference Figure 4 , included in a vehicle control device according to an embodiment (eg, Figure 1 A processor (eg, Figure 1 110), can be detected by laser radar (e.g., Figure 1 The laser radar 120) is used to obtain the trajectory information of the second external vehicle traveling in front of the first external vehicle at the first moment. The processor can obtain virtual trajectory information corresponding to the second external vehicle based on the fact that the trajectory information of the second external vehicle at the first moment does not meet the reference reliability. For example, the virtual trajectory information can be obtained based on the trajectory information of the second external vehicle at the first moment and a plurality of data sets corresponding to the second external vehicle obtained by the laser radar before the first moment. Specifically, the virtual trajectory information can be obtained from the trajectory information by correcting at least a portion of the information related to the virtual frame corresponding to the second external vehicle. The information related to the virtual frame may be a trajectory path for tracking the second external vehicle, a first forward direction of the virtual frame, and a position of the virtual frame.

[0120] Figure 4 The first example 401 , the second example 403 , and the third example 405 can include an example showing a state in which the second external vehicle is blocked by the first external vehicle traveling in front of the own vehicle.

[0121] Figure 4 The first example 401 can include an example in which a lower left portion of the second external vehicle is blocked by the first external vehicle. Figure 4 The second example 403 can include an example in which a lower right portion of the second external vehicle is blocked by the first external vehicle. Figure 4 The third example 405 can include an example in which a lower portion of the second external vehicle is blocked by the first external vehicle.

[0122] In one embodiment, the processor can correct the virtual frame corresponding to the second external vehicle in the trajectory information representing the second external vehicle at the first moment.

[0123] Referring to the first example 401, in one embodiment, the processor can identify a second external vehicle traveling in front of the first external vehicle. The processor can identify a virtual frame 411 corresponding to the second external vehicle from the trajectory information of the second external vehicle representing the first moment. For example, the virtual frame 411 corresponding to the second external vehicle can be represented on a surface formed by the y-axis and the z-axis. For example, the processor can identify a virtual frame 411 corresponding to the second external vehicle whose lower left portion is blocked by the first external vehicle.

[0124] For example, the processor can identify the width 421 of the virtual frame 411. For example, the processor can identify the width 421 of the virtual frame 411 based on the trajectory information of the second external vehicle representing the first moment.

[0125] The processor can identify a plurality of points corresponding to the width 421 of the virtual frame 411. The processor can identify a reference point 431 corresponding to the center of the plurality of points corresponding to the width 421 of the virtual frame 411. The processor can identify an x-coordinate of the reference point 431 corresponding to the width 421 of the virtual frame 411. The processor can identify a position of a virtual frame 455 included in the virtual track information based on the identified x-coordinate of the reference point 431. For example, the processor can use the x-coordinate of the reference point 431 as the x-coordinate of the position of the virtual frame 455 included in the virtual track information.

[0126] Referring to the second example 403, in one embodiment, the processor can identify a second external vehicle traveling in front of the first external vehicle. The processor can identify a virtual frame 413 corresponding to the second external vehicle from the trajectory information of the second external vehicle representing the first moment. For example, the virtual frame 413 corresponding to the second external vehicle can be represented on a surface formed by the y-axis and the z-axis. For example, the processor can identify a virtual frame 413 corresponding to the second external vehicle whose lower right portion is blocked by the first external vehicle.

[0127] For example, the processor can identify the width 423 of the virtual frame 413. For example, the processor can identify the width 423 of the virtual frame 413 based on the trajectory information of the second external vehicle representing the first moment.

[0128] The processor can identify a plurality of points corresponding to the width 423 of the virtual frame 413. The processor can identify a reference point 433 corresponding to the center of the plurality of points for the width 423 of the virtual frame 413. The processor can identify an x-coordinate of the reference point 433 corresponding to the width 423 of the virtual frame 413. The processor can identify a position of a virtual frame 455 included in the virtual track information based on the identified x-coordinate of the reference point 433. For example, the processor can use the x-coordinate of the reference point 433 as the x-coordinate of the position of the virtual frame 455 included in the virtual track information.

[0129] Referring to the third example 405, in one embodiment, the processor can identify a second external vehicle traveling in front of the first external vehicle. The processor can identify a virtual frame 415 corresponding to the second external vehicle from the trajectory information of the second external vehicle representing the first moment. For example, the virtual frame 415 corresponding to the second external vehicle can be represented on a surface formed by the y-axis and the z-axis. For example, the processor can identify a virtual frame 415 corresponding to the second external vehicle whose lower portion is blocked by the first external vehicle.

[0130] For example, the processor can identify the width 425 of the virtual frame 415. For example, the processor can identify the width 425 of the virtual frame 415 based on the trajectory information of the second external vehicle representing the first moment.

[0131] The processor can identify a plurality of points corresponding to the width 425 of the virtual frame 415. The processor can identify a reference point 435 corresponding to the center of the plurality of points corresponding to the width 425 of the virtual frame 415. The processor can identify an x-coordinate of the reference point 435 corresponding to the width 425 of the virtual frame 415. The processor can identify a position of the virtual frame 455 included in the virtual track information based on the identified x-coordinate of the reference point 435. For example, the processor can use the x-coordinate of the reference point 435 as the x-coordinate of the position of the virtual frame 455 included in the virtual track information.

[0132] In one embodiment, the processor can identify a virtual frame 441 corresponding to a first external vehicle. The processor can identify a virtual frame 443 corresponding to a second external vehicle blocked by the first external vehicle. The processor can correct the virtual frame 443 based on the incompleteness of the virtual frame 443. For example, the processor can identify the width and length of the virtual frame 443 included in the trajectory information of the second external vehicle representing the first moment. For example, the width of the virtual frame 443 can include the length in the y-axis direction. For example, the length of the virtual frame 443 can include the length in the x-axis direction.

[0133] For example, the processor can compare the width of the virtual frame 443 with a reference width (eg, about 2 m). The processor can select a larger first value between the width of the virtual frame 443 and the reference width.

[0134] For example, the processor can compare the length of the virtual frame 443 with a reference length (eg, about 5 m). The processor can select a larger second value between the length of the virtual frame 443 and the reference length.

[0135] For example, the processor can generate a virtual frame 455 that corrects the size of the virtual frame 443 based on the first value and the second value. The processor can include the virtual frame 455 having the corrected size in the virtual track information and store it in the memory (e.g., Figure 1 For example, the processor can store the virtual track information including the virtual frame 455 having the corrected size in a buffer of the memory.

[0136] In one embodiment, the processor can identify a reference width 451 and a reference length 453. The processor can compare the width (e.g., 421, 423, or 425) of the virtual frame identified from the trajectory information of the second external vehicle representing the first moment with the reference width 451. The processor can identify a larger first value between the width of the virtual frame identified from the trajectory information of the second external vehicle representing the first moment and the reference width. The processor can identify a plurality of points corresponding to the first value based on the first value obtained. For example, the processor can identify the center point of the plurality of points corresponding to the first value. The processor can identify the y coordinate of the virtual frame 455 included in the virtual trajectory information based on the coordinates of the center point of the plurality of points corresponding to the first value.

[0137] In one embodiment, the processor can identify the position of the virtual frame 455 included in the virtual trajectory information based on the y coordinate of the center point of the plurality of points corresponding to the first value and the x coordinate included in the trajectory information of the second external vehicle representing the first moment.

[0138] For example, the processor can output (or update) trajectory information representing the second external vehicle at the first moment based on the position of the virtual frame 455 included in the virtual trajectory information.

[0139] As described above, the processor of the vehicle control device based on one embodiment outputs (or updates) the trajectory information of the second external vehicle representing the first moment based on the position of the virtual frame 455 included in the virtual trajectory information, thereby being able to accurately represent the position of the second external vehicle at the first moment and accurately track the driving path of the second external vehicle.

[0140] Figure 5 An example of performing time compensation in an embodiment of the present invention is shown.

[0141] Reference Figure 5 , based on a vehicle control device of an embodiment (eg, Figure 1 A processor (eg, Figure 1 The processor 110) can update the data stored in the memory (e.g., Figure 1 For example, the processor can update the virtual trajectory information acquired from before the first moment to the first moment. For example, the processor can update the virtual trajectory information acquired from before the first moment to the first moment so that it can be used at the first moment.

[0142] For example, the processor can time-compensate the virtual trajectory information stored in the memory and acquired from before the first time to the first time, so that the virtual trajectory information can be used at the first time.

[0143] For example, the processor can update the virtual track information stored in the memory based on the displacement movement of the host vehicle. For example, the processor can identify the reference time 521. For example, the reference time 521 can include the time when the host vehicle moves from the first position 511 to the second position 513.

[0144] For example, the processor can utilize the reference time 521 to perform time compensation on the virtual trajectory information stored in the memory.

[0145] For example, the processor can perform time compensation on the virtual trajectory information stored in the memory by obtaining the first result value and the second result value using the following equations 1 and 2.

[0146] [Formula 1]

[0147] δ x =V vehLong ×ΔT

[0148] [Formula 2]

[0149] δ y =V vehLat ×ΔT

[0150] For example, in Equation 1, δ x can be referred to as the first result value. For example, in Formula 1, V vehLong For example, in Equation 1, ΔT can include the reference time 521 .

[0151] For example, in Equation 2, δ y can be referred to as the second result value. For example, in Formula 2, V vehLat For example, in Equation 2, ΔT may include the reference time 521 .

[0152] Based on obtaining at least one of the first result value, the second result value, or any combination thereof, the processor can obtain the third result value and the fourth result value by using at least one of the following Formula 3, Formula 4, or any combination thereof.

[0153] [Formula 3]

[0154]

[0155] [Formula 4]

[0156]

[0157] For example, in Formula 3, x can include the third result value. For example, in Formula 3, Can contain T 0 The x-coordinate of the vehicle at the time. For example, in Formula 3, δ x Can contain the first result value.

[0158] For example, in Formula 4, y can include the fourth result value. For example, in Formula 4, Can contain T 0 The y coordinate of the vehicle at the time. For example, in Formula 4, δ y Can contain a second result value.

[0159] In one embodiment, the processor can use at least one of the third result value, the fourth result value, the yaw angular velocity of the vehicle, or any combination thereof to set the value in T 0 The position of the second external vehicle identified at the time is corrected to T 1 For example, T 1 The time may include the first time. For example, the processor may use at least one of the following formula 5, formula 6, or any combination thereof to correct the virtual trajectory information acquired before the first time and stored in the memory.

[0160] [Formula 5]

[0161] x 1 =x×cosθ-y×sinθ

[0162] [Formula 6]

[0163] y 1 =x×sinθ+y×cosθ

[0164] For example, in Formula 5 and Formula 6, x can include the third result value obtained by using Formula 3. For example, in Formula 5 and Formula 6, t can include the fourth result value obtained by using Formula 4. For example, in Formula 5, x 1 Can include T 0 The x-coordinate at time T is corrected 1 The x coordinate at the time. In formula 6, y 1 Can include T 0 The y coordinate at time T is corrected 1 The y coordinate of the moment.

[0165] For example, the processor can correct the position of each virtual frame included in each virtual trajectory information acquired before the first time and stored in the memory to the first time using the above-mentioned equations 1 to 6.

[0166] The processor can use each virtual trajectory information corrected to the first moment to obtain virtual trajectory information of the second external vehicle corresponding to the first moment. Based on the virtual trajectory information of the second external vehicle corresponding to the first moment obtained, the processor can output the virtual trajectory information as trajectory information representing the second external vehicle at the first moment.

[0167] As described above, the processor of the vehicle control device according to one embodiment performs time compensation on the multiple virtual trajectory information stored in the memory, thereby accurately acquiring the virtual trajectory information of the second external vehicle corresponding to the first time point generated based on the multiple virtual trajectory information stored in the memory.

[0168] Figure 6 An example of the vehicle changing lanes or driving on a curved road is shown in the present invention.

[0169] Reference Figure 6 , based on a vehicle control device of an embodiment (eg, Figure 1 A processor (eg, Figure 1 The processor 110) can recognize that the vehicle changes lanes or is traveling on a curved road.

[0170] Reference Figure 6In the first example 601, the processor can recognize that the vehicle changes lanes. The processor can recognize that the vehicle changes lanes by using at least one of the speed of the vehicle, the yaw rate of the vehicle, the sensed value of the gyro sensor, or any combination thereof.

[0171] Reference Figure 6 In the second example 603, the processor can identify that the vehicle is traveling on a curved road. For example, the processor can identify that the vehicle is traveling on a curved road based on at least one of the vehicle's speed, the vehicle's yaw rate, the sensed value of the gyroscope sensor, or any combination thereof.

[0172] For example, the processor can identify the curvature of the curved road section. For example, the processor can identify whether the curvature of the curved road section is greater than a reference curvature (eg, about 300).

[0173] For example, when the host vehicle changes lanes or is traveling on a curved road with a curvature greater than a reference curvature, the processor may not recognize the stability of the trajectory information of the second external vehicle representing the first moment.

[0174] For example, when the host vehicle does not change lanes and is traveling on a curved road section having a curvature smaller than a reference curvature, the processor can identify the stability of the trajectory information of the second external vehicle representing the first moment.

[0175] For example, the processor can identify the stability of the trajectory information of the second external vehicle at the first moment based on the fact that the vehicle does not change lanes and is traveling on a curved road section with a curvature less than a reference curvature and other conditions are met.

[0176] In one embodiment, the processor can perform different operations according to the stability of the trajectory information of the second external vehicle representing the first moment. For example, the processor can output the trajectory information of the second external vehicle representing the first moment based on the stability of the trajectory information of the second external vehicle representing the first moment. For example, the processor can output the acquired virtual trajectory information as the trajectory information of the second external vehicle representing the first moment based on the instability of the trajectory information of the second external vehicle representing the first moment.

[0177] As described above, the processor of the vehicle control device according to one embodiment performs different operations according to the stability of the trajectory information, thereby being able to effectively track the second external vehicle.

[0178] Figure 7 An example of comparing the dispersion of the trajectory path and the dispersion of the virtual trajectory path in one embodiment of the present invention is shown.

[0179] Reference Figure 7 , including in a vehicle control device according to an embodiment (eg, Figure 1A processor (eg, Figure 1 The processor 110 can identify the virtual frame 713 included in the trajectory information of the second external vehicle representing the first moment. The processor can identify the trajectory path 711 included in the trajectory information of the second external vehicle representing the first moment.

[0180] For example, the processor can obtain virtual track information that corrects at least one of the virtual frame 713, the track path 711, or any combination thereof, included in the track information of the second external vehicle representing the first moment. For example, the processor can identify the virtual frame 723 included in the virtual track information that corrects the track information of the second external vehicle representing the first moment. For example, the processor can identify the virtual track path 721 included in the virtual track information.

[0181] For example, the processor can identify the dispersion of the trajectory path 711. For example, the processor can identify the dispersion of the virtual trajectory path 721. For example, the dispersion can include at least one of variance, standard deviation, range, interquartile range, absolute deviation, coefficient of variation, bias, or any combination thereof.

[0182] For example, the processor can identify the dispersion using the following formula.

[0183] [Formula 7]

[0184] x=X t-i -X t-i-1

[0185] For example, in Formula 7, X t-i The x coordinate of the virtual frame 713 or the virtual frame 723 identified at time ti can be included. For example, in Formula 7, X t-i-1 The x coordinate of the virtual frame 713 or the virtual frame 723 identified at time ti-1 may be included. For example, in Formula 7, x may include the difference between the x coordinate of the virtual frame 713 or the virtual frame 723 at time ti and the x coordinate of the virtual frame 713 or the virtual frame 723 at time ti-1.

[0186] [Formula 8]

[0187]

[0188] For example, in Equation 8, x i can include the result value obtained by using Formula 7. For example, in Formula 8, N can include the number of virtual trajectory information stored in the buffer of the memory. For example, N can include the number of trajectory information corresponding to the virtual trajectory information stored in the buffer of the memory. For example, in Formula 8, bias(x) can include the result value indicating the deviation.

[0189] [Formula 9]

[0190]

[0191] For example, in Equation 9, x i Can include the result value obtained by equation 7. For example, in equation 9, bias(x) can include the result value obtained by equation 8. For example, in equation 9, σ x Can contain result values ​​representing standard deviations.

[0192] In one embodiment, the processor can use equations 7 to 9 to obtain at least one of the standard deviation of the trajectory path 711, the standard deviation of the virtual trajectory path 721, or any combination thereof. The processor can identify whether the standard deviation of the trajectory path 711 is greater than a critical value (e.g., about 0.2 m). The processor can identify whether the standard deviation of the virtual trajectory path 721 is less than a critical value (e.g., about 0.2 m).

[0193] For example, the processor can output virtual trajectory information including virtual trajectory path 721 as trajectory information representing the second external vehicle at the first time based on the standard deviation of trajectory path 711 being greater than a critical value and the standard deviation of virtual trajectory path 721 being less than a critical value.

[0194] For example, the processor can output the trajectory information of the second external vehicle representing the first time including the trajectory path 711 as the trajectory information based on the standard deviation of the trajectory path 711 being less than the critical value or the standard deviation of the virtual trajectory path 721 being greater than the critical value.

[0195] As described above, the processor of the vehicle control device according to one embodiment performs different operations according to the stability of the trajectory information, thereby being able to output information that more accurately represents the second external vehicle at the first moment.

[0196] Figure 8 An example of a vehicle traveling on a curved road in an embodiment of the present invention is shown.

[0197] Reference Figure 8 , included in a vehicle control device according to an embodiment (eg, Figure 1 A processor (eg, Figure 1 The processor 110) can recognize that the vehicle 800 is traveling on a curved road.

[0198] In one embodiment, the processor can identify a second external vehicle 805 traveling in front of the first external vehicle. The processor can identify a virtual frame 815 corresponding to the second external vehicle 805. For example, the virtual frame 815 can be included in virtual trajectory information generated by correcting at least a portion of the trajectory information of the second external vehicle 805 representing the first moment.

[0199] The processor can identify the virtual trajectory path 811 included in the virtual trajectory information. For example, the virtual trajectory path 811 can be included in the virtual trajectory information generated by correcting at least a portion of the trajectory information of the second external vehicle 805 representing the first time.

[0200] In one embodiment, the processor can identify the heading direction 813 using the virtual track path 811. The processor can identify the heading direction 813 using a plurality of points included in the virtual track path 811 and representing the driving path of the second external vehicle. However, when the vehicle 800 is driving on a curved road, the processor can generate the virtual track path using points included in a portion of the virtual track path 811.

[0201] In one embodiment, the processor can recognize that the vehicle 800 is traveling on a curved road. Based on the fact that the vehicle 800 is traveling on a curved road, the processor can select at least a portion of the virtual track path 811. For example, the processor can select at least a portion of the virtual track path 811 representing the travel path of the second external vehicle 805 from a second moment before the first moment to the first moment.

[0202] For example, the processor can select a virtual track path 821 from a third time between the second time and the first time to the first time. The processor can acquire a heading 823 based on the selected virtual track path 821. The processor can acquire a virtual frame 825 that corrects the virtual frame 815 based on the acquired heading 823.

[0203] In one embodiment, when the vehicle is traveling on a curved road, the processor can obtain virtual track information including at least one of the virtual frame 825, the virtual track path 821, or any combination thereof. Based on the obtained virtual track information, the processor can store the virtual track information in a memory (e.g., Figure 1 The virtual trajectory path is stored in a buffer of the memory 130. Based on the acquired virtual trajectory information, the processor can output the virtual trajectory information as trajectory information representing the second external vehicle at the first moment.

[0204] As described above, the processor of the vehicle control device based on one embodiment uses a portion of the virtual trajectory path contained in the virtual trajectory information to obtain virtual trajectory information corresponding to the second external vehicle 805 in a curved section, thereby being able to relatively better represent the driving path of the second external vehicle 805 at the first moment.

[0205] Fig. 9 An example of correcting the heading direction of the virtual frame corresponding to the second external vehicle in an embodiment of the present invention is shown.

[0206] Reference Fig. 9 , including in a vehicle control device according to an embodiment (eg, Figure 1 A processor (eg, Figure 1 The processor 110) can identify a first external vehicle 905 traveling in front of the vehicle 900 while the vehicle 900 is traveling. The processor can identify a second external vehicle 910 traveling in front of the vehicle 900 and the first external vehicle 905 while the vehicle 900 is traveling.

[0207] For example, the processor can obtain the trajectory information of the second external vehicle 910 at a specific time. For example, the processor can identify the virtual frame and the moving direction of the virtual frame corresponding to the second external vehicle 910 included in the trajectory information of the second external vehicle 910 at a specific time.

[0208] For example, the virtual frame and the advancing direction of the virtual frame corresponding to the second external vehicle 910 identified at time T, time T+1, time T+2, and time T+3 can be represented as shown in the first example 911. The processor can correct the virtual frame and the advancing direction of the virtual frame corresponding to the second external vehicle 910 represented as shown in the first example 911 as shown in the second example 913. For example, the second example 913 can be related to the virtual frame and the advancing direction of the virtual frame of the second external vehicle 910 corresponding to a specific time included in the virtual trajectory information.

[0209] Below, refer to Fig.10 A vehicle control method according to an embodiment of the present invention will be described in detail. Fig.10 An example of a flowchart related to a vehicle control method according to an embodiment of the present invention is shown.

[0210] Below, assuming Figure 1 The vehicle control device 100 executes Fig.10 In addition, Fig.10 The description of is described as an operation executed by a processor, which can be understood as being controlled by the processor 110 of the vehicle control device 100.

[0211] Fig.10 At least one of the operations can be Figure 1 The vehicle control device 100 performs the above operation. Fig.10 The operations can be performed sequentially, but are not necessarily performed sequentially. For example, the order of the operations can be changed, and at least two operations can be performed in parallel.

[0212] Reference Fig.10 In operation S1001, a vehicle control method according to an embodiment may include the following operations: based on a laser radar (for example, Figure 1 The trajectory information of the second external vehicle at the first moment traveling in front of the first external vehicle obtained by the laser radar 120) does not meet the reference reliability, a virtual frame corresponding to the second external vehicle is identified from the above trajectory information, and virtual trajectory information for correcting at least a part of the information related to the identified virtual frame is obtained.

[0213] According to one embodiment, in operation S1001, when the trajectory information representing the second external vehicle does not meet the reference reliability, before acquiring the virtual trajectory information, an additional operation can be performed. Specifically, it can be identified whether at least one of the type of the second external vehicle, the second forward direction of the virtual frame corresponding to the second external vehicle, or any combination thereof meets a specified condition. When it is identified that the above specified conditions are met, the virtual trajectory information can be acquired.

[0214] For example, the vehicle control method may include the following operations: obtaining virtual trajectory information based on the fact that the second external vehicle is in a moving state, the trajectory information of the second external vehicle at the first moment does not meet the reference reliability, the type of the second external vehicle is a passenger car or a commercial vehicle or a vehicle of unknown type, the virtual frame is in a lateral moving state, or the first forward direction of the virtual frame is not the same direction as the vehicle.

[0215] For example, the vehicle control method may include the following operations: based on the second external vehicle being in a moving state, the trajectory information of the second external vehicle representing the first moment does not meet the reference reliability, the type of the second external vehicle is not a passenger car or a commercial vehicle or a vehicle of an unknown type, the virtual frame is not in a lateral moving state, and the first forward direction of the virtual frame is the same direction as that of the own vehicle, the virtual trajectory information is not obtained, and the virtual trajectory information stored in the memory (for example, Figure 1 The memory 130) includes a plurality of virtual trajectory information from the second moment to the first moment.

[0216] For example, the vehicle control method may include the following operations: correcting the position of the virtual frame at the first moment based on trajectory information of the second external vehicle representing the first moment and the position of each virtual frame contained in each data set corresponding to the second external vehicle from the second moment to the first moment stored in the memory.

[0217] The vehicle control method may include the following operations: obtaining trajectory information of a second external vehicle representing a first moment and a third forward direction for correcting a first forward direction of a virtual frame, wherein the first forward direction is contained in each data set corresponding to the second external vehicle from the second moment to the first moment and stored in a memory.

[0218] The vehicle control method may include the following operation: acquiring virtual trajectory information based on the corrected position of the virtual frame at the first moment and the third heading direction.

[0219] A vehicle control method based on one embodiment may include the following operations: based on the second external vehicle being in a moving state, the difference between the first forward direction of the virtual frame and the second forward direction of the vehicle being below a specified angle, the type of the second external vehicle being classified as a vehicle, the number of multiple virtual trajectory information stored in the memory being above a reference number, the length of the virtual trajectory path included in the virtual trajectory information exceeding a reference length, the position of the virtual frame existing in a specified area, and the vehicle not changing lanes, the acquired virtual trajectory information is stored in the memory.

[0220] A vehicle control method according to an embodiment may include the following operation: based on the acquired virtual trajectory information, identifying a first dispersion of a plurality of first tracking points included in the virtual trajectory information and a second dispersion of a plurality of second tracking points included in the trajectory information of a second external vehicle representing a first moment.

[0221] The vehicle control method may include the following operation: based on the first divergence being smaller than a reference divergence and the second divergence being equal to or greater than the reference divergence, storing the virtual track information in a memory.

[0222] In one embodiment, the virtual frame may include a first virtual frame. The vehicle control method based on one embodiment may include an operation of selecting a relatively large first value from a width of the first virtual frame obtained from a plurality of points of the second external vehicle corresponding to the first moment and a reference width. The vehicle control method may include an operation of selecting a relatively large second value from a length of the first virtual frame obtained from a plurality of points of the second external vehicle corresponding to the first moment and a reference length. The vehicle control method may include an operation of generating a second virtual frame that corrects the size of the first virtual frame based on the first value and the second value.

[0223] The vehicle control method according to an embodiment may include the following operations: based on a third point corresponding to the center of a line segment formed by the first point and the second point corresponding to the first value, identifying a first coordinate in a second axis direction among the first axis, the second axis, and the third axis. The vehicle control method may include the following operations: based on the first coordinate in the second axis direction and the second coordinate in the first axis direction of the first virtual frame included in the trajectory information of the second external vehicle representing the first moment that does not satisfy the reference reliability, identifying the position of the second virtual frame.

[0224] The vehicle control method according to an embodiment may include the following operation: storing each virtual track information in the memory using a moving-window method according to the time when each virtual track information stored in the memory and including the virtual track information from the second moment to the first moment is acquired.

[0225] A vehicle control method based on one embodiment may include the following operations: performing time compensation for each virtual trajectory information stored in a memory based on at least one of the longitudinal speed of the vehicle, the lateral speed of the vehicle, the reference time, the yaw rate of the vehicle, the coordinates of the virtual frame of the second external vehicle corresponding to the first moment, or any combination thereof.

[0226] The vehicle control method according to an embodiment may include the following operations: based on at least one of the speed of the vehicle, the yaw rate of the vehicle, or any combination thereof, identifying that the vehicle has entered a curved section. The vehicle control method may include the following operations: based on a portion of a virtual track path included in the virtual track information, correcting at least one of the first forward direction of the virtual frame, the position of the virtual frame, the size of the virtual frame, the track path for tracking a second external vehicle, or any combination thereof.

[0227] In operation S1003, a vehicle control method based on an embodiment may include the following operations: outputting the virtual trajectory information as trajectory information of the second external vehicle at the first moment based on whether the second external vehicle is in a moving state, whether the difference between the first forward direction of the virtual frame and the second forward direction of the vehicle is below a specified angle, the type of the second external vehicle, the number of multiple virtual trajectory information from a second moment before the first moment to the first moment including virtual trajectory information stored in the memory, the position of the virtual frame included in the virtual trajectory information, whether the vehicle changes lanes, or at least one of any combination thereof.

[0228] Below, refer to Fig.11 A vehicle control method according to an embodiment of the present invention will be described in detail. Fig.11 An example of a flowchart related to a vehicle control method according to an embodiment of the present invention is shown.

[0229] Below, assuming Figure 1 The vehicle control device 100 executes Fig.11 In addition, Fig.11 The operations described in the description as being executed by a processor can be understood as being controlled by the processor 110 of the vehicle control device 100.

[0230] Fig.11 At least one of the operations can be Figure 1 The vehicle control device 100 performs the above operation. Fig.11 The operations can be performed sequentially, but they do not have to be performed sequentially. For example, the order of the operations can be changed, and at least two operations can be performed in parallel. In addition, the vehicle control method according to an embodiment does not necessarily include Fig.11 For example, the vehicle control method can start with an operation of storing virtual track information in a memory (operation S1113).

[0231] Reference Fig.11 In operation S1101, a vehicle control method according to an embodiment may include obtaining a laser radar (eg, Figure 1 The laser radar 120 of the tracking channel receives the verification information of each tracking channel. For example, the verification information of each tracking channel may include each information generated based on verifying the data set obtained when tracking the external vehicle. For example, the tracking channel can include a partial area of ​​the memory corresponding to the external vehicle.

[0232] In operation S1103 , the vehicle control method according to an embodiment may include an operation of identifying whether a first condition is satisfied.

[0233] For example, the first condition may be related to the case where the track is a moving object and there is track verification information. For example, satisfying the first condition may include the case where the track is a moving object and there is track verification information. For example, not satisfying the first condition may include the case where the track is a stationary object or there is no track verification information. For example, the track may include the meaning of referring to an external object being tracked using a lidar.

[0234] When the first condition is satisfied (“Yes” in operation S1103 ), in operation S1105 , the vehicle control method according to an embodiment may include an operation of identifying whether the second condition is satisfied.

[0235] For example, the second condition may be related to whether the classification information (or type) of the external object being tracked is one of an unknown vehicle, a passenger car, or a commercial vehicle. For example, satisfying the second condition may include a case where the classification information of the external object being tracked is identified as one of an unknown vehicle, a passenger car, or a commercial vehicle. For example, not satisfying the second condition may include a case where the classification information of the external object being tracked is identified as not being an unknown vehicle, a passenger car, or a commercial vehicle.

[0236] When the second condition is not satisfied (“No” in operation S1105), in operation S1107, the vehicle control method according to one embodiment may include an operation of initializing the virtual track information. For example, the vehicle control method may also include an operation of deleting all the multiple virtual track information stored in the memory when the second condition is not satisfied.

[0237] When the second condition is satisfied (“Yes” in operation S1105 ), in operation S1109 , the vehicle control method according to an embodiment may include an operation of identifying whether a third condition is satisfied.

[0238] For example, the third condition may be related to whether the virtual frame corresponding to the second external vehicle is in a lateral movement state, or whether the moving direction of the virtual frame is different from that of the own vehicle.

[0239] For example, the case where the third condition is satisfied may include the case where the virtual frame corresponding to the second external vehicle is in a lateral movement state, or the forward direction of the virtual frame is not the same direction as the vehicle. For example, the case where the third condition is not satisfied may include the case where the virtual frame corresponding to the second external vehicle is not in a lateral movement state, and the forward direction of the virtual frame is the same direction as the vehicle.

[0240] When the third condition is not satisfied (“No” in operation S1109), in operation S1111, the vehicle control method according to one embodiment may include an operation of initializing virtual track information. For example, the operation of initializing virtual track information in operation S1111 may include the operation of initializing virtual track information in operation S1107.

[0241] When the third condition is satisfied ("Yes" in operation S1109), in operation S1113, the vehicle control method according to one embodiment can store the virtual trajectory path in the memory. For example, the virtual trajectory path can be generated based on correcting at least a portion of the trajectory path included in the verification information of each tracking channel. For example, the virtual trajectory path can be generated based on correcting at least a portion of the trajectory path identified during tracking of an external vehicle.

[0242] In operation S1115, the vehicle control method according to an embodiment may include an operation of storing the virtual track information at the current moment in the memory. For example, the vehicle control method may include an operation of storing the virtual track information at the current moment including the virtual track path acquired in operation S1113 in the memory.

[0243] In operation S1117, the vehicle control method according to one embodiment may include an operation of predicting the virtual trajectory information at the previous moment as the virtual trajectory information at the current moment and storing it in a memory. For example, the vehicle control method may include an operation of obtaining the virtual trajectory information predicted at the current moment based on time compensation performed on the virtual trajectory information at the previous moment. The vehicle control method may include an operation of obtaining the virtual trajectory information predicted at the current moment based on time compensation performed on the virtual trajectory information at the previous moment, and storing it in a memory.

[0244] In operation S1119 , the vehicle control method according to an embodiment may include an operation of identifying whether a fourth condition is satisfied.

[0245] For example, the fourth condition may be related to whether the trajectory is a moving object, whether the moving direction of the virtual frame is the same direction as that of the vehicle, classification information, the number of multiple virtual trajectory information stored in the memory, the length of the virtual trajectory path contained in the virtual trajectory information, the position of the trajectory, whether the vehicle is in a moving state, or at least one of any combination thereof.

[0246] For example, situations that satisfy the fourth condition may include situations where the trajectory is a moving object, the moving direction of the virtual frame is the same direction as that of the vehicle, the classification information is a vehicle, the number of multiple virtual trajectory information stored in the memory corresponds to a reference number (for example, approximately 20), the length of the virtual trajectory path included in the virtual trajectory information exceeds the reference length (for example, approximately 5m), the position of the trajectory exists at a specified position, the vehicle does not change lanes, and is traveling at a curvature above a specified value.

[0247] For example, situations in which the fourth condition is not satisfied may include at least one of the following situations: the trajectory is not a moving object, the moving direction of the virtual frame is not the same direction as that of the vehicle, the classification information is not a vehicle, the number of multiple virtual trajectory information stored in the memory does not correspond to the reference number, the length of the virtual trajectory path included in the virtual trajectory information is less than the reference length, the position of the trajectory does not exist at the specified position, the vehicle changes lanes, or the vehicle is traveling at a curvature less than a specified curvature.

[0248] When the fourth condition is satisfied (“Yes” in operation S1119 ), in operation S1121 , the vehicle control method according to an embodiment may include an operation of identifying whether the trajectory path is stable.

[0249] For example, whether the trajectory path is stable can be identified based on the dispersion of a plurality of tracking points included in the trajectory path.

[0250] For example, when the scatter of the plurality of tracking points included in the trajectory path is greater than the reference scatter, the trajectory path can be identified as unstable. For example, when the scatter of the plurality of tracking points included in the trajectory path is less than the reference scatter, the trajectory path can be identified as stable.

[0251] When the trajectory path is unstable ("No" in operation S1121), in operation S1123, the vehicle control method according to an embodiment may include an operation of updating the virtual trajectory information to the trajectory information. For example, the operation of updating the virtual trajectory information to the trajectory information may include an operation of outputting the virtual trajectory information as the trajectory information.

[0252] When the fourth condition is not satisfied (“No” in operation S1119 ) or the trajectory path is stable (“Yes” in operation S1121 ), the vehicle control method according to an embodiment may include an operation of ending the process.

[0253] Fig.12 An example of the result of applying the present invention is shown.

[0254] Reference Fig.12 , based on a vehicle control device of an embodiment (eg, Figure 1 A processor (eg, Figure 1 The processor 110) is capable of identifying the first virtual frame 1231 from the trajectory information representing the second external vehicle blocked by the first external vehicle.

[0255] In one embodiment, based on the fact that the trajectory information representing the second external vehicle blocked by the first external vehicle does not satisfy the reference reliability, the processor can obtain virtual trajectory information that corrects at least one of the first forward direction of the first virtual frame 1231 included in the trajectory information, the trajectory path included in the trajectory information and tracking the second external vehicle, the size of the first virtual frame 1231, or any combination thereof.

[0256] For example, the processor can obtain the second virtual frame 1233 that corrects at least one of the first heading direction of the first virtual frame 1231, the size of the first virtual frame 1231, or any combination thereof. For example, the processor can obtain the virtual track path 1201 that is included in the track information and has been corrected to track the track path of the second external vehicle.

[0257] In one embodiment, the processor can obtain virtual trajectory information from the time 1211 when the trajectory information of the second external vehicle blocked by the first external vehicle does not satisfy the reference reliability.

[0258] Reference Fig.12 , the multiple virtual trajectory information corresponding to each moment 1221, 1222, 1223, 1224, 1225 when the first forward direction of the first virtual frame 1231 exceeds the critical value is output as trajectory information of the second external vehicle representing the multiple moments 1221, 1222, 1223, 1224, 1225, so that the second forward direction of the second virtual frame 1223 corresponding to the second external vehicle can be stably output.

[0259] Fig.13 A vehicle control device or a computing system related to a vehicle control method according to an embodiment of the present invention is shown.

[0260] Reference Fig.13 The computing system 1000 can include at least one processor 1100 , a memory 1300 , a user interface input device 1400 , a user interface output device 1500 , a storage device 1600 , and a network interface 1700 connected via a bus 1200 .

[0261] The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes commands stored in the memory 1300 and / or the storage device 1600. The memory 1300 and the storage device 1600 may include various volatile or non-volatile storage media. For example, the memory 1300 may include a ROM (Read Only Memory) and a RAM (Random Access Memory).

[0262] Therefore, the steps of the methods or algorithms described in the various embodiments disclosed in this specification can be directly implemented by hardware, software modules, or a combination of the two executed by the processor 1100. The software module can also reside in a storage medium (i.e., the memory 1300 and / or the storage device 1600) such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, registers, hard disk, removable disk, CD-ROM, etc.

[0263] As an example, the storage medium can be combined with the processor 1100, and the processor 1100 can read information from the storage medium and record the information in the storage medium. As another method, the storage medium can also be configured as one with the processor 1100. The processor and the storage medium can also reside in an application specific integrated circuit (ASIC). The ASIC can also reside in a user terminal. As another method, the processor and the storage medium can also reside in a user terminal as a separate component.

[0264] The above description is merely an exemplary description of the technical concept of the present invention, and a person skilled in the art can make various modifications and variations without departing from the essential characteristics of the present invention.

[0265] Therefore, the multiple embodiments disclosed in the present invention are intended to illustrate rather than limit the technical ideas of the present invention, and the scope of the technical ideas of the present invention is not limited to these embodiments. The protection scope of the present invention should be interpreted by the claims, and should be interpreted as all technical ideas within the scope equivalent to them are included in the scope of rights of the present invention.

Claims

1. A vehicle control device, comprising: LiDAR; Memory; as well as processor, The processor is configured as follows: Based on the fact that the trajectory information of the second external vehicle at a first moment traveling in front of the first external vehicle obtained by the laser radar does not satisfy the reference reliability, a virtual frame corresponding to the second external vehicle is identified from the trajectory information, and virtual trajectory information that corrects at least a portion of the information related to the identified virtual frame is acquired; and Based on whether the second external vehicle is in a moving state, whether the difference between the first forward direction of the virtual frame and the second forward direction of the own vehicle is below a specified angle, the type of the second external vehicle, the amount of virtual trajectory information stored in the memory and containing the virtual trajectory information from the second moment before the first moment to the first moment, the length of the virtual trajectory path included in the virtual trajectory information, the position of the virtual frame included in the virtual trajectory information, whether the own vehicle changes lanes, or at least one of any combination thereof, the virtual trajectory information is output as trajectory information of the second external vehicle representing the first moment.

2. The vehicle control device according to claim 1, wherein: When the trajectory information of the second external vehicle does not satisfy the set reference reliability, The processor identifies whether at least one of whether the second external vehicle is in a moving state, the type of the second external vehicle, the first forward direction of the virtual frame corresponding to the second external vehicle, or any combination thereof satisfies a specified condition, When it is recognized that the specified condition is satisfied, corrected virtual trajectory information is acquired.

3. The vehicle control device according to claim 1, wherein: The virtual track information is obtained by correcting at least one of a track path for tracking the second external vehicle, a first forward direction of the virtual frame, and a position of the virtual frame.

4. The vehicle control device according to claim 1, wherein: The processor is configured as follows: Based on the fact that the second external vehicle is in a moving state, the trajectory information of the second external vehicle representing the first moment does not meet the reference reliability, the type of the second external vehicle is a passenger car or a commercial vehicle or a vehicle of an unknown type, the virtual frame is in a lateral moving state, or the first forward direction of the virtual frame is not the same direction as that of the vehicle, The virtual track information is obtained.

5. The vehicle control device according to claim 1, wherein: The processor is configured as follows: Based on the fact that the second external vehicle is in a moving state, the trajectory information of the second external vehicle representing the first moment does not meet the reference reliability, the type of the second external vehicle is not a passenger car or a commercial vehicle or a vehicle of an unknown type, the virtual frame is not in a lateral moving state, and the first forward direction of the virtual frame is the same direction as that of the own vehicle, The virtual trajectory information is not acquired, and a plurality of virtual trajectory information stored in the memory and including the virtual trajectory information from the second time to the first time is deleted.

6. The vehicle control device according to claim 1, wherein: The processor is configured as follows: Based on the trajectory information of the second external vehicle representing the first moment and each position of the virtual frame included in each data set corresponding to the second external vehicle from the second moment to the first moment stored in the memory, the position of the virtual frame at the first moment is corrected, Acquire trajectory information of a second external vehicle representing the first moment and a third advancing direction for correcting the first advancing direction of the virtual frame, wherein the first advancing direction is included in each data set corresponding to the second external vehicle from the second moment to the first moment and stored in the memory, Based on the corrected position of the virtual frame at the first moment and the third advancing direction, virtual trajectory information is acquired.

7. The vehicle control device according to claim 1, wherein: The processor is configured as follows: Based on the fact that the second external vehicle is in a moving state, the difference between the first forward direction of the virtual frame and the second forward direction of the own vehicle is less than a specified angle, the type of the second external vehicle is classified as a vehicle, the number of the plurality of virtual track information stored in the memory is greater than a reference number, the length of the virtual track path included in the virtual track information exceeds a reference length, the position of the virtual frame exists in a specified area, and the own vehicle does not change lanes, The acquired virtual track information is stored in a memory.

8. The vehicle control device according to claim 1, wherein: The processor is configured as follows: Based on the acquired virtual trajectory information, a first dispersion degree of a plurality of first tracking points included in the virtual trajectory information and a second dispersion degree of a plurality of second tracking points included in the trajectory information of the second external vehicle representing the first moment are identified, Based on the fact that the first scatter is smaller than a reference scatter and the second scatter is greater than or equal to a reference scatter, the virtual track information is stored in a memory.

9. The vehicle control device according to claim 1, wherein: The virtual frame includes a first virtual frame, The processor is configured as follows: selecting a relatively larger first value between the width of the first virtual frame acquired through a plurality of points of the second external vehicle corresponding to the first moment and a reference width, selecting a relatively larger second value between the length of the first virtual frame acquired through a plurality of points of the second external vehicle corresponding to the first moment and the reference length, Based on the first value and the second value, a second virtual frame is generated that corrects the size of the first virtual frame.

10. The vehicle control device according to claim 9, wherein: The processor is configured as follows: identifying a first coordinate in a second-axis direction among the first axis, the second axis, and the third axis based on a third point corresponding to a center of a line segment formed by the first point corresponding to the first value and the second point, The position of the second virtual frame is identified based on the first coordinate in the second axis direction and the second coordinate in the first axis direction of the first virtual frame included in the trajectory information of the second external vehicle representing the first moment that does not satisfy the reference reliability.

11. The vehicle control device according to claim 1, wherein: The processor is configured as follows: Each virtual trajectory information is stored in the memory using a moving window method according to the acquisition time of each virtual trajectory information from the second moment to the first moment that is stored in the memory and includes the virtual trajectory information.

12. The vehicle control device according to claim 11, wherein: The processor is configured as follows: Time compensation is performed on each virtual trajectory information stored in the memory based on at least one of the longitudinal speed of the vehicle, the lateral speed of the vehicle, the reference time, the yaw rate of the vehicle, the coordinates of the virtual frame of the second external vehicle corresponding to the first moment, or any combination thereof.

13. The vehicle control device according to claim 1, wherein: The processor is configured as follows: Based on at least one of the speed of the vehicle, the yaw rate of the vehicle, or any combination thereof, identifying that the vehicle enters a curved road section, Based on a portion of the virtual trajectory path included in the virtual trajectory information, at least one of a first heading direction of the virtual frame, a position of the virtual frame, a size of the virtual frame, a trajectory path for tracking a second external vehicle, or any combination thereof is corrected.

14. A vehicle control method, comprising: The processor performs the following operations: Based on the fact that the trajectory information of the second external vehicle at the first moment of driving in front of the first external vehicle obtained by the laser radar does not satisfy the reference reliability, identifying whether at least one of whether the second external vehicle is in a moving state, the type of the second external vehicle, the first forward direction of the virtual frame corresponding to the second external vehicle, or any combination thereof satisfies a specified condition; Based on satisfying the specified condition, obtaining virtual track information for correcting at least one of a track path for tracking a second external vehicle, a first forward direction of the virtual frame, a position of the virtual frame, or any combination thereof; as well as Based on whether the second external vehicle is in a moving state, whether the difference between the first forward direction of the virtual frame and the second forward direction of the own vehicle is below a specified angle, the type of the second external vehicle, the amount of virtual trajectory information stored in the memory and containing the virtual trajectory information from a second moment before the first moment to the first moment, the length of the virtual trajectory path included in the virtual trajectory information, the position of the virtual frame included in the virtual trajectory information, whether the own vehicle changes lanes, or at least one of any combination thereof, the virtual trajectory information is output as trajectory information of the second external vehicle representing the first moment.

15. The vehicle control method according to claim 14, wherein: The vehicle control method comprises the following operations: Based on the fact that the second external vehicle is in a moving state, the trajectory information of the second external vehicle representing the first moment does not meet the reference reliability, the type of the second external vehicle is a passenger car or a commercial vehicle or a vehicle of an unknown type, the virtual frame is in a lateral moving state, or the first forward direction of the virtual frame is not the same direction as that of the vehicle, The virtual track information is obtained.

16. The vehicle control method according to claim 14, wherein: The vehicle control method includes the following operations: based on the second external vehicle being in a moving state, the trajectory information of the second external vehicle representing the first moment does not meet the reference reliability, the type of the second external vehicle is not a passenger car or a commercial vehicle or a vehicle of an unknown type, the virtual frame is not in a lateral moving state, and the first forward direction of the virtual frame is the same direction as that of the own vehicle, The virtual trajectory information is not acquired, and a plurality of virtual trajectory information stored in the memory and including the virtual trajectory information from the second time to the first time is deleted.

17. The vehicle control method according to claim 14, wherein: The vehicle control method comprises the following operations: Correcting the position of the virtual frame at the first moment based on the trajectory information of the second external vehicle representing the first moment and each position of the virtual frame included in each data set corresponding to the second external vehicle from the second moment to the first moment and stored in the memory; Acquire trajectory information of a second external vehicle representing the first moment and a third heading direction for correcting a first heading direction of the virtual frame, wherein the first heading direction is included in each data set corresponding to the second external vehicle from the second moment to the first moment and stored in the memory; as well as Based on the corrected position of the virtual frame at the first moment and the third advancing direction, virtual trajectory information is acquired.

18. The vehicle control method according to claim 14, wherein: The vehicle control method comprises the following operations: Based on the fact that the second external vehicle is in a moving state, the difference between the first forward direction of the virtual frame and the second forward direction of the own vehicle is less than a specified angle, the type of the second external vehicle is classified as a vehicle, the number of the plurality of virtual track information stored in the memory is greater than a reference number, the length of the virtual track path included in the virtual track information exceeds a reference length, the position of the virtual frame exists in a specified area, and the own vehicle does not change lanes, The acquired virtual track information is stored in a memory.

19. The vehicle control method according to claim 14, wherein: The vehicle control method comprises the following operations: Based on the acquired virtual trajectory information, identifying a first dispersion of a plurality of first tracking points included in the virtual trajectory information and a second dispersion of a plurality of second tracking points included in the trajectory information of the second external vehicle representing the first moment; Based on the fact that the first scatter is smaller than a reference scatter and the second scatter is greater than or equal to a reference scatter, the virtual track information is stored in a memory.

20. The vehicle control method according to claim 14, wherein: The virtual frame includes a first virtual frame, The vehicle control method comprises the following operations: selecting a relatively larger first value between the width of the first virtual frame acquired through a plurality of points of the second external vehicle corresponding to the first moment and a reference width; selecting a relatively larger second value between a length of a first virtual frame acquired through a plurality of points of the second external vehicle corresponding to the first moment and a reference length; as well as Based on the first value and the second value, a second virtual frame is generated that corrects the size of the first virtual frame.

21. The vehicle control method according to claim 20, wherein: The vehicle control method comprises the following operations: an operation of identifying a first coordinate in a second-axis direction among the first axis, the second axis, and the third axis based on a third point corresponding to a center of a line segment formed by the first point corresponding to the first value and the second point; as well as The position of the second virtual frame is identified based on the first coordinate in the second axis direction and the second coordinate in the first axis direction of the first virtual frame included in the trajectory information of the second external vehicle representing the first moment that does not satisfy the reference reliability.

22. The vehicle control method according to claim 14, wherein: The vehicle control method comprises the following operations: According to the acquisition time of each virtual track information stored in the memory and including the virtual track information from the second moment to the first moment, each virtual track information is stored in the memory by using a moving window method; Time compensation is performed on each virtual trajectory information stored in the memory based on at least one of the longitudinal speed of the vehicle, the lateral speed of the vehicle, the reference time, the yaw rate of the vehicle, the coordinates of the virtual frame of the second external vehicle corresponding to the first moment, or any combination thereof.

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