KR102658908B1 - Illegal vehicle reporting system for self driving cars - Google Patents

Abstract

The present invention provides an illegal vehicle reporting system for self-driving vehicles that detects illegal vehicles in self-driving vehicles, immediately imposes penalty points on illegal vehicles, and publicizes them to the outside to create a healthy autonomous driving environment.
Accordingly, an illegal vehicle reporting system for an autonomous vehicle according to one aspect of the present invention includes a detection unit that detects vehicles in the front, rear, and sides, a control unit that determines whether the driving of the vehicle is illegal, and a control unit that determines whether the driving of the vehicle is illegal. It includes a control server that makes a re-determination, and the control server adds a penalty point to the vehicle.

Description

Illegal vehicle reporting system for self-driving cars}

The present invention relates to a reporting system, and more specifically, to an illegal vehicle reporting system for autonomous vehicles.

Depending on the type of motor used, automobiles can be classified as internal combustion engine vehicles, external combustion engine vehicles, gas turbine vehicles, or electric vehicles.

Self-driving vehicles are cars that can drive automatically without human driving. Driverless cars drive autonomously by simply recognizing the surrounding environment using radar, LIDAR (light detection and ranging), GPS, and cameras and specifying a destination. Driverless cars that are already in practical use include unmanned vehicles that patrol preset routes operated by the Israeli military and unmanned operation systems such as dump trucks that are operated in overseas mines and construction sites.

The first core technologies for these self-driving vehicles are the unmanned vehicle system and the Actual System. It is a technology that not only simulates in the laboratory but also actually builds an unmanned car system. It implements the driving devices such as accelerator, decelerator, and steering device to suit unmanned operation, and enables control using computers, software, and hardware installed in the unmanned car. do.

The second core technology is vision, which uses sensors to receive and process visual information. It is the basis of autonomous driving for unmanned operation, and is a technology that accepts video information and extracts necessary information from this video. This uses sensors such as ultrasonic sensors and range filters as well as CCD (charge-coupled device) cameras to fuse the information required for distance and driving, enabling obstacle avoidance and coping with unexpected situations through analysis and processing.

The third core technology is the integrated control system and operation monitoring and fault diagnosis system technology. This technology establishes a driving monitoring system that monitors vehicle operation and issues appropriate commands according to frequently changing situations, and analyzes various situations occurring in individual processors and sensors to diagnose system failures and provide appropriate information to the operator. or perform the function of notifying an alarm.

The fourth core technology is intelligent control and intelligent operation devices. This technology is an unmanned operation technique that generates control commands based on mathematical analysis using an actual vehicle model. The first application technology currently being applied to driverless cars is the intelligent cruise control (ACC: Adaptive Cruise Control) system. Intelligent forward control is a system based on radar guide technology that automatically adjusts the speed without the driver having to operate the pedal to maintain the distance from the vehicle in front or obstacles. When the driver inputs the distance to the car in front, the long-distance radar attached to the front of the car detects the position of the car in front and maintains a constant speed or slows down or accelerates, and stops completely when necessary, making it useful in weather where visibility is difficult.

The fifth applied technology is the lane departure prevention system. This is a technology in which a camera installed inside detects lanes and informs the driver of unintentional deviations. In driverless cars, it distinguishes between walking and the center line, allowing the car to drive safely along the lane.

The sixth applied technology is the parking assistance system. This is a system that assists reverse parallel parking by adjusting the steering system when the driver presses the assist button, puts the vehicle in reverse gear, and presses the brake pedal. Based on vehicle-mounted sensors as well as infrastructure, it automatically guides the vehicle from the starting point to the parking space, saving unnecessary time and energy when parking, minimizing costs and environmental pollution.

The seventh applied technology is the automatic parking system. This is a technology that allows the driver to stop the car in front of the parking lot, turn off the engine, get out, and press the remote control lock switch twice in succession. The camera installed in the car detects the reflector previously attached to the opposite wall of the garage, calculates the appropriate approach route, and parks on its own. am.

The eighth applied technology is the blind spot information guidance system. This is because sensors mounted on both sides of the car determine whether there are other vehicles in the blind spot that are not visible through the side mirror and warn the driver. It is used to change lanes by checking obstacles and vehicles on both sides in complex road situations. .

The biggest advantage of autonomous driving is that since driving speed and traffic management data are consistent, it helps fuel efficiency by avoiding repeated stops by adjusting the control device more evenly, and that it can also be used by people who cannot drive, such as the elderly, children, and the disabled. will be. In addition, it has the advantage of relieving fatigue caused by long-term driving, greatly reducing the risk of traffic accidents, speeding up traffic flow on the road, and reducing traffic congestion.

However, recently, various problems are expected to arise due to the popularization of self-driving vehicles. In particular, the possibility that illegal driving may occur due to malfunction of self-driving vehicles cannot be ruled out. Or, when driving manually among self-driving cars, it is fully expected that people will drive recklessly and go against the flow. However, related research is still insufficient.

Korean Patent Publication No. 2019-0070693 (2019. 06. 21.), Title of invention: Autonomous driving device and control method thereof {APPARATUS AND METHOD FOR CONTROLLING AUTONOMOUS DRIVING OF VEHICLE}

The present invention is intended to solve the problems of the prior art described above. The purpose of the present invention is to detect illegal vehicles in autonomous vehicles, immediately impose penalty points on illegal vehicles, and publicize this to the outside to create a healthy autonomous driving environment. Provides an illegal vehicle reporting system for self-driving vehicles.

An illegal vehicle reporting system for an autonomous vehicle according to one aspect of the present invention includes a detection unit that detects vehicles in the front, rear, and sides, a control unit that determines whether driving of the vehicle is illegal, and a control unit that determines whether driving of the vehicle is illegal. It includes a control server that makes the decision, and the control server adds penalty points to the vehicle.

At this time, the control server may receive information that driving of the vehicle is illegal from a plurality of vehicles adjacent to the vehicle and re-determine whether driving of the vehicle is illegal.

Additionally, when the control server re-determines whether the driving of the vehicle is illegal, it can fully or auxiliary control the driving of a vehicle adjacent to or close to the vehicle.

Additionally, when the control server determines that driving the vehicle is illegal, it can also determine whether the vehicle is being driven manually.

Additionally, when the vehicle is driven autonomously, the control server may transmit history information on illegal driving of the vehicle to the vehicle server.

Additionally, the control server can adjust the arrangement of a plurality of autonomous vehicles by reflecting the path information of each autonomous vehicle.

Additionally, when penalty points are added to the vehicle, the control server can forcibly control the vehicle to display related information on the outside of the vehicle.

The present invention can create a healthy autonomous driving environment by allowing an autonomous vehicle to detect an illegal vehicle, have the control server confirm this, immediately add penalty points to the illegal vehicle, and post this to the outside of the illegal vehicle.

Figure 1 is a configuration diagram of an illegal vehicle reporting system for an autonomous vehicle according to an embodiment of the present invention.
FIG. 2 is a configuration diagram showing the autonomous vehicle in FIG. 1 in more detail.
Figure 3 is a configuration diagram showing the detection unit in Figure 2 in more detail.
FIG. 4 is a configuration diagram showing the control unit in FIG. 2 in more detail.
Figure 5 is a configuration diagram showing the control server in Figure 1 in more detail.
6 to 10 are diagrams illustrating the operation of an illegal vehicle reporting system for an autonomous vehicle according to an embodiment of the invention.

Hereinafter, embodiments disclosed in the present specification will be described in detail with reference to the attached drawings. However, identical or similar components will be assigned the same reference numbers regardless of reference numerals, and duplicate descriptions thereof will be omitted.

The suffixes “module” and “part” for components used in the following description are given or used interchangeably only for the ease of preparing the specification, and do not have distinct meanings or roles in themselves.

Additionally, in describing the embodiments disclosed in this specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed descriptions will be omitted.

In addition, the attached drawings are only for easy understanding of the embodiments disclosed in this specification, and the technical idea disclosed in this specification is not limited by the attached drawings, and all changes included in the spirit and technical scope of the present invention are not limited. , should be understood to include equivalents or substitutes.

Terms containing ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

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.

Hereinafter, an illegal vehicle reporting system for an autonomous vehicle according to an embodiment of the present invention will be described. FIG. 1 is a configuration diagram of an illegal vehicle reporting system for an autonomous vehicle according to an embodiment of the present invention, FIG. 2 is a configuration diagram showing the autonomous vehicle in FIG. 1 in more detail, and FIG. 3 is a configuration diagram of an illegal vehicle reporting system in FIG. 2. This is a configuration diagram showing the detection unit in more detail, FIG. 4 is a configuration diagram showing the control unit in FIG. 2 in more detail, and FIG. 5 is a configuration diagram showing the control server in FIG. 1 in more detail.

Referring to the drawing, first, the illegal vehicle reporting system 1000 for autonomous vehicles according to an embodiment of the present invention communicates with a plurality of autonomous vehicles (100_1, 100_2, 100_3?? 100_n) and determines whether the vehicle is illegal. It includes a control server 200 that determines and performs route management and remote control of each vehicle.

At this time, the autonomous vehicle 100 consists of an input unit 110, a detection unit 120, an output unit 130, a control unit 140, a communication unit 150, and a charging unit 160.

The input unit 110 is a device that receives user input for driving. In the manual mode, the input unit of the autonomous vehicle 100 may include a steering input device (not shown), an acceleration input device, and a brake input device. In addition, the input unit 110 serves to input the destination of the autonomous vehicle and receives information from the control server 200 according to the input destination to continuously set the route.

The detection unit 120 includes a radar 121 and LIDAR 122, and may further include a camera 123. In this embodiment, the speed and direction of movement of other vehicles, which are major objects, are detected using the radar 121, lidar 122, and camera 123, and illegality in the driving process is determined.

First, the radar 121 can generate information about objects outside the autonomous vehicle 100 using radio waves. The radar 121 may include an electromagnetic wave transmitting unit, an electromagnetic wave receiving unit, and at least one processor that is electrically connected to the electromagnetic wave transmitting unit and the electromagnetic wave receiving unit, processes the received signal, and generates data about the object based on the processed signal. there is.

The radar 121 may be implemented as a pulse radar or continuous wave radar based on the principle of transmitting radio waves. The radar 121 may be implemented in a frequency modulated continuous wave (FMCW) method or a frequency shift keyong (FSK) method depending on the signal waveform among the continuous wave radar methods. The radar 121 detects an object based on a time of flight (TOF) method or a phase-shift method using electromagnetic waves, and determines the location of the detected object, the distance to the detected object, and the relative speed. It can be detected. At this time, the radar 121 may be placed at an appropriate location outside the vehicle to detect objects located in front, behind, or on the sides of the vehicle.

Next, the LIDAR 122 can generate information about objects outside the autonomous vehicle 100 using laser light. Lidar 122 is electrically connected to the light transmitter (not shown), the light receiver (not shown), and the light transmitter and light receiver, processes the received signal, and generates data about the object based on the processed signal. It may include at least one processor.

LiDAR 122 may be implemented in a time of flight (TOF) method or a phase-shift method. LiDAR 122 may be implemented in a driven or non-driven manner. When implemented in a driven manner, LiDAR 122 is rotated by a motor and can detect objects such as vehicles around the autonomous vehicle 100. there is. When implemented in a non-driven manner, the LIDAR 122 can detect objects located within a predetermined range based on the vehicle by optical steering. The autonomous vehicle 100 may include a plurality of non-driven LIDARs. LiDAR 122 detects an object based on a time of flight (TOF) method or a phase-shift method using laser light, and determines the position of the detected object, the distance to the detected object, and the relative speed. It can be detected. At this time, the LIDAR 122 may be placed at an appropriate location outside the vehicle to detect objects located in front, behind, or on the sides of the vehicle.

Meanwhile, the camera 123 may generate information about objects such as vehicles outside the autonomous vehicle 100 using images. The camera 123 may include at least one lens, at least one image sensor, and at least one processor that is electrically connected to the image sensor, processes a received signal, and generates data about the object based on the processed signal. You can.

The camera 123 may be at least one of a mono camera, a stereo camera, and an Around View Monitoring (AVM) camera. The camera 123 may obtain position information of an object, distance information to the object, or relative speed information to the object using various image processing algorithms.

For example, the camera 123 may obtain distance information and relative speed information with an object based on changes in the size of the object over time in the acquired image. Additionally, the camera 123 can obtain distance information and relative speed information with an object through a pinhole model, road surface profiling, etc.

Additionally, the camera 123 may obtain distance information and relative speed information to an object based on disparity information in a stereo image acquired from a stereo camera. The camera 123 may be mounted in a position in the vehicle to secure a field of view (FOV) in order to photograph the exterior of the vehicle.

The camera 123 may be placed close to the front windshield inside the vehicle to obtain an image of the front of the vehicle. Furthermore, the camera 123 may be placed around the front bumper or radiator grill. The camera 123 may be placed close to the rear glass inside the vehicle to obtain an image of the rear of the vehicle. At this time, the camera 123 may be placed around the rear bumper, trunk, or tailgate. In order to obtain an image of the side of the vehicle, the camera 123 may be placed close to at least one of the side windows inside the vehicle. Alternatively, the camera 123 may be placed around a side mirror, fender, or door.

In addition, since the detection unit 120 must utilize the location information of the autonomous vehicle, it necessarily further includes the GPS 124. The GPS 124 generates location data of the autonomous vehicle 100 and may include at least one of a general Global Positioning System (GPS) and a Differential Global Positioning System (DGPS). Location data of the autonomous vehicle 100 may be generated based on signals generated from at least one of GPS and DGPS.

At this time, the GPS 124 may correct the location data based on at least one of an Inertial Measurement Unit (IMU) and the camera 123 of the detection unit 120. Additionally, the GPS 124 may be named GNSS (Global Navigation Satellite System).

Meanwhile, the sensing unit 120 may further be equipped with a microphone 125 so that passengers in addition to the guardian can intervene in autonomous driving through voice, etc. even if the passenger does not perform a steering operation. Furthermore, the biometric information sensor 126 not only prepares for emergency situations by sensing the passenger's heart rate, pressure, brain waves, etc., but also additionally performs a separate function to prevent erroneous boarding by sensing fingerprint and iris information when entering and exiting the vehicle. You can. Using this biometric information sensor 126, the autonomous vehicle 100 can detect whether a passenger has boarded or disembarked.

The radar 121, lidar 122, and camera 123 as described above detect the location of surrounding vehicles, which are major objects. They detect the distance to surrounding vehicles, the speed of surrounding vehicles, and the direction of movement of surrounding vehicles, and detect the locations of surrounding vehicles accordingly. Data will be collected to determine whether surrounding vehicles are speeding, running red lights, retaliatory driving, not wearing license plates, or poor parking.

The output unit 130 is normally placed inside or outside the autonomous vehicle 100 to display driving-related situations. Furthermore, one of the shapes, shapes, and colors can be displayed on the exterior of the vehicle to provide predictability to the owner of the vehicle and people around it.

In more detail, when the control server 200 determines that the driving of the vehicle is illegal, the output unit 130 can display information that a penalty point has been assigned on the outside of the illegal vehicle. In this case, the control server 200 can control the output unit of the illegal vehicle according to a dictionary protocol.

In addition, when a plurality of autonomous vehicles are driving around the illegal vehicle 100a, the output unit 130 detects the illegal vehicle, and when it is determined to be illegal, the output unit 130 is controlled from the control server 200 to make the exterior of the vehicle the same. By expressing this, it is possible to inform other vehicles located remotely that this is the section where the illegal vehicle 100a has occurred.

Meanwhile, the control unit 140 may be configured as a main ECU and controls the driving and driving of the autonomous vehicle 100. In more detail, the control unit consists of a drive control module 141, an input/output control module 142, and an illegal vehicle judgment module 143.

First, the drive control module 141 may include a power train drive control device, a chassis drive control device, a door/window drive control device, a safety device drive control device, a lamp drive control device, and an air conditioning drive control device. The power train drive control device may include a power source drive control device and a transmission drive control device. The chassis drive control device may include a steering drive control device, a brake drive control device, and a suspension drive control device. Meanwhile, the safety device drive control device may include a seat belt drive control device for seat belt control.

Additionally, the drive control module 141 includes at least one electronic control device (eg, a control ECU (Electronic Control Unit)). In particular, the vehicle driving device can be controlled based on the received signal. For example, the drive control module 141 can control the power train, steering device, and brake device based on the signal received from the sensing unit 120.

The input/output control module 142 controls the above-described output unit 130, and serves to group vehicles that detect illegal activities and control the display inside or outside the vehicle. Additionally, the input/output control module 142 can control the output unit 130 to display whether the operation of the illegal vehicle continues or is stopped.

The illegal vehicle determination module 143 determines whether the vehicle is illegal based on the data received from the detection unit. More specifically, by comparing all data related to driving and stopping, such as the speed, direction, and turn signals of the target vehicle, with the default control signal in the current section, it is determined whether it is an illegal vehicle, and the time of illegal operation is included here to ultimately determine whether it is illegal. Determine if it is a vehicle.

In addition, it is preferable that the determination of whether the vehicle 100a is illegal is performed separately from a plurality of vehicles 100_1 to 100_n. Accordingly, a plurality of illegality determination information for one illegal vehicle is transmitted to the control server 200.

Meanwhile, the control server 200 includes an illegal determination module 210, a driving control module 220, and a communication control module 230.

The illegality determination module 210 re-determines the illegal state determined by the control unit 140 to finally confirm it and grants a penalty point to the illegal vehicle 100a. Therefore, it is desirable that the illegal confirmation module 210 be placed at the National Police Agency, etc., and it may be provided with a separate input unit to assist manpower in receiving administrative dispositions.

At this time, the illegality determination module 210 determines whether the illegal vehicle 100a was driven in autonomous driving, semi-autonomous driving, or manual driving when an illegal act occurred. In this case, if the vehicle was operated in semi-autonomous or manual driving, the penalty points are determined as is, and if the vehicle was driven only in autonomous driving, the driver is exempted from liability and history information indicating that the vehicle was driven illegally is transmitted to the vehicle manufacturer's server (not shown). Accordingly, it is desirable for the manufacturer to immediately modify the driving algorithm and transmit it to the control server 200, and for the control server 200 to update driving data for vehicles of the same manufacturer driving not only in the section where the violation occurred but also in other areas.

Additionally, the drive control module 220 controls each vehicle when an offending vehicle occurs. In particular, the drive control module 220 can control the arrangement of a plurality of autonomous vehicles close to the offending vehicle. In this case, since each has different path information, the control server adjusts the spacing and speed of multiple autonomous vehicles close to the offending vehicle by reflecting each path information. As a result, it is possible to fundamentally prevent safety problems that may arise in the future from violating vehicles.

Meanwhile, the communication control module 230 is responsible for communication between autonomous vehicles 100_1 to 100_n around the illegal vehicle 100a or between the autonomous vehicle and the control server 200. In the illegal vehicle reporting system according to this embodiment, overall control by the control server is essential for safety, so there is a need to always maintain communication between vehicles (100_1 to 100_n) and between vehicles (100_1 to 100_n) and the control server (200). . Therefore, the communication control module 230 enables communication between each vehicle via the control server 200 even when each vehicle is not connected through short-distance communication.

The communication unit 150 may exchange signals with at least one of a control server located outside the autonomous vehicle 100, another vehicle, or a terminal. The communication unit 150 may include at least one of a transmitting antenna, a receiving antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

For example, a communication device can exchange signals with an external device based on C-V2X (Cellular V2X) technology. In addition, the communication unit 150 communicates with external devices and signals based on DSRC (Dedicated Short Range Communications) technology based on IEEE 802.11p PHY/MAC layer technology and IEEE 1609 Network/Transport layer technology or WAVE (Wireless Access in Vehicular Environment) standard. can be exchanged.

Below, the operation of the present invention is exemplified. 6 to 10 are diagrams illustrating the operation of an illegal vehicle reporting system for an autonomous vehicle according to an embodiment of the invention.

First, referring to FIG. 6, each vehicle determined to be an illegal vehicle transmits information about the illegal vehicle as a whole to the control server. In Figure 6, it is shown that the control server is located at the National Police Agency.

In addition, referring to FIG. 7, the control server notifies the vehicles surrounding the illegal vehicle that the illegal vehicle exists. As described above, the control server controls the output unit of the illegal vehicle to forcibly display related information on the outside of the illegal vehicle.

Referring to FIG. 8, a fine is immediately imposed on the vehicle that violates the law, but if the violation occurs solely through autonomous driving, the vehicle is exempted from liability and the information is sent to the manufacturer.

In addition, as shown in FIG. 9, the control server can control communication between each vehicle to transmit the fact of the violation in a direction away from the illegal vehicle, and as shown in FIG. 10, the autonomous driving device can control the distance to the illegal vehicle or change the course. You can control the driving of the vehicle.

As such, a person skilled in the art to which the present invention pertains will understand that the present invention can be implemented in other specific forms without changing its technical idea or essential features.

In addition, the specification and drawings disclose preferred embodiments of the present invention, and although specific terms are used, these are merely used in a general sense to easily explain the technical content of the present invention and aid understanding of the present invention. It is not intended to limit the scope of the invention. It is obvious to those skilled in the art that in addition to the embodiments disclosed herein, other modifications based on the technical idea of the present invention can be implemented.

1000: Illegal vehicle reporting system for autonomous vehicles
100: Self-driving vehicle
110: input unit
120: detection unit
130: output unit
140: control unit
150: Department of Communications
200: Control server

Claims (7)

A detection unit that detects vehicles in the front, rear, and sides;
a control unit that primarily determines whether driving of the vehicle is illegal; and
a control server that secondarily re-determines whether the driving of the vehicle is illegal;
Including,
When the control server secondarily re-determines whether the driving of the vehicle is illegal, it receives information that the driving of the vehicle is illegal from a plurality of vehicles adjacent to the vehicle and re-determines whether the driving of the vehicle is illegal. Illegal vehicle reporting system for autonomous vehicles.
delete According to paragraph 1,
Illegal vehicle reporting system for autonomous vehicles, characterized in that the control server can fully or auxiliary control the operation of vehicles adjacent to or close to the vehicle when re-determining whether the operation of the vehicle is illegal. .
According to paragraph 1,
The control server is an illegal vehicle reporting system for an autonomous vehicle, characterized in that when the control server determines that driving of the vehicle is illegal, it also determines whether the vehicle is being driven manually.
According to clause 4,
The control server is an illegal vehicle reporting system for an autonomous vehicle, characterized in that when the vehicle is driven autonomously, the control server transmits history information on illegal driving of the vehicle to the vehicle server.
According to paragraph 1,
The control server is an illegal vehicle reporting system for autonomous vehicles, characterized in that the control server adjusts the arrangement of a plurality of autonomous vehicles by reflecting the route information of each autonomous vehicle.
According to paragraph 1,
An illegal vehicle reporting system for an autonomous vehicle, characterized in that the control server can forcibly control the vehicle to display related information on the outside of the vehicle when penalty points are added to the vehicle.