US-12626594-B2 - Vehicle matching system and method of thereof

Abstract

Unique information is included through V2V communication and transmitted to all vehicles within a communication range. By using a radar sensor in a rear vehicle to transmit ASK-modulated unique information limited to a front vehicle area, the utilization of V2V communication data can be improved through matching of unique information.

Inventors

• Jae Young Lee

Assignees

• HYUNDAI MOBIS CO., LTD.

Dates

Publication Date

20260512

Application Date

20231221

Priority Date

20230316

Claims (8)

1. 1 . A matching system for a vehicle using vehicle-to-vehicle (V2V) communication with at least one other vehicle, where each vehicle is equipped with a radio detecting and ranging (RADAR) sensor, the matching system comprising: a V2V communication unit programmed to generate V2V communication data including unique vehicle information of the vehicle and perform V2V communication with a vehicle positioned nearby; a radar sensor controller in the radar sensor to insert a data transmission section into a chirp signal included in a radar signal, modulate the unique vehicle information into the inserted data transmission section using a signal with a preset frequency, include the modulated signal in the radar signal, and transmit the radar signal; and a radar reception processor, that includes a radar signal receiver, to receive the radar signal from any nearby vehicle, demodulate the received radar signal through a preset frequency, and analyze unique vehicle information of the vehicle that transmitted the radar signal.
2. 2 . The vehicle matching system of claim 1 , further comprising a matching determination unit to determine whether the unique vehicle information included in a received V2V communication data matches the unique vehicle information analyzed by the radar reception processor when receiving the V2V communication data from the nearby vehicle.
3. 3 . The vehicle matching system of claim 2 , wherein, when the matching determination unit determines a match, the V2V communication data corresponding to a matched vehicle is transferred to an associated control system.
4. 4 . The vehicle matching system of claim 2 , wherein the radar reception processor performs analysis only when a size of the received radar signal exceeds a preset threshold.
5. 5 . The vehicle matching system of claim 1 , wherein the V2V communication unit places the V2V communication data, including the unique vehicle information, in an optional field in basic safety message (BSM) data used in the V2V communication.
6. 6 . A matching method for a vehicle using vehicle-to-vehicle (V2V) communication with at least one other vehicle, wherein each vehicle is equipped with a radio detecting and ranging (RADAR) sensor, the matching method comprising: in a V2V communication unit of each vehicle, generating V2V communication data including unique vehicle information for each vehicle and performing V2V communication with a vehicle positioned nearby; in a radar sensor controller of each vehicle, inserting a data transmission section into a chirp signal included in a radar signal, modulating the unique vehicle information into the inserted data transmission section using a signal with a preset frequency, and including the modulated signal in the radar signal, and then transmitting the radar signal; in a radar reception processor of each vehicle, receiving the radar signal from at least one nearby vehicle; in the radar reception processor of each vehicle, demodulating the radar signal through a preset frequency and analyzing the unique vehicle information of the vehicle that transmitted the demodulated radar signal when a size of the received radar signal exceeds a preset threshold; in the V2V communication unit of each vehicle, receiving the V2V communication data from the nearby vehicle; in a matching determination unit of each vehicle, determining whether the unique vehicle information in the V2V communication data received matches the unique vehicle information analyzed by the radar reception processor; and in a matching determination unit of each vehicle, transmitting the corresponding V2V communication data to an associated control system when a match is determined by the matching determination unit.
7. 7 . The vehicle matching method of claim 6 , wherein: the radar signal transmitting applies amplitude shift keying (ASK) modulation, and the radar reception processor applies ASK demodulation.
8. 8 . The vehicle matching method of claim 6 , wherein the unique vehicle information is included in an optional field in basic safety message (BSM) data in the V2V communication data.

Description

CROSS-REFERENCE TO RELATED APPLICATIONS The present application claims priority to Korean Patent Application No. 10-2023-0034659, filed Mar. 16, 2023, the entire contents of which is incorporated herein for all purposes by this reference. TECHNICAL FIELD The present invention relates to a vehicle matching system and method thereof. More specifically, the present invention relates to a vehicle matching system that uses a principal vehicle's RADAR sensing technology to match information on a vehicle running behind the principal vehicle among the information received based on V2V communication with vehicles driving around the principal vehicle, and a method thereof. BACKGROUND For precise position recognition through high-definition (HD) map and global positioning system (GPS), coordinate information of each object (vehicle) is shared in real time through a vehicle-to-anything (V2X) system, so that it is possible to implement an autonomous driving system without sensors. However, the HD Map maintenance process cannot be performed in real time, and errors in GPS coordinates and shaded areas cause lowering of the accuracy of position recognition. Moreover, it is not easy to reliably share information on surrounding objects in real time using V2X in various environments. Since information on all vehicles located within the vehicle-to-vehicle (V2V) communication radius is received, when GPS information is unstable, it is difficult to determine the vehicle corresponding to the received information. Consider a principal vehicle for which an autonomous driving system it to be implemented. Even if information on surrounding vehicles is received using V2V communication, the vehicle corresponding to the received information cannot be identified by the principal vehicle. In other words, since the received information cannot specify whether it is a vehicle in front, behind, in the right lane, or in the left lane based on the driving direction of the principal vehicle, it cannot be associated to the implementation of an autonomous driving system. This V2V communication refers to wireless communication between vehicles and is a technology for exchanging data between moving or stationary vehicles. This technology allows vehicles within a certain range to exchange position information and traffic situation information based on wireless communication, and information on surrounding vehicles recognized through sensors can also be communicated with each other. Therefore, when using V2V communication data received from surrounding vehicles, accidents can be prevented in advance by analyzing vehicles in the blind spot of the driver of the principal vehicle in real time and transmitting the analysis to the driver of the principal vehicle. In addition, by transmitting unexpected situations that occur while driving to vehicles located behind the principal vehicle, serial collisions can be prevented. In this way, V2V communication can be used to detect stopped/low-speed vehicles ahead and implement technologies such as emergency braking situations, dangerous situations on the road, and cross-traffic support. In other words, based on V2V communication, it is possible to transfer position, driving data, and sensing data between vehicles, so that, ideally, it can be provided as configuration data for a driver assistance system to improve the accuracy and stability of the autonomous driving system. However, in reality, the position accuracy of the principal vehicle is low, and when a large number of vehicles are clustered, data through V2V communication cannot be specified as to from which vehicle it is transmitted, making it difficult to use as configuration data for a driver assistance system. In this regard, KR Registered Patent No. 10-2075831 (“method and apparatus for object number matching between V2V communication and radar sensor”) discloses object number matching technology between V2V communication and radar sensor. SUMMARY The present invention was devised to solve the above-mentioned problems, and is to provide a vehicle matching system that uses a principal vehicle's RADAR sensing technology to match information on a vehicle running behind the principal vehicle among the information on surrounding vehicles transmitted based on V2V communication, and a method thereof. In order to solve the above problems, the present invention provides a matching system between at least two vehicles to which vehicle-to-vehicle (V2V) communication function is applied and which are equipped with a radio detecting and ranging (RADAR) sensor. The matching system preferably comprises a V2V communication unit that generates V2V communication data including corresponding vehicle unique information of each vehicle and performs V2V communication with a vehicle positioned nearby, a radar sensor controller in a radar sensor provided in each vehicle that controls to insert a data transmission section into a chirp signal included in a radar signal, modulat