V2V Method and Apparatus for Peripheral Vehicle Location Estimation using V2V and Environment Scanning Sensor

摘要

Disclosed is a method and a device for estimating a peripheral vehicle using a V2V and a vehicle environment recognition sensor. According to the present invention, the method for estimating a periphery vehicle using the V2V and the vehicle environment recognition sensor includes: a step of estimating the current position of a peripheral vehicle using periphery vehicle dynamic information among BSM information obtained by the V2V or a step of estimating the current position of the peripheral vehicle using opponent information with the peripheral vehicle obtained by the vehicle environment recognition sensor; and a step of calculating the current position of a final peripheral vehicle by fusing the current position of the peripheral vehicle estimated using the opponent information with the peripheral vehicle obtained by the vehicle environment recognition sensor and at least one of the current positions of the peripheral vehicle estimated by using the path history information among the BSM information obtained by the V2V or the current position of the peripheral vehicle estimated by using the peripheral vehicle dynamic information among the BSM information obtained by the V2V. The step of estimating the current position of the peripheral vehicle using the opponent information includes: a step of estimating the current position of the peripheral vehicle using path history information of the peripheral vehicle among BSM information obtained by using the V2V; and a step of estimating the current position of a peripheral vehicle.