KR102382112B1 - Virtual space combinaiton system for self driving cars - Google Patents

Abstract

The present invention activates proximity autonomous driving of a vehicle that will form a virtual space during autonomous driving, shares each internal image, and reduces voice noise, so that a comfortable virtual communication environment can be created during group driving.
In one aspect of the present invention, a spatial integration system for an autonomous vehicle includes a sensing unit including a radar or lidar, an output unit including at least one internal display, and a communication unit for transmitting and receiving audio or image data inside the vehicle. and an autonomous driving vehicle, wherein the output unit outputs a virtual coalescing space when the autonomous driving vehicle performs close driving from the side or rear side with another autonomous driving vehicle.

Description

Virtual space integration system for autonomous vehicles {VIRTUAL SPACE COMBINAITON SYSTEM FOR SELF DRIVING CARS}

The present invention relates to a virtual space merging system, and more particularly, to a virtual space merging system for an autonomous vehicle.

An autonomous vehicle is a vehicle that can drive automatically without human driving. Autonomous vehicles drive autonomously by recognizing their surroundings using radar, light detection and ranging (LIDAR), GPS, and cameras and simply designating a destination. Autonomous vehicles that are already being put into practical use include unmanned vehicles that patrol preset routes operated by the Israeli military and unmanned driving systems such as dump trucks operated in overseas mines and construction sites.

The first core technologies of these autonomous vehicles are the autonomous vehicle system and the actual system. In addition to simulation in the laboratory, it is a technology that actually builds an autonomous vehicle system. It implements the accelerator, reducer, and steering system that are driving devices for unmanned operation, and controls it using the computer, software, and hardware installed in the autonomous vehicle. make it possible

The second core technology is to receive and process visual information using vision and sensors. As the basis of autonomous driving for unmanned operation, it is a technology that accepts image information and extracts necessary information from the image. It uses not only CCD (charge-coupled device) cameras but also ultrasonic sensors and range filters to fuse information necessary for distance and driving, so that it can avoid obstacles and cope with unexpected situations through analysis and processing.

The third core technology is the integrated control system and operation monitoring fault diagnosis system technology. This technology establishes a driving monitoring system that monitors vehicle operation and gives appropriate commands according to changing situations, and provides appropriate information to the operator by diagnosing system failures by analyzing various situations occurring from individual processors and sensors. or to perform the function of notifying an alarm.

The fourth core technology is intelligent control and intelligent operation devices. This technology is an unmanned driving technique that generates control commands based on mathematical analysis using real vehicle models, and the first applied technology currently being applied to autonomous vehicles is the Adaptive Cruise Control (ACC) system. Intelligent Forward Control is a system that maintains the distance from the vehicle in front or obstacles by adjusting the speed by itself without the driver operating the pedals based on radar guide technology. When the driver inputs the distance to the vehicle in front, the long-distance radar attached to the front of the vehicle detects the position of the vehicle in front, maintains a constant speed, decelerates or accelerates, and stops completely if necessary, which is useful in weather where visibility is difficult.

The fifth applied technology is the lane departure prevention system. This is a technology that notifies the driver of an unintentional departure situation by detecting the lane with a camera installed inside. In an autonomous vehicle, the vehicle can safely drive along the lane by distinguishing between the pedestrian and the center line.

The sixth application technology is the parking assistance system. This is a system that helps the car park in reverse by adjusting the steering system when the driver finds the assist button, puts in reverse gear, and presses the brake pedal. By automatically guiding the vehicle from the departure point to the parking space based on infrastructure as well as vehicle-mounted sensors, it saves unnecessary time and energy when parking, thereby minimizing cost and environmental pollution.

The seventh application technology is the automatic parking system. This is a technology in which the driver stops the car in front of the parking lot, turns off the engine, gets off, and presses the remote control lock switch twice in succession. am.

The eighth application technology is a blind spot information guidance system. This is to warn the driver by judging whether there are other vehicles in the blind spot that cannot be seen through the side mirrors by sensors mounted on both sides of the car. .

The biggest advantage of an autonomous vehicle is that it helps fuel efficiency by avoiding repeated stops by making the control device more even because the driving speed and traffic management data match. that there is In addition, it has the advantages of solving fatigue caused by long-term driving, greatly reducing the risk of traffic accidents, speeding up road traffic flow, and reducing traffic congestion.

In addition, since securing the driving field of view of passengers becomes less important in autonomous vehicles, it is expected that, with the development of display technology, a variety of information can be output to the inside and outside of the vehicle by displaying the window or exterior of the vehicle. In particular, when platoon driving of autonomous driving is commercialized, communication between a wide variety of platoon users is required.

[Prior art literature]

Korea Patent Publication No. 2018-0130162 (2018. 12. 27.)

The present invention is to solve the above problems of the prior art, and an object of the present invention is to provide an integrated virtual space between users driving from the side during group driving, thereby merging the virtual space of an autonomous vehicle that can communicate in a new way. to provide a system.

In one aspect of the present invention, a spatial integration system for an autonomous vehicle includes a sensing unit including a radar or lidar, an output unit including at least one internal display, and a communication unit for transmitting and receiving audio or image data inside the vehicle. and an autonomous driving vehicle, wherein the output unit outputs a virtual coalescing space when the autonomous driving vehicle performs close driving from the side or rear side with another autonomous driving vehicle.

In this case, the output unit may include at least one display or speaker for outputting an internal image of the other autonomous vehicle.

In addition, the spatial integration system of the autonomous driving vehicle further includes an input unit and a control unit, and when the input unit enters a proximity driving mode during autonomous driving, the control unit controls the driving of the autonomous driving vehicle to be adjacent to another autonomous driving vehicle. It can be controlled to drive autonomously.

In addition, the sensing unit may further include a transmission voice canceller for reducing the output voice of the user of the autonomous driving vehicle output from the other autonomous driving vehicle.

In addition, the communication unit may be separately provided with a spatial data sharing module for transmitting and receiving image data or audio data in the virtual combined space and a content data sharing module shared between each autonomous vehicle user in the virtual combined space.

In addition, the space coalescing system of the autonomous vehicle may further include a control server, and may include a proximity driving collection module for guiding a detour to the rear autonomous vehicle when a proximity event in which the virtual coalescing space is generated occurs.

The present invention activates proximity autonomous driving of a vehicle that will form a virtual space during autonomous driving, shares each internal image, and reduces voice noise, so that a comfortable virtual communication environment can be created during group driving.

1 is an exemplary diagram for explaining the concept of a spatial integration system of an autonomous vehicle according to an embodiment of the present invention.
2 is a block diagram of a space aggregation system for an autonomous vehicle according to an embodiment of the present invention.
FIG. 3 is a configuration diagram illustrating the output unit of FIG. 2 in more detail.
FIG. 4 is a configuration diagram illustrating the sensing unit of FIG. 2 in more detail.
FIG. 5 is a configuration diagram illustrating the communication unit of FIG. 2 in more detail.
6 is a configuration diagram illustrating the control server in FIG. 2 in more detail.
7 is a view illustrating an operation of a spatial integration system of an autonomous vehicle according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

Terms including an ordinal number such as 1st, 2nd, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, the spatial integration system 1000 of an autonomous vehicle according to an embodiment of the present invention will be described. 1 is an exemplary diagram for explaining the concept of a spatial integration system of an autonomous vehicle according to an embodiment of the present invention.

Referring to FIG. 1 , the space aggregation system 1000 of an autonomous vehicle according to an embodiment of the present invention is configured such that an autonomous vehicle 100a and another autonomous vehicle 100b are clustered and driven next to the side or rear. do. The side driving as shown in FIG. 1 may be performed using the radar 121 or the lidar 122 of the sensing unit 120 , so a detailed description thereof will be omitted. In this case, the autonomous driving vehicle 100a and another autonomous driving vehicle 100b form one virtual space VC. Accordingly, the other autonomous driving vehicle 100 ′ following is aware of this and either overtakes laterally or maintains a distance from them and drives it. In this case, the autonomous driving vehicle 100a and another autonomous driving vehicle 100b that have formed the virtual space virtually share and occupy the indoor space so that they actually come into direct contact with each other.

Hereinafter, the spatial integration system according to the present embodiment will be described in more detail.

FIG. 2 is a configuration diagram of a spatial integration system of an autonomous vehicle according to an embodiment of the present invention, FIG. 3 is a configuration diagram illustrating the output unit in FIG. 2 in more detail, and FIG. 4 is a diagram illustrating the sensor unit in FIG. It is a configuration diagram showing in more detail, FIG. 5 is a configuration diagram showing the communication unit in FIG. 2 in more detail, and FIG. 6 is a configuration diagram showing the control server in FIG. 2 in more detail.

The spatial integration system 1000 of an autonomous vehicle according to an embodiment of the present invention may include the autonomous vehicle 100 and further include a control server 200 for its operation.

As shown in FIG. 2 , the autonomous vehicle 100 includes an output unit 110 , a sensing unit 120 , a communication unit 130 , an input unit 140 , and a control unit 150 . Referring further to FIG. 3 , the output unit 110 includes a first display 111 , a second display 112 , and a speaker 123 for virtual space integration. That is, the output unit 110 outputs the virtual coalescing space vc when the autonomous driving vehicle 100a performs close driving with another autonomous driving vehicle 100b from the side or rear.

The first display 111 is formed as a transparent display such as an OLED on the side glass and outputs an upper portion of the imaged inside of the other autonomous driving vehicle 100b.

The second display 112 includes a display disposed on a frame portion under the side glass or a hologram device for outputting a frame portion under the side glass. At this time, since the upper side is more important than the lower side for communication in the virtual space, it is preferable that the second display 112 use a hologram technique having a lower resolution than the first display 111 . At this time, the hologram device reflects the light emitted from the laser oscillator (not shown) inside the autonomous vehicle 100a on the lower frame of the side glass and the light formed by the lower inner image of the other autonomous vehicle 100b. The lower inner image or image of the other autonomous driving vehicle 100b is output by interfering with each other in the space on the lower frame side of the side glass. On the other hand, the speaker 113 inputs the voices of different vehicles and outputs them respectively.

The sensing unit 120 maintains a constant speed and an interval with the other autonomous vehicle 100b while driving in order to realize a virtual space, and for this purpose, a radar 121 or a lidar 122 is included. In addition, the sensing unit 120 may further include a camera 123 or a GPS 124 , and essentially include a microphone 125 for audio output in a virtual space.

The radar 121 refers to a device capable of moving unmanned while performing a radar detection operation by mounting an antenna in an autonomous vehicle. The radar 121 is not limited to performing only a radar detection operation using the provided antenna, and such as a plurality of sensors or complex sensors capable of sensing the surrounding environment, such as the lidar 122 and the camera 123 . It can be implemented in the form The radar 121 senses the surrounding environment to generate surrounding sensing information, and based on the surrounding sensing information, determines the road, other vehicles, people, and inanimate objects that exist in the driving direction based on the surrounding sensing information.

The lidar 122 is a device that precisely draws a surrounding state by emitting a laser pulse, receiving the light reflected from the surrounding target object, and measuring the distance to the object. The lidar 122 emits a laser pulse to the ground surface and measures the return time by analyzing the spatial position of the reflection point to measure the topography, and the reflected return time is different depending on the structure. A difficult three-dimensional model can be obtained.

The lidar 122 is composed of a laser, a scanner, a receiver, and a positioning system, and the wavelength of the laser is 600-1000 nm. The scanner is the part that lets you quickly scan your surroundings to get information. The receiver is a part that detects the returning light, and the sensitivity of the receiver to the light is a major factor influencing the performance of the lidar. Essentially, the receiver detects photons and amplifies them. The positioning system performs a role of confirming the coordinates and direction of the location where the receiver is placed in order to implement a 3D image.

Meanwhile, the sensing unit 120 further includes a transmission voice canceller 126 in addition to the microphone 125 . The transmitted voice canceller 126 serves to reduce the output voice of the user of the autonomous driving vehicle 100a output from the other autonomous driving vehicle 100b. In the virtual space, driving noise should be reduced to the utmost. Accordingly, the transmission voice canceller 126 is equipped with a general noise canceling function for reducing driving noise. However, even when a virtual space VC is formed between the autonomous driving vehicle 100a and another autonomous driving vehicle 100b driving next to the autonomous driving vehicle 100a, a delay may occur between the input/output section of the voice signal. Accordingly, the first user's voice is output from the second user's vehicle, and this output may be outputted from the first user's vehicle with a time delay again. This causes a result in which the content previously spoken by the first user while speaking is output again.

Accordingly, the transmitted voice canceller 126 prevents the part of the voice spoken by the first user from being output from the vehicle of the first user before a predetermined time. That is, the transmitted voice canceller 126 allows the first user's voice to be output from the second user's vehicle, but after this output is input into the second user's microphone, it outputs a voice waveform of the opposite phase to it Output to the first user is suppressed.

The communication unit 130 serves to transmit and receive audio or image data inside the autonomous vehicle 100 , and includes a spatial data sharing module 131 and a content data sharing module 132 as shown in FIG. 5 . The spatial data sharing module 131 transmits and receives an image (or image) and voice output from each vehicle, and the content data sharing module 132 transmits and receives data to be output from another vehicle when a separate content is shared. .

On the other hand, when the input unit 140 enters the proximity driving mode during autonomous driving, the control unit 150 controls the driving of the autonomous driving vehicle 100a so as to autonomously drive adjacent to another autonomous driving vehicle 100b. carry out

The control server 200 includes a proximity driving determination module 210 and a benefit providing module 220 . The proximity driving determination module 210 guides a detour to a rear autonomous vehicle (not shown) when a proximity event in which a virtual coalescing space is generated occurs. In addition, when the bypass is impossible, the proximity of the vehicle forming the virtual coalescing space is temporarily released, and then the alarm is executed to execute the proximity again. The benefit providing module 220 serves to provide a predetermined reward to a subordinate vehicle user when traffic congestion is caused by the virtual space formation.

Hereinafter, the operation of the present invention will be described by way of example. 7 is a view illustrating an operation of a spatial integration system of an autonomous vehicle according to an embodiment of the present invention.

As shown, in the virtual space coalescing system according to the present embodiment, the first display 111 is formed in the side window area to output an upper image of another autonomous driving vehicle user, and the second display 112 is located below the side window window. An example of applying a method of outputting a lower image of a user of another autonomous driving vehicle in the form of a hologram to an area can be seen. Accordingly, it is possible to implement realistic interactive communication and dialogue in the virtual space.

As described above, preferred embodiments of the present invention have been disclosed in the present specification and drawings, and although specific terms are used, these are only used in a general sense to easily explain the technical content of the present invention and to help the understanding of the present invention. , it is not intended to limit the scope of the present invention. It will be apparent to those of ordinary skill in the art to which the present invention pertains that other modifications based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

1000: space aggregation system of autonomous vehicle
100: autonomous vehicle
100': other vehicle
100'_1, 100'_2, 100'_3: overtaking process
110: output unit
111: first display
112: second display
113: speaker
120; sensing unit
121: radar
122: lidar
123: camera
124: GPS
125: microphone
126: transmitted voice canceller
130: communication department
131: spatial data sharing module
132: content data sharing module
140: input unit
150: control unit
200: control server
210: proximity driving judgment module
220: benefit providing module

Claims (6)

a sensing unit comprising a radar or lidar;
an output comprising at least one internal display, and
a communication unit for transmitting and receiving audio or image data inside the vehicle;
Self-driving vehicle comprising;
including,
When the autonomous driving vehicle performs close driving from the side or rear side with another autonomous driving vehicle, the output unit outputs a virtual coalescing space,
The output unit includes a first display for outputting an imaged upper part of the inside of another autonomous driving vehicle and a second display for outputting an imaged lower part of the inside of another autonomous driving vehicle as a hologram synthesis system.
The method of claim 1,
and the output unit includes at least one display or speaker for outputting an internal image of the other autonomous vehicle.
According to claim 1,
The spatial integration system of the autonomous vehicle further includes an input unit and a control unit, and when the input unit enters a proximity driving mode during autonomous driving, the control unit controls the driving of the autonomous driving vehicle to autonomously drive adjacent to another autonomous driving vehicle A spatial integration system of an autonomous vehicle, characterized in that it is controlled to do so.
The method of claim 1,
The spatial aggregation system of the autonomous driving vehicle, characterized in that the sensing unit further comprises a transmission voice canceller for reducing the output voice of an autonomous driving vehicle user output from other autonomous driving vehicles.
According to claim 1,
The space of the autonomous vehicle, characterized in that the communication unit is separately provided with a spatial data sharing module for transmitting and receiving image data or audio data in the virtual combined space and a content data sharing module to be shared between each autonomous vehicle user in the virtual combined space. synthesis system.
The method of claim 1,
The autonomous vehicle spatial integration system further includes a control server, and when a proximity event in which the virtual coalescing space is generated occurs, a proximity driving collection module for guiding a detour to the rear autonomous driving vehicle A space aggregation system of a driving vehicle.

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