KR102588634B1 - Driving system and operating method thereof - Google Patents

Abstract

The present invention relates to a travel system and a method of operating the same.
The driving system according to an embodiment of the present invention recognizes and determines the surrounding environment according to a pre-entered program or by itself, performs one or more operations among driving, stopping, rotating, accelerating or decelerating, and displays images while performing the operations. Provides the vehicle being photographed and the driving route to the destination, and calculates the reliability indicating whether the vehicle can drive safely for the driving route based on the image received from the vehicle. If the reliability is below the standard value, the driving route is calculated. It includes an information providing device that generates a changed driving route including one or more detour routes and provides the changed driving route to the vehicle.

Description

Driving system and operating method thereof {DRIVING SYSTEM AND OPERATING METHOD THEREOF}

The present invention relates to a travel system and a method of operating the same.

In relation to unmanned autonomous driving systems, especially autonomous driving in the robot and automobile fields, much research is being conducted.

In general, an autonomous driving system can automatically control and move a car from the starting point to the ending point on the road using GPS location information and signals acquired from various sensors based on road map information.

In particular, the autonomous driving system may include sensor equipment such as scanning devices, cameras, radars, etc. to recognize and determine the driving environment of a high-speed moving object (car or robot) in real time.

The above-mentioned background technology is technical information that the inventor possessed for deriving the present invention or acquired in the process of deriving the present invention, and cannot necessarily be said to be known art disclosed to the general public before filing the application for the present invention.

Domestic Patent Publication No. 10-1209062

The present invention was created to solve the above-mentioned problems and/or limitations. The purpose of the present invention according to one aspect is to determine the reliability from the image captured by the camera of the autonomous vehicle traveling on a predetermined path, thereby providing high reliability. The goal is to provide a changeable route to the autonomous vehicle so that the autonomous vehicle can drive safely.

The driving system according to an embodiment of the present invention performs one or more operations of driving, stopping, rotating, accelerating or decelerating by recognizing and judging the surrounding environment according to a pre-entered program or by itself, and video images are displayed while performing the operations. vehicle to film; and providing a driving route to the destination to the vehicle, calculating a reliability indicating whether the vehicle can drive safely on the driving route based on the image received from the vehicle, and if the reliability is below a reference value, the reliability is calculated. It may include an information providing device that generates a changed driving route including one or more detour routes in the driving route and provides the changed driving route to the vehicle.

The information provision device includes a map DB that stores map information including one or more driving routes to be provided to the vehicle; a storage medium that stores the image received from the vehicle and the reliability; a reliability calculation unit that calculates the reliability based on the image received from the vehicle; and a control unit that, when the reliability is below a reference value, generates a changed driving route including one or more detour routes in the driving route using the map DB and provides the changed driving route to the vehicle.

The reliability calculation unit identifies the lane based on lane information as a first object detected from the image received from the vehicle and location information of the lane included in map information corresponding to the image detected from the map DB. A first calculation unit that calculates a possibility rate; Calculating the identification possibility rate of the sign based on sign information as a second object detected from the image received from the vehicle and location information of the sign included in map information corresponding to the image detected from the map DB. second calculation unit; and a third calculation unit calculating the reliability by dividing the sum of the identification likelihood rate of the lane calculated by the first calculation unit and the identification likelihood rate of the sign calculated by the second calculation unit by the number of objects. You can.

The control unit compares the reliability with an overall reliability average value as the reference value, and when the reliability is less than or equal to the overall reliability average value, generates a change driving route including one or more detour routes in the driving route and provides the changed driving route to the vehicle, If the reliability exceeds the reference value, the driving path can be maintained.

A method of operating a driving system according to an embodiment of the present invention performs one or more operations of driving, stopping, rotating, accelerating or decelerating by recognizing and judging the surrounding environment according to a pre-entered program by the vehicle or by itself. and taking an image while performing the operation; and providing a driving route to the destination to the vehicle by an information providing device, and calculating a reliability indicating whether the vehicle can drive safely on the driving route based on an image received from the vehicle, If the reliability is below the reference value, generating a changed driving route including one or more detour routes in the driving route and providing the changed driving route to the vehicle.

The providing step includes: storing, by the information providing device, map information including one or more driving routes to be provided to the vehicle in a map DB; storing the image received from the vehicle and the reliability in a storage medium by the information providing device; calculating the reliability based on the image received from the vehicle by a reliability calculation unit included in the information providing device; and generating, by the control unit included in the information provision device, a changed driving route including one or more detour routes in the driving route using the map DB when the reliability is below a reference value, and providing the changed driving route to the vehicle. can do.

The calculating step includes lane information as a first object detected from an image received from the vehicle by a first calculation unit, and a location of the lane included in map information corresponding to the image detected from the map DB. calculating the next best identification probability based on information; The sign is based on sign information as a second object detected by the second calculation unit from the image received from the vehicle and location information of the sign included in map information corresponding to the image detected from the map DB. Calculating an identification probability rate of; and calculating, by a third calculation unit, the reliability by dividing the sum of the identifiability rate of the lane calculated by the first calculation unit and the identifiability rate of the sign calculated by the second calculation unit by the number of objects. May include ;.

The method compares the reliability with an overall reliability average value as the reference value, and when the reliability is less than or equal to the overall reliability average value, generates a change driving route including one or more detour routes in the driving route and provides it to the vehicle, It may further include maintaining the driving path when the reliability exceeds the reference value.

In addition to this, other methods for implementing the present invention, other systems, and computer programs for executing the methods may be further provided.

Other aspects, features and advantages in addition to those described above will become apparent from the following drawings, claims and detailed description of the invention.

According to embodiments, reliability can be determined from images captured by a camera of an autonomous vehicle traveling on a predetermined path, and a change route with high reliability is provided to the autonomous vehicle, thereby allowing the autonomous vehicle to drive safely.

The effects of the present invention are not limited to those mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below.

1 is a diagram schematically illustrating a driving system according to an embodiment of the present invention.
FIG. 2 is a diagram schematically illustrating the detailed configuration of a vehicle and an information provision device in the personal activity management system of FIG. 1.
FIG. 3 is a diagram schematically illustrating the detailed configuration of the reliability calculation unit of the information provision device of FIG. 2.
Figures 4 to 6 are diagrams to schematically explain a change route provided to a vehicle according to reliability calculation.
Figure 7 is a flowchart for explaining a method of operating a driving system according to an embodiment of the present invention.

The advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail together with the accompanying drawings. However, the present invention is not limited to the embodiments presented below, but may be implemented in various different forms, and should be understood to include all conversions, equivalents, and substitutes included in the spirit and technical scope of the present invention. . The embodiments presented below are provided to ensure that the disclosure of the present invention is complete and to fully inform those skilled in the art of the scope of the invention. In describing the present invention, if it is determined that a detailed description of related known technologies may obscure the gist of the present invention, the detailed description will be omitted.

The terms used in this application are only used to describe specific embodiments and are not intended to limit the invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof. Terms such as first, second, etc. may be used to describe various components, but the components should not be limited by these terms. The above terms are used only for the purpose of distinguishing one component from another.

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings. In the description with reference to the accompanying drawings, identical or corresponding components are assigned the same drawing numbers and duplicate descriptions thereof are omitted. I decided to do it.

1 is a diagram schematically illustrating a driving system according to an embodiment of the present invention. Referring to FIG. 1 , the driving system 1 may include a vehicle 100, an information providing device 200, and a communication network 300.

The vehicle 100 includes a vehicle with three or more wheels that drives and stops under the control of the driver with one or more people riding inside, or that operates according to a pre-entered program or by itself without a person riding inside. It may include self-driving cars that automatically recognize and judge (obstacles, paths) and drive, stop, turn, accelerate, or decelerate.

In this embodiment, the vehicle 100 drives according to the driving path provided by the information providing device 200, and provides information by capturing images while performing one or more operations of driving, stopping, rotating, accelerating, or decelerating the driving path. It can be transmitted to the device 200. In an optional embodiment, when capturing an image, the vehicle 100 may transmit the image and information on the time the image was captured to the information providing device 200.

The information providing device 200 provides the vehicle 100 with a driving route to the destination, and provides reliability indicating whether the vehicle 100 can drive safely on the driving route based on the image received from the vehicle 100. is calculated, and if the reliability is below the standard value, a changed driving path including one or more detour paths in the driving path may be created and provided to the vehicle 100. Additionally, the information providing device 200 can share the calculated reliability with other vehicles, so that it can provide a driving path and/or a changed driving path corresponding to the reliability information for the point even if the vehicle does not drive directly.

In an optional embodiment, the information providing device 200 may calculate reliability by reflecting the time information received from the vehicle 100. Therefore, for the same image of a point, the reliability may vary depending on the time the image was captured, and as a result, the reliability may vary depending on the time the vehicle travels to that point, so a changed driving path is created for the same point, or the current driving path is generated. can also be maintained. In this way, the information providing device 200 can provide the vehicle 100 with a safe route by avoiding areas and times with low reliability based on the reliability information of the image.

The communication network 300 serves to connect the vehicle 100 and the information providing device 200. In other words, the communication network 300 may mean a communication network that provides a connection path so that the vehicle 100 can transmit and receive predetermined information after connecting to the information providing device 200. The communication network 300 is, for example, a wired network such as LANs (Local Area Networks), WANs (Wide Area Networks), MANs (Metropolitan Area Networks), and ISDNs (Integrated Service Digital Networks), or wireless LANs, CDMA, Bluetooth, satellite communication, etc. may cover wireless networks, but the scope of the present invention is not limited thereto. Additionally, the communication network 300 can transmit and receive information using short-distance communication and/or long-distance communication. Here, short-range communication includes Bluetooth, BLE (bluetooth low energy), RFID (radio frequency identification), infrared communication (IrDA, infrared data association), UWB (ultra-wide band), ZigBee, and Wi-Fi (wireless fidelity). It may include technology, and long-distance communication includes code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), orthogonal frequency division multiple access (OFDMA), and single carrier frequency (SC-FDMA). Division multiple access) technology may be included.

FIG. 2 is a diagram schematically illustrating the detailed configuration of a vehicle and an information provision device in the personal activity management system of FIG. 1. Referring to FIG. 2, the vehicle 100 includes a first communication unit 110, a first storage medium 120, a display unit 130, a driving unit 140, a photographing unit 150, and a first control unit 160. It may include a second communication unit 210, a map database (DB) 220, a second storage medium 230, a reliability calculation unit 240, and a second control unit 250. may include.

First, when describing the vehicle 100, the first communication unit 110 is a communication interface necessary to provide transmission and reception signals between the vehicle 100 and the information provision device 200 in the form of packet data in conjunction with the communication network 300. can be provided. Furthermore, the first communication unit 110 may serve to transmit a predetermined information request signal from the vehicle 100 to the information providing device 200, and transmit the information processed by the information providing device 200 to the vehicle 100. It can perform this receiving role. Here, the communication network refers to a medium that serves to connect the vehicle 100 and the information provision device 200, allowing the vehicle 100 to transmit and receive predetermined information after connecting to the information provision device 200. It may include a route that provides a connection route. Additionally, the first communication unit 110 may be a device that includes hardware and software necessary to transmit and receive signals such as control signals or data signals through wired or wireless connections with other network devices.

The first storage medium 120 may perform a function of temporarily or permanently storing data processed by the first control unit 160. The first storage medium 120 may store images captured by the photographing unit 150 and/or time information at the time of image capture. Additionally, the first storage medium 120 may store the driving route and/or the changed driving route received from the information providing device 200. Furthermore, the first storage medium 120 may store the map DB on the information providing device 200.

In this embodiment, the first storage medium 120 may include magnetic storage media or flash storage media, but the scope of the present invention is not limited thereto. This first storage medium 120 may include internal memory and/or external memory, volatile memory such as DRAM, SRAM, or SDRAM, one time programmable ROM (OTPROM), PROM, EPROM, EEPROM, mask ROM, Non-volatile memory, such as flash ROM, NAND flash memory, or NOR flash memory, SSD. It may include a flash drive such as a compact flash (CF) card, SD card, Micro-SD card, Mini-SD card, Xd card, or memory stick, or a storage device such as an HDD.

The display unit 130 may display the driving route and/or the changed driving route received from the information providing device 200. This display unit 130 may be composed of a touch recognition display controller (not shown) or various other input/output controllers (not shown). As an example, a touch-sensitive display controller may provide an output interface and an input interface between the device and the user. The touch recognition display controller can transmit and receive electrical signals to and from the first control unit 160. Additionally, the touch-sensitive display controller displays visual output, which may include text, graphics, images, video, and combinations thereof. For example, the display unit 130 may be a display member such as an organic light emitting display (OLED) or liquid crystal display (LCD) capable of touch recognition.

Under the control of the first control unit 160, the driving unit 140 may control the operation of the vehicle 100 in response to the driving path and/or the changed driving path received from the information providing device 200. The driving unit 140 may recognize lanes and perform automatic steering using one or more photographing units 150 or object detection sensors (not shown) provided around the vehicle 100. The driving unit 140 measures the lane width, the lateral position of the vehicle on the lane, the distance to both lanes, the shape of the lane, and the curvature radius of the road based on image processing or object detection, and the position of the vehicle obtained in this way is measured. Using the and road information, the vehicle's driving trajectory can be estimated, and lanes can be changed according to the estimated driving trajectory. The driving unit 140 controls the throttle valve (not shown), brake (not shown), and transmission (not shown) of the vehicle 100 through the position and distance of surrounding vehicles detected by the photographing unit 150 or the object detection sensor. By automatically controlling and performing appropriate acceleration and deceleration, it is possible to maintain an appropriate distance from surrounding vehicles. The driving unit 140 employs a distance/speed measurement sensor between vehicles to control the vehicle to drive while maintaining the gap between the vehicle and the preceding vehicle to, for example, about 100 meters in high-speed driving situations such as on a highway. In addition, when the vehicle driving speed is slow, such as in the city, it can automatically accelerate and decelerate when traffic is congested by linking with the traffic jam assist system, which maintains a narrow gap between vehicles and the vehicle ahead.

The photographing unit 150 can capture images for each point while the vehicle 100 is performing one or more of driving, stopping, rotating, accelerating, or decelerating, and can also generate image capturing time information when capturing images. You can. This photographing unit 150 may include a camera (not shown). The camera may capture surrounding images at the point when the first driving movement is completed using a complementary metal-oxide semiconductor (COMS) module (not shown) or a charge coupled device (CCD) module (not shown). Inside such a camera, an image signal processing unit (not shown) is provided to reduce noise in captured image frames, perform gamma correction, color filter array interpolation, and color matrix. Image signal processing to improve image quality, such as matrix, color correction, and color enhancement, can be performed.

The first control unit 160 can enable the vehicle 100 to safely perform autonomous driving by organically combining and controlling other components in response to the driving path and/or changed driving path received from the information providing device 200. It can be done. Here, the first control unit 160 may include all types of devices that can process data, such as a processor. Here, 'processor' may mean, for example, a data processing device built into hardware that has a physically structured circuit to perform a function expressed by code or instructions included in a program. Examples of data processing devices built into hardware include a microprocessor, central processing unit (CPU), processor core, multiprocessor, and application-specific integrated (ASIC). circuit) and FPGA (field programmable gate array), etc., but the scope of the present invention is not limited thereto.

Next, explaining the information provision device 200, the second communication unit 210 provides transmission and reception signals between the information provision device 200 and the vehicle 100 in the form of packet data in conjunction with the communication network 300. The necessary communication interface can be provided. Furthermore, the second communication unit 210 receives a predetermined information request signal (e.g., route request signal) from the vehicle 100 and transmits the processed information (e.g., driving route and/or changed driving route). can perform its role. Additionally, the second communication unit 210 may be a device that includes hardware and software necessary to transmit and receive signals such as control signals or data signals through wired or wireless connections with other network devices.

The map DB 220 may store map information necessary to provide a navigation service, and may store map information including one or more driving routes and/or changed driving routes to be provided to the vehicle 100. Additionally, the map DB 220 may further include location information of objects included in the route (road lanes, boundary lines, signs, traffic lights, guardrails, soundproof walls, etc.).

The second storage medium 230 may perform a function of temporarily or permanently storing data processed by the second control unit 250. The second storage medium 230 may store images received from the vehicle 100 and/or time information when the images are captured. Additionally, the second storage medium 230 can store the reliability calculated by the reliability calculation unit 240 and various reference values as reference values (for example, the average overall reliability value, etc.). Additionally, the second storage medium 230 may store a driving route and/or a changed driving route to be provided to the vehicle 100 .

The reliability calculation unit 240 may calculate reliability based on the image received from the vehicle 100. Here, reliability may include an indicator indicating whether the vehicle 100 can drive safely on the driving path based on the image received from the vehicle 100. This embodiment can be seen as focusing on how safely the vehicle 100 reaches its destination, rather than how quickly the vehicle 100 reaches its destination.

FIG. 3 is a diagram schematically illustrating the detailed configuration of the reliability calculation unit of the information provision device of FIG. 2, and FIG. 4 shows examples of points in the image where road identification is difficult. From Figure 4, the red square box may be a point in the image where road identification is difficult. In addition, Figure 5 shows the ratio value calculation at the tunnel entrance point in Figure 4 where road identification is difficult. From FIG. 5, the red square box indicates a place where road identification is difficult in the image, the green solid line indicates the lane alignment confirmed in the map DB 220, and the green square box indicates the location of the sign confirmed in the map DB 220.

Referring to FIG. 3, the reliability calculation unit 240 may include a first calculation unit 241, a second calculation unit 242, and a third calculation unit 243.

The first calculation unit 241 is based on lane information as the first object detected from the image received from the vehicle 100 and lane position information included in map information corresponding to the image detected from the map DB 220. The suboptimal identification probability rate can be calculated.

The first calculation unit 241 views the entire alignment (e.g., lane boundary line) for each lane as 1 based on the location of the lane identified in the map DB 220, and calculates a ratio value for the portion of the alignment that can be identified in the image. (for example, 0.5) and a ratio value for the unidentifiable part (for example, 0.5) can be calculated. The first calculation unit 241 can calculate the lane identification probability by summing the ratio values for the identifiable portion for each lane and dividing by the lane linear number. From FIG. 5, the first calculation unit 241 divides the sum of 0.5, 0.1, and 0.5, which are the ratio values for the identifiable portion for each lane (1.1), by the lane linear number 3 to calculate the lane identification possibility rate of 0.366. You can.

The second calculation unit 242 is based on the sign information as the second object detected from the image received from the vehicle 100 and the location information of the sign included in the map information corresponding to the image detected from the map DB 220. The identification probability of the sign can be calculated.

The second calculation unit 242 determines whether the sign can be identified as an image based on the location of the sign confirmed in the map DB 220 (for example, a sign located on the driver's left is assigned 1, and a sign located on the driver's right is assigned 1). 0) can be calculated. The second calculation unit 242 may calculate the sign identification possibility rate by dividing the sum of whether the sign can be identified by image for each sign by the number of signs. From FIG. 5, the second calculation unit 242 can calculate a sign identification possibility rate of 0.5 by dividing 1+0=1, which is the sum of whether the sign can be identified by image, by the number of signs, 2, for each sign.

The third calculation unit 243 calculates the reliability by dividing the sum of the lane identification rate calculated by the first calculation unit 241 and the sign identification possibility rate calculated by the second calculation unit 242 by the number of objects at the corresponding point. can be calculated.

From FIG. 5, the third calculation unit 243 calculates the reliability as 0.433 by dividing 0.866, which is the sum of the lane identification probability of 0.366 and the sign's identification probability of 0.5, by 2, which is the number of objects (lanes, signs) at that point. can do. Here, the maximum value can be 1 and the minimum value can be 0.

In an optional embodiment, the reliability calculation unit 240 may calculate reliability by reflecting image capture time information. This is because the tunnel entrance as a predetermined point shown in FIG. 5 has high reliability when the image is captured during the day when the sun is up, but reliability may be low when the image is captured in the evening when the sun has set.

The second control unit 250 compares the reliability calculated by the third calculation unit 243 with the reference value, and when the reliability is below the reference value, it generates a change driving route including one or more detour routes in the driving route and returns the vehicle 100 to the vehicle 100. provided, and the driving route can be maintained if the reliability exceeds the standard value. Here, the reference value may include the overall reliability average for that point. This is because the information provision device 200 shares information with other vehicles, so the reliability calculated using image information received from other vehicles for the corresponding point may be different, and also the reliability that reflects time information It may be calculated by including. In an optional embodiment, the control unit 250 may provide a changed driving path or maintain the current driving path by comparing the reliability with a reference value in response to the time when the vehicle 100 drives to the corresponding point.

FIG. 6 shows a driving route and a changed driving route provided by the second control unit 250 to the vehicle 100. Referring to FIG. 6, FIG. 6A shows the initial driving path provided by the second control unit 250 to the vehicle 100, and FIG. 6B shows the second control unit 250 according to the reliability determination result of the driving path while driving the initial driving path. 6C shows the changed driving path provided by 250 to the vehicle 100, and FIG. 6C shows that the second control unit 250 changes the vehicle 100 according to the reliability determination result of the changed driving path while driving on the changed driving path of FIG. 6B. Another changed driving route provided is shown.

In an optional embodiment, the map DB 220 and the reliability calculation unit 240 included in the information provision device 200 are provided in the vehicle 100, and the vehicle 100 may change the driving route on its own according to the reliability calculation result. .

Figure 7 is a flowchart for explaining a method of operating a driving system according to an embodiment of the present invention. In the following description, parts that overlap with the description of FIGS. 1 to 6 will be omitted.

Referring to FIG. 7 , in step S710, the information providing device 200 provides a driving route to the destination at the request of the vehicle 100. Here, the driving path may be an initial driving path in which reliability is reflected, or an initial driving path in which reliability is not reflected.

In step S720, when the initial driving route is transmitted to the vehicle 100, the information providing device 200 checks the reliability of each point on the driving route regardless of whether the vehicle 100 starts driving.

In step S730, as a result of checking the reliability of the information providing device 200, it is determined whether a point on the driving path where the reliability is below the reference value is found.

In step S740, when a point on the driving route where reliability is below the reference value is found, the information providing device 200 creates a changed driving route including a detour route.

In step S750, the information providing device 200 provides a changed driving path to the vehicle 100 and induces the vehicle 100 to drive on the changed driving path.

In step S760, if no point is found on the driving path where the reliability is below the reference value, the information providing device 200 guides the vehicle 100 to drive along the current driving path.

In step S770, the information providing device 200 receives images captured by the vehicle 100 at each point. In an optional embodiment, the information providing device 200 may receive an image from the vehicle 100 along with information on the time when the image was captured.

In step S780, the information providing device 200 calculates reliability using the image and/or time information received from the vehicle 100.

In step S790, the information providing device 200 stores the calculated reliability together with the map information. Here, storing reliability together with map information may include updating the map DB 220 in which reliability information is already stored. In the above-described embodiment, the reliability is disclosed as being stored in the second storage medium 230, but the reliability is not limited thereto, and the reliability may be stored at a corresponding point in the map DB 220 and may be stored in the map by the information providing device 200. The reliability can be updated at the corresponding point in DB 220.

Embodiments according to the present invention described above may be implemented in the form of a computer program that can be executed through various components on a computer, and such a computer program may be recorded on a computer-readable medium. At this time, the media includes magnetic media such as hard disks, floppy disks, and magnetic tapes, optical recording media such as CD-ROMs and DVDs, magneto-optical media such as floptical disks, and ROM. , RAM, flash memory, etc., may include hardware devices specifically configured to store and execute program instructions.

Meanwhile, the computer program may be designed and configured specifically for the present invention, or may be known and available to those skilled in the art of computer software. Examples of computer programs may include not only machine language code such as that created by a compiler, but also high-level language code that can be executed by a computer using an interpreter or the like.

In the specification (particularly in the claims) of the present invention, the use of the term “above” and similar referential terms may refer to both the singular and the plural. In addition, when a range is described in the present invention, the invention includes the application of individual values within the range (unless there is a statement to the contrary), and each individual value constituting the range is described in the detailed description of the invention. It's the same.

Unless there is an explicit order or statement to the contrary regarding the steps constituting the method according to the invention, the steps may be performed in any suitable order. The present invention is not necessarily limited by the order of description of the above steps. The use of any examples or illustrative terms (e.g., etc.) in the present invention is merely to describe the present invention in detail, and unless limited by the claims, the scope of the present invention is limited by the examples or illustrative terms. It doesn't work. Additionally, those skilled in the art will recognize that various modifications, combinations and changes may be made depending on design conditions and factors within the scope of the appended claims or their equivalents.

Therefore, the spirit of the present invention should not be limited to the above-described embodiments, and the scope of the patent claims described below as well as all scopes equivalent to or equivalently changed from the scope of the claims are within the scope of the spirit of the present invention. It will be said to belong to

1: Driving system
100: vehicle
200: Information provision device
300: communication network

Claims (9)

A vehicle that recognizes and determines the surrounding environment according to a pre-entered program or by itself, performs one or more operations among driving, stopping, rotating, accelerating or decelerating, and captures images while performing the operations; and
Provides a driving route to the destination to the vehicle, calculates a reliability indicating whether the vehicle can drive safely on the driving route based on the image received from the vehicle, and if the reliability is less than a standard value, the driving route is calculated. An information providing device that generates a changed driving route including one or more detour routes in the route and provides the changed driving route to the vehicle;
The information providing device includes a reliability calculation unit that calculates the reliability based on an image received from the vehicle; and
a control unit that changes the driving path according to the reliability; Including,
The reliability calculation unit calculates an identification probability rate for each object detected from the image received from the vehicle, and calculates the reliability by dividing the sum of the identification probability rates for each object by the number of objects,
The control unit calculates an average value for the overall reliability based on reliability information shared from the vehicle and other vehicles and sets it as the reference value, and sets the driving path and changed driving path corresponding to the reliability information shared from the other vehicles. Driving system provided by vehicle. The method of claim 1, wherein the information provision device:
a map DB that stores map information including one or more driving routes to be provided to the vehicle; and
a storage medium that stores the image received from the vehicle and the reliability; It further includes,
The driving system wherein the control unit generates a changed driving route including one or more detour routes in the driving route using the map DB when the reliability is below a reference value and provides the changed driving route to the vehicle. The method of claim 2, wherein the reliability calculation unit,
Calculating the identification possibility rate of the lane based on lane information as a first object detected from the image received from the vehicle and location information of the lane included in map information corresponding to the image detected from the map DB. first calculation unit;
Calculating the identification possibility rate of the sign based on sign information as a second object detected from the image received from the vehicle and location information of the sign included in map information corresponding to the image detected from the map DB. second calculation unit; and
A third calculation unit calculating the reliability by dividing the sum of the identification probability of the lane calculated by the first calculation unit and the identification probability of the sign calculated by the second calculation unit by the number of objects,
The first calculation unit calculates the ratio of the identifiable portion and the ratio of the non-identifiable portion of the lane alignment in the image from the lane information, sums the ratio values of the identifiable portion for each lane, and divides the lane alignment by the number of lane alignments. A driving system that calculates a suboptimal discriminability rate. The method of claim 3, wherein the control unit:
When the reliability is below the overall reliability average value, a changed driving path including one or more detour paths is created in the driving path and provided to the vehicle, and when the reliability exceeds a reference value, the driving path is maintained. Performing one or more operations of driving, stopping, rotating, accelerating or decelerating by the vehicle according to a pre-entered program or by recognizing and judging the surrounding environment by itself, and capturing an image while performing the operations; and
An information providing device provides a driving route to a destination to the vehicle, calculates a reliability indicating whether the vehicle can drive safely on the driving route based on an image received from the vehicle, and calculates the reliability. If is less than or equal to the reference value, generating a changed driving route including one or more detour routes in the driving route and providing the changed driving route to the vehicle;
When calculating the reliability, the identification probability rate for each detected object is calculated based on the image received from the vehicle, and the reliability is calculated by dividing the sum of the identification probability rates for each object by the number of objects,
In the providing step, the information providing device calculates an average value for the overall reliability based on reliability information shared from the vehicle and other vehicles and sets it as the reference value, and sets it as the reference value, and provides information corresponding to the reliability information shared from the other vehicles. A method of operating a driving system, providing a driving path and a changed driving path to the vehicle. The method of claim 5, wherein the providing step includes:
storing map information including one or more driving routes to be provided to the vehicle in a map DB by the information providing device;
storing the image received from the vehicle and the reliability in a storage medium by the information providing device;
calculating the reliability based on the image received from the vehicle by a reliability calculation unit included in the information providing device; and
Generating, by a control unit included in the information provision device, a changed driving route including one or more detour routes in the driving route using the map DB when the reliability is below a reference value, and providing the changed driving route to the vehicle; How the driving system works. The method of claim 6, wherein the calculating step includes:
By the first calculation unit, the lane information as the first object detected from the image received from the vehicle and the location information of the lane included in the map information corresponding to the image detected from the map DB Calculating an identification probability rate of;
The sign is based on sign information as a second object detected by the second calculation unit from the image received from the vehicle and location information of the sign included in map information corresponding to the image detected from the map DB. Calculating an identification probability rate of; and
calculating the reliability by dividing the sum of the identifiability rate of the lane calculated by the first calculation unit and the identifiability rate of the sign calculated by the second calculation unit by the number of objects, by a third calculation unit; Including,
The step of calculating the suboptimal identification probability is,
Calculating the ratio of the identifiable portion and the ratio of the non-identifiable portion of the lane alignment in the image, summing the ratio values of the identifiable portion for each lane and dividing by the number of lane alignments to calculate the identifiability rate of the lane. How the system works. According to clause 7,
If the reliability is less than or equal to the overall reliability average value, generating a changed driving route including one or more detour routes in the driving route and providing the changed driving route to the vehicle, and maintaining the driving route if the reliability exceeds a reference value; Including, a method of operating a driving system. A computer program stored in the computer-readable recording medium to execute the method of any one of claims 5 to 8 using a computer.

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