KR102530702B1 - Autonomous driving apparatus and method - Google Patents

Abstract

The present invention relates to an autonomous driving apparatus and method, and relates to a sensor unit for detecting vehicles around the host vehicle during autonomous driving, a memory for storing map information, and a processor for controlling autonomous driving of the host vehicle based on map information stored in the memory. When the processor updates the map information stored in the memory based on the detection result of the surrounding vehicle by the sensor unit with the new map information transmitted from the map providing server, but starts updating the map information stored in the memory In this case, the map information is updated by determining a billing method according to whether or not the occupant of the vehicle receives convenience information as a condition for map information to be updated.

Description

Autonomous driving device and method {AUTONOMOUS DRIVING APPARATUS AND METHOD}

The present invention relates to an autonomous driving device and method applied to an autonomous vehicle.

Today's automotive industry is moving in the direction of implementing autonomous driving that minimizes driver intervention in driving the vehicle. An autonomous vehicle refers to a vehicle that recognizes the surrounding environment through external information detection and processing functions while driving, determines a driving path on its own, and drives independently using its own power.

Self-driving vehicles can drive to their destination by themselves, avoiding collisions with obstacles on the driving path and adjusting the vehicle speed and driving direction according to the shape of the road, without the driver manipulating the steering wheel, accelerator pedal, or brakes. there is. For example, acceleration may be performed on a straight road, and deceleration may be performed while changing a driving direction corresponding to a curvature of the road on a curved road.

In order to ensure stable driving of an autonomous vehicle, the driving environment must be accurately measured through each sensor mounted on the vehicle, and the driving condition must be continuously monitored to control the driving according to the measured driving environment. To this end, various sensors such as lidar sensors, radar sensors, ultrasonic sensors, and camera sensors are applied to autonomous vehicles as sensors for detecting surrounding objects such as surrounding vehicles, pedestrians, and fixed facilities, Data output from these sensors is used to determine information about the driving environment, for example, state information such as the location, shape, moving direction, and moving speed of surrounding objects.

Furthermore, the self-driving vehicle optimally determines the driving route and driving lane by determining and correcting the location of the vehicle using pre-stored map data, controls the driving of the vehicle so as not to deviate from the determined route and lane, and suddenly It also provides a function of performing defense and avoidance driving against an approaching vehicle or risk factors existing on the driving route.

The background art of the present invention is disclosed in Korean Patent Publication No. 10-1998-0068399 (published on October 15, 1998).

An object according to an aspect of the present invention is to improve the driving accuracy of an autonomous vehicle by updating map information required for autonomous driving control of an autonomous vehicle, and at the same time, whether to charge for updating map information and providing convenience information during the update process It is an object of the present invention to provide an autonomous driving device and method capable of improving the convenience of the occupant by allowing the occupant to select whether or not to do so.

An autonomous driving device according to an aspect of the present invention controls autonomous driving of the own vehicle based on a sensor unit for detecting vehicles around the own vehicle in autonomous driving, a memory for storing map information, and the map information stored in the memory. and a processor configured to update map information stored in the memory with new map information transmitted from a map providing server based on a result of detection of the surrounding vehicle by the sensor unit, the map information stored in the memory. When the update for is initiated, the map information is updated by determining a billing method depending on whether or not the occupant of the vehicle is to be provided with convenience information as a condition for updating the map information. do.

In the present invention, the processor generates an actual driving trajectory of the surrounding vehicle based on the driving information of the surrounding vehicle detected by the sensor unit, and based on the map information stored in the memory, the expected driving trajectory of the surrounding vehicle and starts updating the map information stored in the memory when a trajectory error between an actual driving trajectory and an expected driving trajectory of the surrounding vehicle is equal to or greater than a preset threshold.

In the present invention, the processor, when it is determined that the passenger will not be provided with flight information before the map information is updated, provides billing request information for updating the map information to the passenger, and When charging is made, the map information is updated.

In the present invention, the processor, when it is determined that the passenger is to be provided with flight information before the update of the map information proceeds, in a state in which the passenger is not charged for the update of the map information, the map information It is characterized by an update.

In the present invention, the processor, when it is determined that the passenger is to be provided with flight information before the map information is updated, the destination inputted by the passenger and one or more specific points located on the route to the destination. It is characterized in that the convenience information of the branch for the service is received from the convenience information providing server and provided to the passenger.

In the present invention, the processor converts the passenger convenience information analyzed based on the passenger's on-line activity information to convenience information when it is determined that the passenger is to be provided with convenience information before the map information is updated. It is characterized in that it is received from the providing server and provided to the passenger.

An autonomous driving method according to an aspect of the present invention includes controlling, by a processor, autonomous driving of a host vehicle based on map information stored in a memory; determining whether the map information stored in the memory needs to be updated, and if it is determined that the map information stored in the memory needs to be updated, the processor determines whether the map information is updated by the occupant of the vehicle. determining whether convenience information is to be provided as a condition for the passenger to be provided with convenience information, and the processor determining a billing method according to whether or not the passenger is to be provided with convenience information, and then transmitting the map information stored in the memory from the map providing server and updating with received new map information.

In the determining step, the processor generates an actual driving trajectory of the surrounding vehicle based on the driving information of the surrounding vehicle detected by the sensor unit, and determines the surrounding vehicle based on the map information stored in the memory. An expected driving trajectory of the vehicle is generated, and when a trajectory error between the actual driving trajectory and the expected driving trajectory of the surrounding vehicle is greater than or equal to a preset threshold value, it is determined that map information stored in the memory needs to be updated.

In the updating step of the present invention, if it is determined that the passenger will not be provided with convenience information before the map information is updated, the processor provides billing request information for updating the map information to the passenger and updating the map information when the occupant's charge is made.

In the updating step of the present invention, when it is determined that the passenger is to be provided with convenience information before the map information is updated, the processor determines that the passenger is not charged for updating the map information. characterized in that the map information is updated in

In the updating step of the present invention, when it is determined that the passenger is to be provided with convenience information before the map information is updated, the processor determines the destination inputted by the passenger and the route to the destination. It is characterized in that branch convenience information for one or more specific points is received from a convenience information providing server and provided to the passenger.

In the updating step of the present invention, if it is determined that the passenger is to be provided with convenience information before the update of the map information is performed, the processor analyzes the passenger information based on the on-line activity information of the passenger. It is characterized in that convenience information is received from a convenience information providing server and provided to the passenger.

According to one aspect of the present invention, the present invention improves the driving accuracy of an autonomous vehicle by updating map information required for autonomous driving control of the autonomous vehicle, and at the same time, whether to charge for updating the map information and convenience in the update process. Convenience of the occupants can be improved by allowing the occupants to select whether or not to provide information.

1 is an overall block configuration diagram of an autonomous driving control system to which an autonomous driving device according to an embodiment of the present invention can be applied.
2 is a block diagram showing a specific configuration of an autonomous driving integrated control unit in an autonomous driving device according to an embodiment of the present invention.
3 is an exemplary view showing an example in which an autonomous driving device according to an embodiment of the present invention is applied to a vehicle.
4 is an exemplary view showing an example of an internal structure of a vehicle to which an autonomous driving device according to an embodiment of the present invention is applied.
5 is an exemplary view showing an example of a set distance and a horizontal angle of view at which a lidar sensor, a radar sensor, and a camera sensor can detect a surrounding object in an autonomous driving device according to an embodiment of the present invention.
6 is an exemplary view showing an example of detecting a surrounding vehicle by a sensor unit in an autonomous driving device according to an embodiment of the present invention.
7 is an exemplary view showing a processor, a map providing server, and a convenient information providing server communicating through a network in an autonomous driving device according to an embodiment of the present invention.
8 is a flowchart illustrating an autonomous driving method according to an embodiment of the present invention.

Hereinafter, embodiments of an autonomous driving device and method according to the present invention will be described with reference to the accompanying drawings. In this process, the thickness of lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or operator. Therefore, definitions of these terms will have to be made based on the content throughout this specification.

1 is an overall block diagram of an autonomous driving control system to which an autonomous driving device according to an embodiment of the present invention can be applied, and FIG. 2 is a detailed diagram of an integrated autonomous driving control unit in an autonomous driving device according to an embodiment of the present invention. It is a block diagram showing the configuration, Figure 3 is an exemplary view showing an example of the self-driving device according to an embodiment of the present invention is applied to a vehicle, Figure 4 is an autonomous driving device according to an embodiment of the present invention is applied 5 is an exemplary diagram showing an example of the internal structure of a vehicle, and FIG. 5 is a set distance and horizontal angle of view at which a lidar sensor, a radar sensor, and a camera sensor can detect a surrounding object in an autonomous driving device according to an embodiment of the present invention. 6 is an exemplary view showing an example of detecting a surrounding vehicle by a sensor unit in an autonomous driving device according to an embodiment of the present invention, and FIG. 7 is an exemplary view showing autonomous driving according to an embodiment of the present invention. It is an exemplary view showing a processor, a map providing server, and a convenient information providing server communicating through a network in a device.

First, the structure and function of an autonomous driving control system to which the autonomous driving device according to the present embodiment can be applied will be described with reference to FIGS. 1 and 3 . As shown in FIG. 1 , the autonomous driving control system is used for autonomous driving control of a vehicle through a driving information input interface 101, a driving information input interface 201, a passenger output interface 301, and a vehicle control output interface 401. It can be implemented around the autonomous driving integrated control unit 600 that transmits and receives necessary data.

The autonomous driving integrated control unit 600 may obtain driving information according to a driver's manipulation of the user input unit 100 in the autonomous driving mode or the manual driving mode of the vehicle through the driving information input interface 101 . As shown in FIG. 1 as an example, the user input unit 100 includes a driving mode switch 110 and a user terminal 120 (eg, a navigation terminal installed in a vehicle, a smartphone or a tablet PC owned by a passenger). Accordingly, the driving information may include vehicle driving mode information and navigation information. For example, the vehicle's driving mode (ie, autonomous driving mode/manual driving mode, or sport mode/eco mode/safety mode) determined according to the driver's manipulation of the driving mode switch 110 Mode (Safe Mode/Normal Mode) may be transmitted to the autonomous driving integrated control unit 600 through the driving information input interface 101 as the driving information described above. In addition, navigation information such as the passenger's destination input by the passenger through the user terminal 120 and the route to the destination (the shortest route or preferred route selected by the passenger among candidate routes to the destination) is the driving information. It can be transmitted to the autonomous driving integrated control unit 600 through the input interface 101 . Meanwhile, the user terminal 120 may be implemented as a control panel (eg, a touch screen panel) that provides a user interface (UI) for a driver to input or modify information for autonomous driving control of a vehicle. , In this case, the driving mode switch 110 described above may be implemented as a touch button on the user terminal 120 .

In addition, the autonomous driving integrated control unit 600 may obtain driving information indicating a driving state of the vehicle through the driving information input interface 201 . The driving information includes the steering angle formed by the occupant operating the steering wheel, the stroke of the accelerator pedal or the brake pedal formed by depressing the accelerator or brake pedal, and vehicle speed, acceleration, yaw, pitch, and behavior formed in the vehicle. and roll, etc., and may include various information representing the driving state and behavior of the vehicle, and each of the driving information includes a steering angle sensor 210, an Accel Position Sensor (APS)/Pedal Travel Sensor (PTS) as shown in FIG. 220 , vehicle speed sensor 230 , acceleration sensor 240 , and yaw/pitch/roll sensor 250 . Furthermore, vehicle driving information may include vehicle location information, and vehicle location information may be acquired through a Global Positioning System (GPS) receiver 260 applied to the vehicle. Such driving information may be transmitted to the autonomous driving integrated control unit 600 through the driving information input interface 201 and used to control driving of the vehicle in the autonomous driving mode or the manual driving mode.

In addition, the autonomous driving integrated control unit 600 may transmit driving state information provided to the occupant in the autonomous driving mode or the manual driving mode of the vehicle to the output unit 300 through the occupant output interface 301 . That is, the autonomous driving integrated control unit 600 transmits driving state information of the vehicle to the output unit 300 so that the driver can drive the vehicle autonomously or manually based on the driving state information output through the output unit 300. The driving state information may include various information indicating the driving state of the vehicle, such as a current driving mode, a shift range, and a vehicle speed. In addition, when it is determined that a driver needs to be warned in the autonomous driving mode or manual driving mode of the vehicle along with the driving state information, the autonomous driving integrated control unit 600 outputs warning information through the occupant output interface 301 to the output unit. 300 so that the output unit 300 outputs a warning to the driver. In order to audibly and visually output such driving state information and warning information, the output unit 300 may include a speaker 310 and a display device 320 as shown in FIG. 1 . In this case, the display device 320 may be implemented as the same device as the aforementioned user terminal 120 or may be implemented as a separate and independent device.

In addition, the autonomous driving integrated control unit 600 may transmit control information for driving control of the vehicle in the autonomous driving mode or the manual driving mode of the vehicle to the lower control system 400 applied to the vehicle through the vehicle control output interface 401. there is. As shown in FIG. 1 , the sub-control system 400 for vehicle driving control may include an engine control system 410, a braking control system 420, and a steering control system 430, and an autonomous driving integrated control unit. 600 may transmit engine control information, braking control information, and steering control information as the control information to each lower control system 410 , 420 , and 430 through the vehicle control output interface 401 . Accordingly, the engine control system 410 may increase or decrease fuel supplied to the engine to control the vehicle speed and acceleration, and the braking control system 420 may control braking of the vehicle by adjusting the braking force of the vehicle. The steering control system 430 may control steering of the vehicle through a steering device applied to the vehicle (eg, a Motor Driven Power Steering (MDPS) system).

As described above, the autonomous driving integrated control unit 600 according to the present embodiment transmits driving information according to the driver's manipulation and driving information indicating the driving state of the vehicle through the driving information input interface 101 and the driving information input interface 201, respectively. obtained, driving state information and warning information generated according to the autonomous driving algorithm processed by the internal processor 610 may be transmitted to the output unit 300 through the occupant output interface 301, and the internal processor ( Control information generated according to the autonomous driving algorithm processed by 610 may be transferred to the lower control system 400 through the vehicle control output interface 401 to operate to control vehicle driving.

On the other hand, in order to ensure stable autonomous driving of the vehicle, it is necessary to continuously monitor the driving state by accurately measuring the driving environment of the vehicle and control the driving according to the measured driving environment. To this end, the autonomous driving device of the present embodiment As shown in FIG. 1 , a sensor unit 500 may be included to detect objects around the vehicle, such as surrounding vehicles, pedestrians, roads, or fixed facilities (eg, traffic lights, milestones, traffic signs, construction fences, etc.). As shown in FIG. 1 , the sensor unit 500 may include one or more of a lidar sensor 510 , a radar sensor 520 , and a camera sensor 530 to detect surrounding objects outside the vehicle.

The lidar sensor 510 transmits a laser signal to the surroundings of the vehicle and receives a signal reflected back by the object to detect surrounding objects outside the vehicle. A surrounding object located within a vertical field of view and a set vertical field of view may be detected. The lidar sensor 510 may include a front lidar sensor 511, an upper lidar sensor 512, and a rear lidar sensor 513 installed on the front, top, and rear of the vehicle, respectively, but their installation locations and the number of installations is not limited to a specific embodiment. The threshold value for determining the validity of the laser signal reflected by the object and returned may be pre-stored in the memory 620 of the autonomous driving integrated control unit 600, and the processor 610 of the autonomous driving integrated control unit 600 The laser signal transmitted through the lidar sensor 510 can determine the position (including the distance to the object), speed, and direction of movement of the object through a method of measuring the time it takes for the laser signal to be reflected by the object and return. can

The radar sensor 520 may detect surrounding objects outside the vehicle by radiating electromagnetic waves around the vehicle and receiving a signal reflected back by the object, and according to the specifications, set distance, set vertical angle of view and A surrounding object located within the set horizontal field of view range can be detected. The radar sensor 520 may include a front radar sensor 521, a left radar sensor 521, a right radar sensor 522, and a rear radar sensor 523 installed on the front, left side, right side, and rear of the vehicle, respectively. However, the installation location and number of installations are not limited to specific embodiments. The processor 610 of the autonomous driving integrated control unit 600 analyzes the power of electromagnetic waves transmitted and received through the radar sensor 520 to determine the position of the object (including the distance to the object), speed and the direction of movement can be determined.

The camera sensor 530 may detect surrounding objects outside the vehicle by capturing an image of the surroundings of the vehicle, and may detect surrounding objects located within a range of a predefined set distance, set vertical angle of view, and set horizontal angle of view according to the specification. . The camera sensors 530 may include a front camera sensor 531, a left camera sensor 532, a right camera sensor 533, and a rear camera sensor 534 installed on the front, left, right, and rear surfaces of the vehicle, respectively. However, the installation location and number of installations are not limited to specific embodiments. The processor 610 of the autonomous driving integrated control unit 600 applies predefined image processing to the image captured through the camera sensor 530, thereby determining the position of the object (including the distance to the object) and speed. and the direction of movement can be determined. In addition, an internal camera sensor 535 for capturing an image of the inside of the vehicle may be mounted at a predetermined position inside the vehicle (eg, a rear view mirror), and the processor 610 of the integrated autonomous driving control unit 600 may A guide or warning may be output to the occupant through the above-described output unit 300 by monitoring the occupant's behavior and condition based on the image acquired through the sensor 535 .

In addition to the lidar sensor 510, the radar sensor 520, and the camera sensor 530, the sensor unit 500 may further include an ultrasonic sensor 540 as shown in FIG. Various types of sensors for detecting surrounding objects may be further employed in the sensor unit 500 . 3 shows that a front lidar sensor 511 or a front radar sensor 521 is installed on the front of the vehicle, and a rear lidar sensor 513 or rear radar sensor 524 is installed on the rear of the vehicle to help understand the present embodiment. It is installed on the front camera sensor 531, left camera sensor 532, right camera sensor 533 and rear camera sensor 534 are installed on the front, left side, right side and rear side of the vehicle, respectively. , As described above, the installation position and number of installations of each sensor are not limited to a specific embodiment. 5 shows an example of a set distance and a horizontal angle of view at which the lidar sensor 510, the radar sensor 520, and the camera sensor 530 can detect a nearby object in front, and FIG. An example of detecting an object is shown. 6 is only an example of detecting a surrounding object, and the method for detecting a surrounding object is determined depending on the installation location and number of installed sensors. Depending on the configuration of the sensor unit 500 described above, surrounding vehicles and surrounding objects in an omnidirectional area of the host vehicle may be detected.

Furthermore, the sensor unit 500 detects the occupant's voice and vital signals (eg, heart rate, electrocardiogram, respiration, blood pressure, body temperature, brain wave, blood flow (pulse wave), blood sugar, etc.) It may further include a microphone and a biosensor for processing, and the biosensors include a heart rate sensor, an electrocardiogram sensor, a respiration sensor, a blood pressure sensor, a body temperature sensor, an electroencephalogram sensor, a photoplethysmography sensor, and a blood sugar sensor. This can be.

4 shows an example of the internal structure of a vehicle, and inside the vehicle, its state is controlled by manipulation of a driver or passenger of the vehicle to provide driving or convenience (eg, rest, entertainment activities, etc.) of the vehicle. Internal devices to support may be installed. These internal devices may include a vehicle seat (S) on which the occupant is seated, a lighting device (L) such as an interior light and a mood light, the above-described user terminal 120 and display device 320, an internal table, and the like. The state of the internal device may be controlled by the processor 610 .

In the case of the vehicle seat S, the angle may be adjusted by the processor 610 (or by manual manipulation of the occupant), and the vehicle seat S may be adjusted to the front row seat S1 and the rear row seat S2. , only the angle of the front row seats S1 can be adjusted. When the rear seat S2 is not provided and the front row seat S1 is divided into a seat structure and a footrest structure, the seat structure of the front row seat S1 is physically separated from the footrest structure, It may be implemented such that the angle is adjusted. In addition, an actuator (eg, a motor) for adjusting the angle of the vehicle seat S may be provided. In the case of the lighting device (L), its on/off may be controlled by the processor 610 (or by manual manipulation of the occupant), and the lighting device (L) operates a plurality of lighting units such as interior lights and mood lights. When included, each lighting unit can be independently controlled on and off. The angle of the user terminal 120 or the display device 320 may be adjusted by the processor 610 (or by manual manipulation of the passenger) according to the passenger's viewing angle, and for example, the screen is aligned with the passenger's line of sight. The angle can be adjusted so that it exists. In this case, an actuator (eg, a motor) may be provided to adjust the angles of the user terminal 120 and the display device 320 .

As shown in FIG. 1 , the autonomous driving integrated control unit 600 may communicate with the server 700 through a network. As a network method between the autonomous driving integrated control unit 600 and the server 700, various communication methods such as a wide area network (WAN), a local area network (LAN), or a personal area network (PAN) may be employed. In addition, in order to secure wide network coverage, LPWAN (Low Power Wide Area Network, a network with very wide coverage among the Internet of Things, including commercialized technologies such as LoRa, Sigfox, Ingenu, LTE-M, and NB-IOT) communication method can be employed. For example, a communication method of LoRa (having a wide coverage of up to 20Km while enabling low-power communication) or Sigfox (having a coverage of 10Km (city) to 30Km (outside the city) depending on the environment) is adopted 3GPP (3rd generation Partnership Project) release 12, 13 based LTE network technology may be employed. The server 700 may provide up-to-date map information (various map information such as 2D navigation map data, 3D remote map data, or 3D high-precision electronic map data) may be provided. It can also provide various types of information such as accident information, road control information, traffic volume information, and weather information. The autonomous driving integrated control unit 600 may update the map information stored in the memory 620 by receiving the latest map information from the server 700, and receive accident information, road control information, traffic volume information, and weather information to drive the vehicle. It can also be used for autonomous driving control.

Next, with reference to FIG. 2 , the structure and function of the autonomous driving integrated control unit 600 according to this embodiment will be described. As shown in FIG. 2 , the autonomous driving integrated controller 600 may include a processor 610 and a memory 620 .

The memory 620 may store basic information necessary for autonomous driving control of the vehicle or information generated in the process of controlling the autonomous driving of the vehicle by the processor 610. The processor 610 may store the memory 620 It is possible to control the autonomous driving of the vehicle by accessing (read, access) the information stored in ). The memory 620 may be implemented as a computer-readable recording medium so that the processor 610 can access it. Specifically, the memory 620 may include a hard drive, a magnetic tape, a memory card, a read-only memory (ROM), a random-access memory (RAM), a digital video disc (DVD), or an optical disk. It can be implemented as an optical data storage device such as

Map information required for autonomous driving control by the processor 610 may be stored in the memory 620 . The map information stored in the memory 620 may be a navigation map (digital topographic map) that provides road-level information, but a precision road map that provides lane-level road information to improve the precision of autonomous driving control; That is, it may be preferable to implement the 3D high-precision electronic map data. Accordingly, the map information stored in the memory 620 is dynamic and necessary for autonomous driving control of the vehicle, such as lanes, lane center lines, regulatory lines, road boundaries, road center lines, traffic signs, road markings, road shapes and heights, and lane widths. Static information can be provided.

In addition, an autonomous driving algorithm for autonomous driving control of a vehicle may be stored in the memory 620 . The self-driving algorithm is an algorithm (recognition, judgment and control algorithm) that recognizes the surroundings of the self-driving vehicle, determines its state, and controls the driving of the vehicle according to the judgment result. It is possible to perform active autonomous driving control on the environment around the vehicle by executing the driving algorithm.

The processor 610 includes driving information and driving information input from the aforementioned driving information input interface 101 and driving information input interface 201 respectively, information on surrounding objects detected through the sensor unit 500, and memory. The autonomous driving of the vehicle may be controlled based on the map information stored in 620 and the autonomous driving algorithm. The processor 610 may be implemented as an embedded processor such as a complex instruction set computer (CISC) or reduced instruction set computer (RISC), or a dedicated semiconductor circuit such as an application specific integrated circuit (ASIC). .

In this embodiment, the processor 610 can control the autonomous driving of the own vehicle by analyzing each driving trajectory of the own vehicle and surrounding vehicles, and for this purpose, as shown in FIG. 611), a driving trajectory generating module 612, a driving trajectory analysis module 613, a driving control module 614, a trajectory learning module 615, and an occupant state determination module 616. Although FIG. 2 shows each module as an independent block according to its function, each module may be integrated into one module to integrally perform each function.

The sensor processing module 611 includes the driving information of the surrounding vehicles (ie, the location of the surrounding vehicles, and the speed and may further include a movement direction) may be determined. That is, the location of a nearby vehicle is determined based on a signal received through the lidar sensor 510, the location of a nearby vehicle is determined based on a signal received through the radar sensor 520, or the camera sensor 530 It is possible to determine the location of a surrounding vehicle based on an image captured through the image or to determine the location of a surrounding vehicle based on a signal received through the ultrasonic sensor 540 . To this end, as shown in FIG. 1 , the sensor processing module 611 may include a lidar signal processing module 611a, a radar signal processing module 611b, and a camera signal processing module 611c (ultrasound signal processing). modules may be further added to the sensor processing module 611). A method of determining the location of a surrounding vehicle by using the lidar sensor 510, the radar sensor 520, and the camera sensor 530 is not limited to a specific embodiment. In addition, the sensor processing module 611 may determine attribute information such as the size and type of the surrounding vehicle as well as the location, speed, and direction of movement of the surrounding vehicle. An algorithm for determining information such as and type may be predefined.

The driving trajectory generation module 612 may generate an actual driving trajectory and an expected driving trajectory of surrounding vehicles and an actual driving trajectory of the own vehicle. To this end, as shown in FIG. and an own vehicle driving trajectory generating module 612b.

First, the surrounding vehicle driving trajectory generation module 612a may generate an actual driving trajectory of the surrounding vehicle.

Specifically, the surrounding vehicle driving trajectory generation module 612a generates the surrounding vehicle based on driving information of the surrounding vehicle detected by the sensor unit 500 (ie, the position of the surrounding vehicle determined by the sensor processing module 611). An actual driving trajectory can be created. In this case, in order to generate an actual driving trajectory of the surrounding vehicle, the surrounding vehicle driving trajectory generation module 612a may refer to map information stored in the memory 620, and the location of the surrounding vehicle detected by the sensor unit 500 An actual driving trajectory of surrounding vehicles may be generated by cross-referencing an arbitrary location on the map information stored in the memory 620 and the map information stored in the memory 620 . For example, when a nearby vehicle is detected at a specific point by the sensor unit 500, the surrounding vehicle driving trajectory generation module 612a generates the location of the detected surrounding vehicle and an arbitrary location on map information stored in the memory 620. It is possible to specify the location of the currently detected surrounding vehicle on the map information by cross-referencing, and an actual driving trajectory of the surrounding vehicle can be generated by continuously monitoring the location of the surrounding vehicle as described above. That is, the surrounding vehicle driving trajectory generating module 612a maps the location of the surrounding vehicle detected by the sensor unit 500 to the location on the map information stored in the memory 620 based on the above cross reference and accumulates the surrounding An actual driving trajectory of the vehicle can be generated.

Meanwhile, the actual driving trajectory of the surrounding vehicle may be compared with the expected driving trajectory of the surrounding vehicle to be described later, and may be used to determine whether the map information stored in the memory 620 is inaccurate. In this case, when comparing an actual driving trajectory of a specific surrounding vehicle with an expected driving trajectory, a problem of misjudging that the map information is inaccurate despite being accurate may occur. For example, when the actual driving trajectory and the expected driving trajectory of a plurality of surrounding vehicles match, and the actual driving trajectory and the expected driving trajectory of a specific surrounding vehicle are different, only the actual driving trajectory of the specific surrounding vehicle is different from the expected driving trajectory. Comparisons can lead to misjudgement that map information is inaccurate even though it is accurate. Therefore, there is a need to determine whether the tendency of the actual driving trajectories of the plurality of surrounding vehicles deviates from the expected driving trajectory. You may. Furthermore, considering that drivers of surrounding vehicles tend to slightly move the steering wheel to the left and right during the driving process to drive on a straight path, the actual driving trajectory of surrounding vehicles may be created in a curved form rather than a straight line, which will be described later. In order to calculate an error between the predicted driving trajectories, the surrounding vehicle driving trajectory generation module 612a may generate an actual driving trajectory in a straight shape by applying a predetermined smoothing technique to the original actual driving trajectory generated in a curved shape. As the smoothing technique, various techniques such as interpolation for each position of surrounding vehicles may be employed.

Also, the surrounding vehicle driving trajectory generating module 612a may generate an expected driving trajectory of surrounding vehicles based on map information stored in the memory 620 .

As described above, the map information stored in the memory 620 may be 3D high-precision electronic map data, and thus the map information includes lanes, road center lines, regulatory lines, road boundaries, road center lines, traffic signs, road signs, and road shapes. In addition, dynamic and static information required for vehicle autonomous driving control, such as height and lane width, may be provided. Considering that vehicles generally drive in the center of the lane, it can be expected that the surrounding vehicles driving around the host vehicle will also run in the center of the lane. Therefore, the surrounding vehicle driving trajectory generating module 612a An expected driving trajectory of the vehicle may be generated as a center line of a road reflected in map information.

The own vehicle driving trajectory generating module 612b may generate an actual driving trajectory the own vehicle has traveled up to now based on the driving information of the own vehicle obtained through the aforementioned driving information input interface 201 .

Specifically, the own vehicle driving trajectory generation module 612b generates the location of the own vehicle obtained through the driving information input interface 201 (ie, the location information of the own vehicle obtained through the GPS receiver 260) and the memory 620 ), an actual driving trajectory of the own vehicle can be generated by cross-referencing an arbitrary location on the map information stored in ). For example, the current location of the own vehicle can be specified on the map information by cross-referencing the location of the own vehicle obtained through the driving information input interface 201 and an arbitrary location on the map information stored in the memory 620, As described above, an actual driving trajectory of the own vehicle may be generated by continuously monitoring the location of the own vehicle. That is, the own vehicle driving trajectory generation module 612b maps the location of the own vehicle obtained through the driving information input interface 201 to the location on the map information stored in the memory 620 based on the above cross reference and accumulates By doing so, it is possible to generate an actual driving trajectory of the own vehicle.

Also, the own vehicle driving trajectory generating module 612b may generate an expected driving trajectory along which the own vehicle should travel to a destination based on map information stored in a memory.

That is, the own vehicle driving trajectory generating module 612b stores the current location of the own vehicle obtained through the driving information input interface 201 (ie, the current location information of the own vehicle obtained through the GPS receiver 260) and the memory. An expected driving trajectory to a destination may be generated using the stored map information, and the predicted driving trajectory of the own vehicle may be generated as a center line of a road reflected in the map information stored in the memory 620, similarly to the predicted driving trajectory of surrounding vehicles. can

The driving trajectory generated by the surrounding vehicle driving trajectory generating module 612a and the own vehicle driving trajectory generating module 612b may be stored in the memory 620, and autonomous driving of the own vehicle is controlled by the processor 610 It can be used for various purposes in the process.

The driving trajectory analysis module 613 generates each driving trajectory generated by the driving trajectory generating module 612 and stored in the memory 620 (that is, the actual driving trajectory and expected driving trajectory of surrounding vehicles, and the actual driving trajectory of the own vehicle). It is possible to diagnose the reliability of the autonomous driving control for the current vehicle by analyzing the data. Diagnosis of reliability of autonomous driving control may be performed by analyzing a trajectory error between an actual driving trajectory and an expected driving trajectory of surrounding vehicles.

The driving control module 614 may perform a function of controlling autonomous driving of the own vehicle, and specifically, driving information and driving information input from the aforementioned driving information input interface 101 and driving information input interface 201, respectively. And, the information on the surrounding objects detected through the sensor unit 500 and the map information stored in the memory 620 are comprehensively used to process the autonomous driving algorithm, and control information is transmitted through the vehicle control output interface 401. In addition, the driving state information and warning information of the own vehicle are transferred to the output unit 300 through the occupant output interface 301 so that the lower control system 400 controls the autonomous driving of the host vehicle. can be made aware of. In addition, when the driving control module 614 integrally controls the autonomous driving as described above, the sensor processing module 611, the driving trajectory generating module 612, and the driving trajectory analysis module 613 analyze the own vehicle And by controlling the autonomous driving in consideration of the driving trajectory of the surrounding vehicle, it is possible to improve the precision of the autonomous driving control and improve the stability of the autonomous driving control.

The trajectory learning module 615 may perform learning or correction on the actual driving trajectory of the own vehicle generated by the own vehicle driving trajectory generating module 612b. For example, if the trajectory error between the actual driving trajectory and the predicted driving trajectory of the surrounding vehicle is greater than a preset threshold value, it is determined that the map information stored in the memory 620 is inaccurate and the actual driving trajectory of the own vehicle needs to be corrected. Accordingly, the driving trajectory of the own vehicle may be corrected by determining a lateral shift value for correcting the actual driving trajectory of the own vehicle.

The occupant condition determination module 616 may determine the occupant's condition and behavior based on the occupant's condition and biosignal detected by the aforementioned internal camera sensor 535 and the biometric sensor. The occupant's condition determined by the occupant's condition determination module 616 may be utilized in the process of controlling autonomous driving of the own vehicle or outputting a warning to the occupant.

Based on the foregoing, hereinafter, the map information stored in the memory 620 is updated, but the passenger's convenience is improved by allowing the passenger to select whether to charge for updating the map information and whether to provide convenience information during the update process. An example will be described with reference to FIG. 7 .

The processor 610 controls the autonomous driving of the own vehicle based on the map information stored in the memory 620, the map information stored in the memory 620 based on the result of the sensor unit 500 detecting surrounding vehicles. It can be determined whether or not an update is required. At this time, the processor 610 generates an actual driving trajectory of the surrounding vehicle based on the driving information of the surrounding vehicle detected by the sensor unit 500, and predicts the driving of the surrounding vehicle based on the map information stored in the memory 620. When a trajectory is generated and a trajectory error between an actual driving trajectory and an expected driving trajectory of a surrounding vehicle is greater than or equal to a preset threshold value, it may be determined that map information stored in the memory 620 needs to be updated.

Specifically, as described above, the processor 610 (the driving trajectory generating module 612) of the present embodiment generates an actual driving trajectory of the surrounding vehicle based on the driving information of the surrounding vehicle detected by the sensor unit 500 can do. That is, when a nearby vehicle is detected at a specific point by the sensor unit 500, the processor 610 cross-references the location of the detected surrounding vehicle with the location on the map information stored in the memory 620, thereby detecting current on map information. The location of the surrounding vehicle may be specified, and the actual driving trajectory of the surrounding vehicle may be generated by continuously monitoring the location of the surrounding vehicle as described above.

And, the processor 610 (the driving trajectory generation module 612) may generate an expected driving trajectory of surrounding vehicles based on the map information stored in the memory 620, in which case the processor 610 may generate An expected driving trajectory may be generated as a center line of a road reflected in map information.

The processor 610 may determine that map information stored in the memory 620 needs to be updated when a trajectory error between an actual driving trajectory and an expected driving trajectory of a nearby vehicle is equal to or greater than a preset threshold. That is, as described above, if the trajectory error between the actual driving trajectory and the expected driving trajectory of the surrounding vehicle is greater than the threshold value, the processor 610 determines that the map information stored in the memory 620 is inaccurate and determines that the update is necessary. can

When updating the map information stored in the memory 620, the processor 610 determines a billing method depending on whether or not the occupant of the vehicle receives convenience information as a condition for updating the map information. Map information can be updated. The passenger can select whether or not to receive convenience information when the map information is updated through the UI provided through the user terminal 120, and the processor 610 receives the passenger's selection from the user terminal 120. You can check whether convenience information is provided or not.

Here, the convenience information may include a destination input by a passenger through the user terminal 120 and point convenience information about one or more feature points located on a route to the destination. Branch convenience information includes, for example, destination travel information (restaurants, landmarks, tourist attractions, local special product information, etc.), rest area information located on the route to the destination (regional rest area restaurants, congestion information at each rest area, etc.) ), POI (Point Of Interest) information (gas station information or car wash information, etc. that can be passed by the shortest distance in the process of driving a route to a destination), and the like. Also, the convenience information may include passenger convenience information analyzed based on the passenger's on-line activity information. Passenger convenience information includes, for example, advertisement information and news information on the rider's preferred hobbies or products, analyzed based on the rider's online activity information, such as whether the rider has subscribed to an internet cafe, blog, or shopping mall, and the frequency of access. can include The processor 610 may receive the branch convenience information and passenger convenience information as described above from the convenience information providing server 800 shown in FIG. 7 , output them through the user terminal 120, and provide the information to passengers. It is assumed that the information providing server 800 secures passenger convenience information by collecting and analyzing online activity information of passengers performed through the user terminal 120 .

When it is determined that the passenger will not be provided with convenience information before the map information stored in the memory 620 is updated (ie, the passenger is not provided with convenience information before the map information is updated through the user terminal 120). If selected), the processor 620 may provide charging request information for updating the map information to the passenger through the user terminal 120, and update the map information when the passenger is charged. That is, the passenger can pay a predetermined cost to the operator of the map providing server 700 so that map information can be updated more quickly without being provided with unwanted convenience information. ), and can be made based on a payment program or payment application installed in ), and can be employed in various ways such as card payment (automatic payment through card company partnership), point or mileage payment, or virtual currency as a payment method.

On the other hand, when it is determined that the passenger is to be provided with convenience information before the map information stored in the memory 620 is updated (ie, the passenger is provided with the convenience information before the map information is updated through the user terminal 120). If selected), the processor 610 may update the map information in a state in which the passenger is not charged for updating the map information. For example, in the case of a situation in which prompt updating of map information is not required, such as when the passenger has time to spare, the above-mentioned point convenience information is not paid to the operator of the map providing server 700 for a predetermined cost. And after receiving convenience information such as passenger convenience information, map information may be updated.

8 is a flowchart illustrating an autonomous driving method according to an embodiment of the present invention.

Referring to the autonomous driving method according to an embodiment of the present invention with reference to FIG. 8 , the processor 610 controls autonomous driving of the own vehicle based on map information stored in the memory 620 (S100).

Subsequently, the processor 610 determines whether updating of map information stored in the memory 620 is necessary based on a result of the sensor unit 500 detecting surrounding vehicles of the own vehicle (S200). In step S200, the processor 610 generates an actual driving trajectory of the surrounding vehicle based on the driving information of the surrounding vehicle detected by the sensor unit 500, and calculates the driving trajectory of the surrounding vehicle based on the map information stored in the memory 620. An expected driving trajectory is generated, and when a trajectory error between an actual driving trajectory and an expected driving trajectory of a nearby vehicle is greater than or equal to a preset threshold value, it is determined that map information stored in the memory 620 needs to be updated.

In step S200, when it is determined that the map information stored in the memory 620 needs to be updated, the processor 610 checks whether or not the occupants of the vehicle will be provided with convenience information as a condition for updating the map information. (S300).

Then, the processor 610 determines the charging method according to whether or not the passenger will be provided with convenience information, and then updates the map information stored in the memory 620 with the new map information transmitted from the map providing server 700 (S400 ).

In step S400, the processor 610, if it is determined that the passenger will not be provided with convenience information before updating the map information, provides the passenger with billing request information for updating the map information (S410), and charges the passenger When this is done (S420), map information is updated (S430).

If it is determined that the passenger will be provided with convenience information before updating the map information, the processor 610 updates the map information without charging the passenger for updating the map information. That is, the processor 610 provides the convenience information transmitted from the convenience information providing server 800 to the passenger through the user terminal 120 before updating the map information (S440), and then updates the map information. Do (S430).

When updating of the map information is completed, the processor 610 performs normal autonomous driving control (S500).

As such, the present embodiment improves the driving accuracy of the autonomous vehicle by updating the map information required for autonomous driving control of the autonomous vehicle, and at the same time determines whether or not to charge for updating the map information and whether or not convenience information is provided during the update process to the occupant. It is possible to improve the comfort of the occupants by allowing them to select.

Although the present invention has been described with reference to the embodiments shown in the drawings, it should be noted that this is only exemplary and various modifications and equivalent other embodiments are possible from those skilled in the art to which the technology pertains. will understand Therefore, the true technical protection scope of the present invention should be defined by the claims below.

100: user input unit 101: driving information input interface
110: driving mode switch 120: user terminal
200: driving information detector 201: driving information input interface
210: steering angle sensor 220: APS/PTS
230: vehicle speed sensor 240: acceleration sensor
250: yaw/pitch/roll sensor 260: GPS receiver
300: output unit 301: occupant output interface
310: speaker 320: display device
400: sub-control system 401: vehicle control output interface
410: engine control system 420: braking control system
430: steering control system 500: sensor unit
510: lidar sensor 511: front lidar sensor
512: upper lidar sensor 513: rear lidar sensor
520: radar sensor 521: front radar sensor
522: left radar sensor 523: right radar sensor
524: rear radar sensor 530: camera sensor
531: front camera sensor 532: left camera sensor
533: right camera sensor 534: rear camera sensor
535: internal camera sensor 540: ultrasonic sensor
600: autonomous driving integrated control unit 610: processor
611: sensor processing module 611a: lidar signal processing module
611b: radar signal processing module 611c: camera signal processing module
612: driving trajectory generation module 612a: surrounding vehicle driving trajectory generation module
612b: own vehicle driving trajectory generation module 613: driving trajectory analysis module
614: driving control module 615: trajectory learning module
616: occupant state determination module 620: memory
700: server (map providing server) 800: convenience information providing server

Claims (12)

a sensor unit that detects vehicles around the own vehicle in autonomous driving;
memory for storing map information; and
A processor controlling autonomous driving of the own vehicle based on map information stored in the memory;
the processor,
Updating map information stored in the memory with new map information transmitted from a map providing server based on a detection result of the surrounding vehicle by the sensor unit;
When starting to update the map information stored in the memory, a charging method is determined depending on whether or not the occupant of the vehicle receives convenience information as a condition for updating the map information to update the map information and
the processor,
An actual driving trajectory of the surrounding vehicle is generated based on the driving information of the surrounding vehicle detected by the sensor unit, an expected driving trajectory of the surrounding vehicle is generated based on the map information stored in the memory, and When the trajectory error between the actual driving trajectory and the expected driving trajectory is equal to or greater than a preset threshold, updating of the map information stored in the memory is started, and the predicted driving trajectory of the surrounding vehicle is the center line of the lane reflected in the map information. autonomous driving device.
delete According to claim 1,
the processor,
If it is determined that the passenger will not be provided with the convenience information before the update of the map information proceeds, billing request information for updating the map information is provided to the passenger, and when the passenger's billing is made, the map information Autonomous driving device characterized in that the update proceeds.
According to claim 1,
the processor,
When it is determined that the passenger is to be provided with convenience information before the update of the map information proceeds, the update of the map information is performed in a state in which the passenger is not charged for the update of the map information. autonomous driving device.
According to claim 4,
the processor,
When it is determined that the passenger is to be provided with convenience information before the map information is updated, convenience information is provided for the destination entered by the passenger and one or more specific points located on the route to the destination. An autonomous driving device characterized in that it is received from a server and provided to the occupant.
According to claim 4,
the processor,
When it is determined that the passenger will receive convenience information before the map information is updated, the passenger convenience information analyzed based on the passenger's online activity information is transmitted from the convenience information providing server to the passenger. An autonomous driving device characterized in that it provides.
controlling, by a processor, autonomous driving of an own vehicle based on map information stored in a memory;
determining, by the processor, whether an update of map information stored in the memory is required based on a result of the sensor unit detecting vehicles around the host vehicle;
when it is determined that the map information stored in the memory needs to be updated, confirming, by the processor, whether or not the occupant of the own vehicle will be provided with convenience information as a condition for updating the map information; and
updating, by the processor, map information stored in the memory with new map information transmitted from a map providing server after determining a charging method according to whether the passenger is to be provided with convenience information;
including,
In the determining step, the processor,
An actual driving trajectory of the surrounding vehicle is generated based on the driving information of the surrounding vehicle detected by the sensor unit, an expected driving trajectory of the surrounding vehicle is generated based on the map information stored in the memory, and When the trajectory error between the actual driving trajectory and the expected driving trajectory is equal to or greater than a preset threshold, it is determined that the map information stored in the memory needs to be updated, and the predicted driving trajectory of the surrounding vehicle is the center line of the lane reflected in the map information. Autonomous driving method characterized in that.
delete According to claim 7,
In the updating step, the processor,
If it is determined that the passenger will not be provided with the convenience information before the update of the map information proceeds, billing request information for updating the map information is provided to the passenger, and when the passenger's billing is made, the map information An autonomous driving method characterized by performing an update.
According to claim 7,
In the updating step, the processor,
When it is determined that the passenger is to be provided with convenience information before the update of the map information proceeds, the update of the map information is performed in a state in which the passenger is not charged for the update of the map information. self-driving method.
According to claim 10,
In the updating step, the processor,
When it is determined that the passenger is to be provided with convenience information before the map information is updated, convenience information is provided for the destination entered by the passenger and one or more specific points located on the route to the destination. An autonomous driving method characterized in that the transmission is received from the server and provided to the occupant.
According to claim 10,
In the updating step, the processor,
When it is determined that the passenger will receive convenience information before the map information is updated, the passenger convenience information analyzed based on the passenger's online activity information is transmitted from the convenience information providing server to the passenger. An autonomous driving method characterized by providing.

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