KR20190014429A - Autonomous drive system and vehicle - Google Patents

Abstract

The present invention relates to an autonomous driving system which comprises: an object detection device having a plurality of sensors; and a processor determining whether each of the sensors is out of order, determining whether autonomous driving is possible based on a failure of the sensors, and controlling a vehicle to pull over onto the shoulder based on the determination whether to perform the autonomous driving.

Description

[0001] Autonomous drive system and vehicle [0002]

The present invention relates to an autonomous navigation system.

A vehicle is a device that moves a user in a desired direction by a boarding user. Typically, automobiles are examples.

On the other hand, for the convenience of users who use the vehicle, various sensors and electronic devices are provided. Particularly, for the convenience of the user, research on the ADAS (Advanced Driver Assistance System) is being actively carried out. Furthermore, development of an autonomous vehicle is being actively carried out.

In the present market, vehicles with only a few functions of autonomous driving are being sold. To realize a fully autonomous vehicle, many vehicle developers are working on it and have achieved some results.

On the other hand, a plurality of sensors are used for the autonomous vehicle. When an autonomous vehicle is used, a sensor, which is a constant electronic device, may be damaged.

In particular, if a sensor malfunctions during autonomous travel, it may cause an accident if measures are not prepared in advance.

SUMMARY OF THE INVENTION An object of the present invention is to provide an autonomous traveling system in response to a failure of a sensor in order to solve the above problems.

Further, it is an object of the present invention to provide a vehicle including the autonomous traveling system.

The problems of the present invention are not limited to the above-mentioned problems, and other problems not mentioned can be clearly understood by those skilled in the art from the following description.

According to an aspect of the present invention, there is provided an autonomous navigation system including: an object detection device including a plurality of sensors; And determining whether or not any one of the plurality of sensors is faulty, determining whether or not the vehicle is capable of autonomous travel based on a determination as to whether or not the vehicle is in trouble, And a processor for controlling the processor.

The details of other embodiments are included in the detailed description and drawings.

According to an embodiment of the present invention, there is one or more of the following effects.

First, even when a failure of the sensor occurs during traveling, it is possible to cope with it closely.

Second, when the sensor fails, switching to manual driving or stopping at the shoulder makes it possible to prevent accidents.

Third, there is an effect of preventing the malfunction of the autonomous running by limiting the autonomous driving level and deviating from the autonomous driving lane when the sensor fails.

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

1 is a view showing an appearance of a vehicle according to an embodiment of the present invention.
2 is a view of a vehicle according to an embodiment of the present invention viewed from various angles.
3 to 4 are views showing an interior of a vehicle according to an embodiment of the present invention.
5 to 6 are drawings referred to explain an object according to an embodiment of the present invention.
FIG. 7 is a block diagram for explaining a vehicle according to an embodiment of the present invention. FIG.
8 is a control block diagram of an autonomous navigation system according to an embodiment of the present invention.
9 is a flowchart of an autonomous travel system according to an embodiment of the present invention.
10 is a diagram referred to explain an operation of determining whether a sensor is malfunctioning according to an embodiment of the present invention.
11 is a diagram for explaining an operation of determining whether a sensor is faulty according to an embodiment of the present invention.
FIG. 12 is a diagram referred to explain the operation of the autonomous traveling system when it is determined that the sensor is broken according to the embodiment of the present invention.
13 is a diagram referred to explain the stop control operation according to the embodiment of the present invention.
FIG. 14 is a diagram for describing a user interface device according to an embodiment of the present invention.
FIG. 15 is a diagram referred to explain the operation of the autonomous navigation system according to the embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings, wherein like reference numerals are used to designate identical or similar elements, and redundant description thereof will be omitted. The suffix "module" and " part "for the components used in the following description are given or mixed in consideration of ease of specification, and do not have their own meaning or role. In the following description of the embodiments of the present invention, a detailed description of related arts will be omitted when it is determined that the gist of the embodiments disclosed herein may be blurred. It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory and are intended to provide further explanation of the invention as claimed. , ≪ / RTI > equivalents, and alternatives.

Terms including ordinals, such as first, second, etc., may be used to describe various elements, but the elements are not limited to these terms. The terms are used only for the purpose of distinguishing one component from another.

It is to be understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, . On the other hand, when an element is referred to as being "directly connected" or "directly connected" to another element, it should be understood that there are no other elements in between.

The singular expressions include plural expressions unless the context clearly dictates otherwise.

In the present application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a component, But do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, or combinations thereof.

The vehicle described herein may be a concept including a car, a motorcycle. Hereinafter, the vehicle will be described mainly with respect to the vehicle.

The vehicle described in the present specification may be a concept including both an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source.

In the following description, the left side of the vehicle means the left side in the running direction of the vehicle, and the right side of the vehicle means the right side in the running direction of the vehicle.

1 is a view showing an appearance of a vehicle according to an embodiment of the present invention.

2 is a view of a vehicle according to an embodiment of the present invention viewed from various angles.

3 to 4 are views showing an interior of a vehicle according to an embodiment of the present invention.

5 to 6 are drawings referred to explain an object according to an embodiment of the present invention.

FIG. 7 is a block diagram for explaining a vehicle according to an embodiment of the present invention. FIG.

Referring to FIGS. 1 to 7, the vehicle 100 may include a wheel rotated by a power source, and a steering input device 510 for adjusting the traveling direction of the vehicle 100.

The vehicle 100 may be an autonomous vehicle.

The vehicle 100 can be switched to the autonomous running mode or the manual mode based on the user input.

For example, the vehicle 100 can be switched from the manual mode to the autonomous mode, or switched from the autonomous mode to the manual mode, based on the received user input, via the user interface device 200. [

The vehicle 100 can be switched to the autonomous running mode or the manual mode based on the running situation information.

The running situation information may include at least one of object information outside the vehicle, navigation information, and vehicle condition information.

For example, the vehicle 100 can be switched from the manual mode to the autonomous mode or switched from the autonomous mode to the manual mode based on the running condition information generated by the object detection device 300. [

For example, the vehicle 100 can be switched from the manual mode to the autonomous mode or switched from the autonomous mode to the manual mode based on the running condition information received via the communication device 400. [

The vehicle 100 can be switched from the manual mode to the autonomous mode based on information, data and signals provided from the external device, or can be switched from the autonomous mode to the manual mode.

When the vehicle 100 is operated in the self-running mode, the autonomous vehicle 100 can be operated on the basis of the running system 700. [

For example, the autonomous vehicle 100 may be operated based on information, data or signals generated in the traveling system 710, the outgoing system 740, and the parking system 750. [

When the vehicle 100 is operated in the manual mode, the autonomous vehicle 100 can receive a user input for driving through the driving operation device 500. [ Based on the user input received through the driving operation device 500, the vehicle 100 can be operated.

The overall length means the length from the front portion to the rear portion of the vehicle 100 and the width is the width of the vehicle 100 and the height means the length from the bottom of the wheel to the roof. In the following description, it is assumed that the total length direction L is a direction in which the full length direction of the vehicle 100 is measured, the full width direction W is a reference for the full width measurement of the vehicle 100, Which is a reference for the measurement of the height of the object 100.

7, the vehicle 100 includes a user interface device 200, an object detection device 300, a communication device 400, a driving operation device 500, a vehicle driving device 600, A navigation system 770, a sensing unit 120, an interface unit 130, a memory 140, a control unit 170, and a power supply unit 190.

According to the embodiment, the vehicle 100 may further include other components than the components described herein, or may not include some of the components described.

The user interface device 200 is a device for communicating between the vehicle 100 and a user. The user interface device 200 may receive user input and provide information generated by the vehicle 100 to the user. The vehicle 100 can implement UI (User Interfaces) or UX (User Experience) through the user interface device 200. [

The user interface device 200 may include an input unit 210, an internal camera 220, a biological sensing unit 230, an output unit 250, and a processor 270.

According to the embodiment, the user interface device 200 may further include other components than the components described, or may not include some of the components described.

The input unit 210 is for receiving information from a user. The data collected by the input unit 210 may be analyzed by the processor 270 and processed by a user's control command.

The input unit 210 may be disposed inside the vehicle. For example, the input unit 210 may include one area of a steering wheel, one area of an instrument panel, one area of a seat, one area of each pillar, one area of the head console, one area of the door, one area of the center console, one area of the head lining, one area of the sun visor, one area of the windshield, One area or the like.

The input unit 210 may include a voice input unit 211, a gesture input unit 212, a touch input unit 213, and a mechanical input unit 214.

The voice input unit 211 can switch the voice input of the user into an electrical signal. The converted electrical signal may be provided to the processor 270 or the control unit 170.

The voice input unit 211 may include one or more microphones.

The gesture input unit 212 can switch the user's gesture input to an electrical signal. The converted electrical signal may be provided to the processor 270 or the control unit 170.

The gesture input unit 212 may include at least one of an infrared sensor and an image sensor for detecting a user's gesture input.

According to an embodiment, the gesture input 212 may sense a user's three-dimensional gesture input. To this end, the gesture input unit 212 may include an optical output unit for outputting a plurality of infrared rays or a plurality of image sensors.

The gesture input unit 212 can sense a user's three-dimensional gesture input through a time of flight (TOF) method, a structured light method, or a disparity method.

The touch input unit 213 can switch the touch input of the user into an electrical signal. The converted electrical signal may be provided to the processor 270 or the controller 170.

The touch input unit 213 may include a touch sensor for sensing a touch input of a user.

According to the embodiment, the touch input unit 213 is integrated with the display unit 251, thereby realizing a touch screen. Such a touch screen may provide an input interface and an output interface between the vehicle 100 and a user.

The mechanical input unit 214 may include at least one of a button, a dome switch, a jog wheel, and a jog switch. The electrical signal generated by the mechanical input 214 may be provided to the processor 270 or the controller 170.

The mechanical input unit 214 may be disposed on a steering wheel, a centepascia, a center console, a cockpit module, a door, or the like.

The internal camera 220 can acquire the in-vehicle image. The processor 270 can sense the state of the user based on the in-vehicle image. The processor 270 can obtain the user's gaze information from the in-vehicle image. The processor 270 may sense the user's gesture in the in-vehicle video.

The biometric sensor 230 can acquire biometric information of the user. The biometric sensor 230 includes a sensor capable of acquiring biometric information of a user, and can acquire fingerprint information, heartbeat information, etc. of a user using a sensor. Biometric information can be used for user authentication.

The output unit 250 is for generating an output related to a visual, auditory or tactile sense or the like.

The output unit 250 may include at least one of a display unit 251, an acoustic output unit 252, and a haptic output unit 253.

The display unit 251 may display graphic objects corresponding to various information.

The display unit 251 may be a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED) display, a 3D display, and an e-ink display.

The display unit 251 may have a mutual layer structure with the touch input unit 213 or may be integrally formed to realize a touch screen.

The display unit 251 may be implemented as a Head Up Display (HUD). When the display unit 251 is implemented as an HUD, the display unit 251 may include a projection module to output information through an image projected on a windshield or a window.

The display unit 251 may include a transparent display. The transparent display may be attached to the windshield or window.

The transparent display can display a predetermined screen while having a predetermined transparency. Transparent displays can be made of transparent TFEL (Thin Film Elecroluminescent), transparent OLED (Organic Light-Emitting Diode), transparent LCD (Liquid Crystal Display), transmissive transparent display, transparent LED (Light Emitting Diode) Or the like. The transparency of the transparent display can be adjusted.

Meanwhile, the user interface device 200 may include a plurality of display units 251a to 251g.

The display unit 251 includes one region of the steering wheel, one region 251a, 251b and 251e of the inspiration panel, one region 251d of the sheet, one region 251f of each filler, 251g), one area of the center console, one area of the head lining, one area of the sun visor, one area 251c of the windshield, and one area 251h of the window.

The audio output unit 252 converts an electric signal provided from the processor 270 or the control unit 170 into an audio signal and outputs the audio signal. To this end, the sound output section 252 may include one or more speakers.

The haptic output unit 253 generates a tactile output. For example, the haptic output section 253 may operate to vibrate the steering wheel, the seat belt, the seat 110FL, 110FR, 110RL, and 110RR so that the user can recognize the output.

The processor 270 may control the overall operation of each unit of the user interface device 200.

In accordance with an embodiment, the user interface device 200 may include a plurality of processors 270, or may not include a processor 270. [

If the user interface device 200 does not include the processor 270, the user interface device 200 may be operated under the control of the processor or the control unit 170 of another apparatus in the vehicle 100. [

On the other hand, the user interface device 200 may be referred to as a vehicle display device.

The user interface device 200 may be operated under the control of the control unit 170.

The object detecting apparatus 300 is an apparatus for detecting an object located outside the vehicle 100. [ The object detecting apparatus 300 can generate object information based on the sensing data.

The object information may include information on the presence or absence of the object, position information of the object, distance information between the vehicle 100 and the object, and relative speed information between the vehicle 100 and the object.

The object may be various objects related to the operation of the vehicle 100.

5 to 6, an object O is an object O that is a vehicle that is a vehicle such as a car OB10, another vehicle OB11, a pedestrian OB12, a two-wheeled vehicle OB13, traffic signals OB14 and OB15, Speed bumps, terrain, animals, and the like.

The lane OB10 may be a driving lane, a side lane of a driving lane, or a lane on which the opposed vehicle travels. The lane OB10 may be a concept including left and right lines Line forming a lane. A lane can be a concept involving an intersection.

The other vehicle OB11 may be a vehicle running in the vicinity of the vehicle 100. [ The other vehicle may be a vehicle located within a predetermined distance from the vehicle 100. For example, the other vehicle OB11 may be a vehicle preceding or following the vehicle 100. [

The pedestrian OB12 may be a person located in the vicinity of the vehicle 100. [ The pedestrian OB12 may be a person located within a predetermined distance from the vehicle 100. [ For example, the pedestrian OB12 may be a person who is located on the delivery or driveway.

The two-wheeled vehicle OB13 may mean a vehicle located around the vehicle 100 and moving using two wheels. The two-wheeled vehicle OB13 may be a rider having two wheels positioned within a predetermined distance from the vehicle 100. [ For example, the two-wheeled vehicle OB13 may be a motorcycle or a bicycle located on a sidewalk or a motorway.

The traffic signal may include a traffic light (OB15), a traffic sign (OB14), a pattern drawn on the road surface, or text.

The light may be light generated from lamps provided in other vehicles. Light can be light generated from a street light. Light can be solar light.

The road may include a slope such as a road surface, a curve, an uphill, a downhill, and the like.

The structure may be an object located around the road and fixed to the ground. For example, the structure may include a street lamp, a street tree, a building, a pole, a traffic light, a bridge, a curb, and a wall.

The terrain may include mountains, hills, and the like.

On the other hand, an object can be classified into a moving object and a still object. For example, the moving object may be a concept including a moving vehicle, a moving pedestrian. For example, a stop object may be a concept that includes a traffic signal, a road, a structure, a stationary vehicle, a stationary pedestrian.

The object detection apparatus 300 may include a camera 310, a radar 320, a LR 330, an ultrasonic sensor 340, an infrared sensor 350, and a processor 370.

According to the embodiment, the object detecting apparatus 300 may further include other elements other than the described elements, or may not include some of the described elements.

The camera 310 may be located at an appropriate location outside the vehicle to obtain the vehicle exterior image. The camera 310 may be a mono camera, a stereo camera 310a, an AVM (Around View Monitoring) camera 310b, or a 360 degree camera.

The camera 310 can acquire the position information of the object, the distance information to the object, or the relative speed information with the object using various image processing algorithms.

For example, the camera 310 can acquire distance information and relative velocity information with respect to the object based on a change in the object size with time in the acquired image.

For example, the camera 310 can acquire distance information and relative speed information with respect to the object through a pin hole model, a road surface profiling, and the like.

For example, the camera 310 may acquire distance information and relative speed information with respect to the object based on disparity information in the stereo image acquired by the stereo camera 310a.

For example, the camera 310 may be disposed in the interior of the vehicle, close to the front windshield, to acquire an image of the front of the vehicle. Alternatively, the camera 310 may be disposed around a front bumper or radiator grill.

For example, the camera 310 can be disposed in the interior of the vehicle, close to the rear glass, to acquire images of the rear of the vehicle. Alternatively, the camera 310 may be disposed around a rear bumper, trunk, or tailgate.

For example, the camera 310 may be disposed close to at least one of the side windows in the interior of the vehicle to obtain the image of the side of the vehicle. Alternatively, the camera 310 may be disposed around a side mirror, fender, or door.

The camera 310 may provide the acquired image to the processor 370.

The radar 320 may include an electromagnetic wave transmitting unit and a receiving unit. The radar 320 may be implemented by a pulse radar system or a continuous wave radar system in terms of the radio wave emission principle. The radar 320 may be implemented by a Frequency Modulated Continuous Wave (FMCW) scheme or a Frequency Shift Keying (FSK) scheme according to a signal waveform in a continuous wave radar scheme.

The radar 320 detects an object based on a time-of-flight (TOF) method or a phase-shift method through electromagnetic waves, and detects the position of the detected object, the distance to the detected object, Can be detected.

The radar 320 may be disposed at a suitable location outside the vehicle to sense objects located at the front, rear, or side of the vehicle.

The ladder 330 may include a laser transmitting unit and a receiving unit. The LIDAR 330 may be implemented in a time of flight (TOF) scheme or a phase-shift scheme.

The lidar 330 may be implemented as a drive or an unshifted drive.

When implemented in a driving manner, the LIDAR 330 is rotated by a motor and can detect an object in the vicinity of the vehicle 100. [

In the case of non-driven implementation, the LIDAR 330 can detect an object located within a predetermined range with respect to the vehicle 100 by optical steering. The vehicle 100 may include a plurality of non-driven RRs 330. [

The lidar 330 detects an object based on a laser light medium, a time of flight (TOF) method, or a phase-shift method, and detects the position of the detected object, The relative speed can be detected.

The lidar 330 may be disposed at an appropriate location outside the vehicle to sense objects located at the front, rear, or side of the vehicle.

The ultrasonic sensor 340 may include an ultrasonic transmitter and a receiver. The ultrasonic sensor 340 can detect the object based on the ultrasonic wave, and can detect the position of the detected object, the distance to the detected object, and the relative speed.

The ultrasonic sensor 340 may be disposed at an appropriate position outside the vehicle for sensing an object located at the front, rear, or side of the vehicle.

The infrared sensor 350 may include an infrared ray transmitter and a receiver. The infrared sensor 340 can detect the object based on the infrared light, and can detect the position of the detected object, the distance to the detected object, and the relative speed.

The infrared sensor 350 may be disposed at an appropriate position outside the vehicle for sensing an object located at the front, rear, or side of the vehicle.

The processor 370 can control the overall operation of each unit of the object detecting apparatus 300. [

The processor 370 compares the data sensed by the camera 310, the radar 320, the LR 330, the ultrasonic sensor 340, and the infrared sensor 350 with the stored data to detect the object Can be classified.

The processor 370 can detect and track the object based on the acquired image. The processor 370 can perform operations such as calculating a distance to an object, calculating a relative speed with respect to the object, and the like through an image processing algorithm.

For example, the processor 370 can obtain distance information and relative speed information with respect to the object, based on a change in the object size with time, in the acquired image.

For example, the processor 370 can acquire distance information and relative speed information with respect to the object through a pin hole model, a road surface profiling, and the like.

For example, the processor 370 may acquire distance information and relative speed information with respect to the object based on disparity information in the stereo image acquired by the stereo camera 310a.

The processor 370 can detect and track the object based on the reflected electromagnetic waves that are reflected from the object by the transmitted electromagnetic waves. The processor 370 can perform operations such as calculating a distance to an object and calculating a relative speed with respect to the object based on electromagnetic waves.

The processor 370 can detect and track the object based on the reflected laser light reflected back from the object by the transmitted laser. Based on the laser light, the processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object.

The processor 370 can detect and track the object on the basis of the reflected ultrasonic waves reflected by the object and transmitted back. The processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object based on the ultrasonic waves.

The processor 370 can detect and track the object based on the reflected infrared light that the transmitted infrared light reflects back to the object. The processor 370 can perform operations such as calculating the distance to the object and calculating the relative speed with respect to the object based on the infrared light.

According to the embodiment, the object detecting apparatus 300 may include a plurality of processors 370 or may not include the processor 370. [ For example, each of the camera 310, the radar 320, the RI 330, the ultrasonic sensor 340, and the infrared sensor 350 may individually include a processor.

The object detecting apparatus 300 can be operated under the control of the processor of the apparatus in the vehicle 100 or the controller 170 when the object detecting apparatus 300 does not include the processor 370. [

The object detecting apparatus 300 can be operated under the control of the control section 170. [

The communication device 400 is a device for performing communication with an external device. Here, the external device may be another vehicle, a mobile terminal, or a server.

The communication device 400 may include at least one of a transmission antenna, a reception antenna, an RF (Radio Frequency) circuit capable of implementing various communication protocols, and an RF device to perform communication.

The communication device 400 includes a local communication unit 410, a location information unit 420, a V2X communication unit 430, an optical communication unit 440, a broadcast transmission / reception unit 450, an ITS (Intelligent Transport Systems) communication unit 460, (470).

According to the embodiment, the communication device 400 may further include other components than the components described, or may not include some of the components described.

The short-range communication unit 410 is a unit for short-range communication. The short-range communication unit 410 may be a wireless communication unit such as Bluetooth ™, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), Ultra Wideband (UWB), ZigBee, Near Field Communication (NFC) -Fidelity), Wi-Fi Direct, and Wireless USB (Wireless Universal Serial Bus) technology.

The short-range communication unit 410 may form short-range wireless communication networks to perform short-range communication between the vehicle 100 and at least one external device.

The position information section 420 is a unit for acquiring the position information of the vehicle 100. [ For example, the location information unit 420 may include a Global Positioning System (GPS) module or a Differential Global Positioning System (DGPS) module.

The V2X communication unit 430 is a unit for performing wireless communication with a server (V2I: Vehicle to Infra), another vehicle (V2V: Vehicle to Vehicle), or a pedestrian (V2P: Vehicle to Pedestrian). The V2X communication unit 430 may include an RF circuit capable of implementing communication with the infrastructure (V2I), inter-vehicle communication (V2V), and communication with the pedestrian (V2P) protocol.

The optical communication unit 440 is a unit for performing communication with an external device via light. The optical communication unit 440 may include a light emitting unit that converts an electric signal into an optical signal and transmits it to the outside, and a light receiving unit that converts the received optical signal into an electric signal.

According to the embodiment, the light emitting portion may be formed so as to be integrated with the lamp included in the vehicle 100. [

The broadcast transmission / reception unit 450 is a unit for receiving a broadcast signal from an external broadcast management server through a broadcast channel or transmitting a broadcast signal to a broadcast management server. The broadcast channel may include a satellite channel and a terrestrial channel. The broadcast signal may include a TV broadcast signal, a radio broadcast signal, and a data broadcast signal.

The ITS communication unit 460 can exchange information, data, or signals with the traffic system. The ITS communication unit 460 can provide information and data acquired in the traffic system. The ITS communication unit 460 can receive information, data or signals from the traffic system. For example, the ITS communication unit 460 can receive the road traffic information from the traffic system and provide it to the control unit 170. [ For example, the ITS communication unit 460 may receive a control signal from the traffic system and provide it to the control unit 170 or a processor provided in the vehicle 100. [

The processor 470 can control the overall operation of each unit of the communication device 400.

In accordance with an embodiment, the communication device 400 may include a plurality of processors 470 or may not include a processor 470. [

When the processor 400 is not included in the communication device 400, the communication device 400 can be operated under the control of the processor or the control unit 170 of another apparatus in the vehicle 100. [

On the other hand, the communication device 400 can implement the vehicle display device together with the user interface device 200. [ In this case, the vehicle display device can be named as a telematics device or an AVN (Audio Video Navigation) device.

The communication device 400 may be operated under the control of the control unit 170. [

The driving operation device 500 is a device for receiving a user input for operation.

In the manual mode, the vehicle 100 can be operated on the basis of the signal provided by the driving operation device 500.

The driving operation device 500 may include a steering input device 510, an acceleration input device 530, and a brake input device 570.

The steering input device 510 may receive a forward direction input of the vehicle 100 from a user. The steering input device 510 is preferably formed in a wheel shape so that steering input is possible by rotation. According to an embodiment, the steering input device may be formed as a touch screen, a touch pad, or a button.

The acceleration input device 530 may receive an input for acceleration of the vehicle 100 from a user. The brake input device 570 can receive an input for deceleration of the vehicle 100 from the user. The acceleration input device 530 and the brake input device 570 are preferably formed in a pedal shape. According to an embodiment, the acceleration input device or the brake input device may be formed as a touch screen, a touch pad, or a button.

The driving operation device 500 can be operated under the control of the control unit 170. [

The vehicle driving device 600 is an apparatus for electrically controlling the driving of various devices in the vehicle 100. [

The vehicle driving apparatus 600 includes a power train driving unit 610, a chassis driving unit 620, a door / window driving unit 630, a safety driving unit 640, a lamp driving unit 650 and an air conditioning driving unit 660 .

According to the embodiment, the vehicle drive system 600 may further include other elements other than the described elements, or may not include some of the elements described.

On the other hand, the vehicle drive apparatus 600 may include a processor. Each unit of the vehicle drive apparatus 600 may individually include a processor.

The power train driving unit 610 can control the operation of the power train apparatus.

The power train driving unit 610 may include a power source driving unit 611 and a transmission driving unit 612.

The power source drive unit 611 can perform control on the power source of the vehicle 100. [

For example, when the fossil fuel-based engine is a power source, the power source drive unit 611 can perform electronic control on the engine. Thus, the output torque of the engine and the like can be controlled. The power source drive unit 611 can adjust the engine output torque under the control of the control unit 170. [

For example, when the electric energy based motor is a power source, the power source driving unit 611 can perform control on the motor. The power source drive unit 611 can adjust the rotation speed, torque, and the like of the motor under the control of the control unit 170. [

The transmission drive unit 612 can perform control on the transmission.

The transmission drive unit 612 can adjust the state of the transmission. The transmission drive unit 612 can adjust the state of the transmission to forward (D), reverse (R), neutral (N), or parking (P).

On the other hand, when the engine is a power source, the transmission drive unit 612 can adjust the gear engagement state in the forward (D) state.

The chassis driving unit 620 can control the operation of the chassis apparatus.

The chassis driving unit 620 may include a steering driving unit 621, a brake driving unit 622, and a suspension driving unit 623.

The steering driver 621 may perform electronic control of the steering apparatus in the vehicle 100. [ The steering driver 621 can change the traveling direction of the vehicle.

The brake driver 622 can perform electronic control of the brake apparatus in the vehicle 100. [ For example, it is possible to reduce the speed of the vehicle 100 by controlling the operation of the brakes disposed on the wheels.

On the other hand, the brake driver 622 can individually control each of the plurality of brakes. The brake driving unit 622 can control the braking forces applied to the plurality of wheels to be different from each other.

The suspension driving unit 623 can perform electronic control on a suspension apparatus in the vehicle 100. [ For example, when there is a curvature on the road surface, the suspension driving unit 623 can control the suspension device so as to reduce the vibration of the vehicle 100. [

On the other hand, the suspension driving unit 623 can individually control each of the plurality of suspensions.

The door / window driving unit 630 may perform electronic control of a door apparatus or a window apparatus in the vehicle 100.

The door / window driving unit 630 may include a door driving unit 631 and a window driving unit 632.

The door driving unit 631 can control the door device. The door driving unit 631 can control the opening and closing of a plurality of doors included in the vehicle 100. [ The door driving unit 631 can control the opening or closing of a trunk or a tail gate. The door driving unit 631 can control the opening or closing of the sunroof.

The window driving unit 632 may perform an electronic control on a window apparatus. It is possible to control the opening or closing of the plurality of windows included in the vehicle 100. [

The safety device driving unit 640 can perform electronic control of various safety apparatuses in the vehicle 100. [

The safety device driving unit 640 may include an airbag driving unit 641, a seat belt driving unit 642, and a pedestrian protection device driving unit 643. [

The airbag driver 641 may perform electronic control of the airbag apparatus in the vehicle 100. [ For example, the airbag driver 641 can control the deployment of the airbag when a danger is detected.

The seat belt driving portion 642 can perform electronic control on the seat belt appartus in the vehicle 100. [ For example, the seat belt driving portion 642 can control the passenger to be fixed to the seats 110FL, 110FR, 110RL, and 110RR using the seat belt when a danger is detected.

The pedestrian protection device driving section 643 can perform electronic control on the hood lift and the pedestrian airbag. For example, the pedestrian protection device driving section 643 can control the hood lift-up and the pedestrian airbag deployment when a collision with a pedestrian is detected.

The lamp driving unit 650 can perform electronic control of various lamp apparatuses in the vehicle 100. [

The air conditioning driving unit 660 can perform electronic control on the air conditioner in the vehicle 100. [ For example, when the temperature inside the vehicle is high, the air conditioning driving unit 660 can control the air conditioner to operate so that the cool air is supplied to the inside of the vehicle.

The vehicle drive apparatus 600 may include a processor. Each unit of the vehicle drive apparatus 600 may individually include a processor.

The vehicle drive apparatus 600 can be operated under the control of the control section 170. [

The operating system 700 is a system for controlling various operations of the vehicle 100. [ The travel system 700 can be operated in the autonomous mode.

The travel system 700 may include a travel system 710, an outbound system 740, and a parking system 750.

According to the embodiment, the travel system 700 may further include other components than the components described, or may not include some of the components described.

On the other hand, the travel system 700 may include a processor. Each unit of the travel system 700 may each include a processor individually.

Meanwhile, according to the embodiment, when the driving system 700 is implemented in software, it may be a sub-concept of the control unit 170.

According to the embodiment, the operating system 700 includes a user interface device 270, an object detecting device 300 and a communication device 400, a driving operation device 500, a vehicle driving device 600, a navigation system A sensing unit 770, a sensing unit 120, and a control unit 170.

The traveling system 710 can perform traveling of the vehicle 100. [

When the vehicle 100 is an autonomous driving vehicle, the driving system 710 may be referred to as an autonomous driving system.

The navigation system 710 can receive navigation information from the navigation system 770 and provide a control signal to the vehicle drive system 600 to perform the travel of the vehicle 100. [

The traveling system 710 can receive the object information from the object detecting apparatus 300 and provide the vehicle driving apparatus 600 with a control signal to perform the traveling of the vehicle 100. [

The traveling system 710 can receive the signal from the external device through the communication device 400 and provide a control signal to the vehicle driving device 600 to perform the traveling of the vehicle 100. [

The navigation system 710 includes a user interface device 270, an object detection device 300 and a communication device 400, a driving operation device 500, a vehicle driving device 600, a navigation system 770, 120, and a control unit 170, and may be a system concept for performing driving of the vehicle 100. [

Such a traveling system 710 may be referred to as a vehicle running control apparatus.

The departure system 740 can perform the departure of the vehicle 100.

The outpost system 740 can receive navigation information from the navigation system 770 and provide control signals to the vehicle driving apparatus 600 to perform the departure of the vehicle 100. [

The departure system 740 can receive object information from the object detecting apparatus 300 and provide a control signal to the vehicle driving apparatus 600 to carry out the departure of the vehicle 100. [

The departure system 740 can receive a signal from the external device via the communication device 400 and provide a control signal to the vehicle driving device 600 to perform the departure of the vehicle 100. [

The destination system 740 includes a user interface device 270, an object detection device 300 and a communication device 400, a driving operation device 500, a vehicle driving device 600, a navigation system 770, 120 and a control unit 170. The control unit 170 may be a system concept that carries out the departure of the vehicle 100. [

This outgoing system 740 may be termed a vehicle outbound control device.

The parking system 750 can perform parking of the vehicle 100. [

The parking system 750 may receive navigation information from the navigation system 770 and provide a control signal to the vehicle driving device 600 to perform parking of the vehicle 100. [

The parking system 750 is capable of performing parking of the vehicle 100 by receiving object information from the object detecting apparatus 300 and providing a control signal to the vehicle driving apparatus 600. [

The parking system 750 can receive the signal from the external device via the communication device 400 and provide a control signal to the vehicle driving device 600 to perform parking of the vehicle 100. [

The parking system 750 includes a user interface device 270, an object detection device 300 and a communication device 400, a driving operation device 500, a vehicle driving device 600, a navigation system 770, 120 and a control unit 170. The system 100 may be a system concept that carries out parking of the vehicle 100. [

Such a parking system 750 may be referred to as a vehicle parking control device.

The navigation system 770 may provide navigation information. The navigation information may include at least one of map information, set destination information, route information according to the destination setting, information about various objects on the route, lane information, and current location information of the vehicle.

The navigation system 770 may include a memory, a processor. The memory can store navigation information. The processor may control the operation of the navigation system 770.

According to an embodiment, the navigation system 770 can receive information from an external device via the communication device 400 and update the stored information.

According to an embodiment, the navigation system 770 may be classified as a subcomponent of the user interface device 200.

The sensing unit 120 can sense the state of the vehicle. The sensing unit 120 may include an inertial navigation unit (IMU) sensor, a crash sensor, a wheel sensor, a speed sensor, a tilt sensor, a weight sensor, a heading sensor, a position module, Includes a forward / reverse sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor with handle rotation, a vehicle internal temperature sensor, an internal humidity sensor, an ultrasonic sensor, an illuminance sensor, an accelerator pedal position sensor, a brake pedal position sensor, can do.

Meanwhile, an inertial navigation unit (IMU) sensor may include at least one of an acceleration sensor, a gyro sensor, and a magnetic sensor.

The sensing unit 120 includes a sensing unit 120 that senses the vehicle position information, the vehicle position information, the GPS position information, the vehicle position information, the vehicle position information, the vehicle motion information, the yaw information, the vehicle roll information, ), Vehicle angle information, vehicle speed information, vehicle acceleration information, vehicle tilt information, vehicle forward / reverse information, battery information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, It is possible to obtain a sensing signal for the angle, the vehicle exterior illuminance, the pressure applied to the accelerator pedal, the pressure applied to the brake pedal, and the like.

The sensing unit 120 may further include an accelerator pedal sensor, a pressure sensor, an engine speed sensor, an air flow sensor AFS, an intake air temperature sensor ATS, a water temperature sensor WTS, (TPS), a TDC sensor, a crank angle sensor (CAS), and the like.

The sensing unit 120 can generate vehicle state information based on the sensing data. The vehicle status information may be information generated based on data sensed by various sensors provided in the vehicle.

For example, the vehicle state information includes at least one of attitude information of the vehicle, speed information of the vehicle, tilt information of the vehicle, weight information of the vehicle, direction information of the vehicle, battery information of the vehicle, fuel information of the vehicle, Vehicle steering information, vehicle interior temperature information, vehicle interior humidity information, pedal position information, and vehicle engine temperature information.

The interface unit 130 may serve as a pathway to various kinds of external devices connected to the vehicle 100. For example, the interface unit 130 may include a port that can be connected to the mobile terminal, and may be connected to the mobile terminal through the port. In this case, the interface unit 130 can exchange data with the mobile terminal.

Meanwhile, the interface unit 130 may serve as a channel for supplying electrical energy to the connected mobile terminal. When the mobile terminal is electrically connected to the interface unit 130, the interface unit 130 may provide the mobile terminal with electric energy supplied from the power supply unit 190 under the control of the controller 170.

The memory 140 is electrically connected to the control unit 170. The memory 140 may store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory 140 may be, in hardware, various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, and the like. The memory 140 may store various data for operation of the vehicle 100, such as a program for processing or controlling the controller 170. [

According to the embodiment, the memory 140 may be formed integrally with the controller 170 or may be implemented as a subcomponent of the controller 170. [

The control unit 170 can control the overall operation of each unit in the vehicle 100. [ The control unit 170 may be referred to as an ECU (Electronic Control Unit).

The power supply unit 190 can supply power necessary for the operation of each component under the control of the control unit 170. Particularly, the power supply unit 190 can receive power from a battery or the like inside the vehicle.

One or more processors and controls 170 included in vehicle 100 may be implemented as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs) field programmable gate arrays, processors, controllers, micro-controllers, microprocessors, and other electrical units for performing other functions.

8 is a control block diagram of an autonomous navigation system according to an embodiment of the present invention.

8, the autonomous driving system 710 includes a user interface apparatus 200, an object detection apparatus 300, a communication apparatus 400, an interface unit 713, a memory 714, a processor 717, And may include a power supply unit 719.

The description of the user interface device 200 of FIGS. 1 to 7 may be applied to the user interface device 200. FIG.

The user interface device 200 can output content based on data, information or signals generated or processed by the processor 717. [

For example, the user interface device 200 may output a manual travel change request signal. The user interface device 200 may receive user input for manual travel switching.

The description of the object detecting apparatus 300 of FIGS. 1 to 7 can be applied to the object detecting apparatus 300. FIG.

The object detecting apparatus 300 may include a plurality of sensors.

For example, as described above, the object detection apparatus 300 may include a camera 310, a radar 320, a RI 330, an ultrasonic sensor 340, and an infrared sensor 350.

The object detecting apparatus 300 can detect one or more stop regions based on the control of the processor 717. [

The description of the communication device 400 of Figs. 1 to 7 may be applied to the communication device 400. Fig.

The communication device 400 can perform communication with another device.

For example, the communication device 400 can perform communication with at least one of the other vehicle and the external server.

The communication device 400 can receive data about an object from at least one of the other vehicle and the external server.

The communication device 400 can transmit information on the selected stop area to at least one of the other vehicle and the external server.

The interface unit 713 can exchange information, signals, or data with other apparatuses included in the vehicle 100. The interface unit 713 can transmit the received information, signal or data to the processor 717. [ The interface unit 713 can transmit information, signals or data generated or processed by the processor 717 to other devices included in the vehicle 100. [ The interface unit 713 can receive information, signals or data from other devices included in the vehicle 100. [

The interface unit 713 can receive the running situation information.

The memory 714 is electrically connected to the processor 717. The memory 714 can store basic data for the unit, control data for controlling the operation of the unit, and input / output data. The memory 714 can be, in hardware, various storage devices such as ROM, RAM, EPROM, flash drive, hard drive, and the like. The memory 714 may store various data for operation of the autonomous driving system 710, such as a program for processing or controlling the processor 717. [

According to an embodiment, the memory 714 may be formed integrally with the processor 717 or may be implemented as a subcomponent of the processor 717. [

The processor 717 can be electrically connected to each unit of the autonomous driving system 710.

The processor 717 can control the overall operation of each unit of the autonomous driving system 710. [

The processor 717 can determine whether each of the plurality of sensors has failed.

The processor 717 can determine whether any one of the plurality of sensors is faulty based on the plurality of data for one object generated by each of the plurality of sensors.

Each of the plurality of sensors can generate respective sensing data for an object around the vehicle.

The processor 717 can compare the plurality of sensing data generated by the plurality of sensors with each other.

The processor 717 can determine whether any one of the plurality of sensors is faulty based on the comparison result of the plurality of sensing data.

The processor 717 calculates a positional relationship between the object and the vehicle based on at least any one of position data of an object generated by each of the plurality of sensors, path data of the object, relative distance data between the object and the vehicle, It is possible to determine whether any one of the sensors is faulty.

Each of the plurality of sensors can generate object position data, object path data, relative distance data between the object and the vehicle, and relative speed data between the object and the vehicle, respectively.

The processor 717 can compare the position data of the object generated by the plurality of sensors, the path data of the object, the relative distance data of the object and the vehicle, and the relative speed data of the object and the vehicle.

The processor 717 can determine whether any one of the plurality of sensors has failed based on the comparison result.

The processor 717 can determine whether any one of the plurality of sensors is faulty based on the data received through the communication device 400. [

The processor 717 compares the plurality of data for one object and the data received through the communication device 400 generated by the plurality of sensors to each other to determine whether any one of the plurality of sensors is faulty .

The processor 717 can receive the sensing data of the other vehicle with respect to the object sensed by the plurality of sensors through the communication device 400. [

The processor 717 can compare the sensing data of the object generated by the plurality of sensors with the sensing data of the received other vehicle.

The processor 717 can determine whether any one of the plurality of sensors has failed based on the comparison result.

The processor 717 can determine whether any one of the plurality of sensors has failed at a predetermined cycle.

The processor 717 can change the predetermined period based on the running situation information.

For example, when the vehicle 100 travels in a situation where the probability of occurrence of an accident is high, the processor 717 can change the predetermined period more quickly based on the running situation information.

For example, the processor 717 can change the predetermined period based on the traveling route information or the traveling section information. For example, when the vehicle 100 is scheduled to run in the accident-stranded section, the predetermined period can be changed more quickly.

For example, the processor 717 can change the predetermined period based on the traveling time information. For example, when the vehicle 100 travels at night, the predetermined period can be changed more quickly than when the vehicle 100 travels during the daytime.

The processor 717 can determine whether or not the vehicle can be autonomously driven based on the determination as to whether or not the vehicle is in trouble.

For example, the processor 717 can determine that autonomous travel is possible when the rear sensor is broken during highway driving.

For example, the processor 717 can determine that autonomous travel is possible when the lateral detection sensor is broken during highway driving.

For example, the processor 717 can determine that autonomous travel is possible when the short-distance front sensor is broken during highway driving.

For example, the processor 717 can determine that autonomous travel is impossible when the long-distance forward-direction sensor is broken during high-speed road driving.

For example, the processor 717 can determine that autonomous travel is possible when the long distance ahead sensor is broken while driving on the city center road.

For example, the processor 717 can determine that autonomous travel is possible when the rear sensor is broken while driving on a city road.

For example, the processor 717 can determine that autonomous travel is impossible when the short distance forward sensor is broken while driving on the city center road.

For example, the processor 717 can determine that autonomous travel is impossible when the side sensing sensor is broken while traveling on an urban road.

If it is determined that the autonomous running is possible despite the failure of the sensor, the processor 717 can change the predetermined traveling path.

The first path may be an essential path based on the camera-based sensing data.

If it is determined that the camera has failed before entering the first route and it is determined that the autonomous travel is possible, the processor 717 may change the route from the first route to the second route.

If it is determined that any one of the plurality of sensors fails or the autonomous running is impossible while the vehicle 100 is traveling on the self-propelled road, the processor 717 judges whether or not the self- (For example, a manual driving road).

The processor 717 can output a manual driving change request signal through the user interface device 200 when it is determined that a failure has occurred in any one of the plurality of sensors.

When a first user input signal is received via the user interface device, the processor 717 can control the vehicle 100 to be switched to the manual running state.

The first user input signal may be a signal based on a user input for switching the user from the autonomous running state to the manual running state.

The processor 717 can control the vehicle 100 to stop at the shoulder on the basis of the determination as to whether or not the vehicle can be autonomously traveled.

The shoulder can be defined as the outermost region on the road.

For example, the shoulder can be the inner area of a lane or guardrail that separates the road. That is, the shoulder line may be the left area of the lane or the guard rail that divides the road, with respect to the vehicle running direction.

More specifically, the processor 717 can control the vehicle 100 to stop at the shoulder when it is determined that autonomous travel is impossible due to a sensor failure.

The processor 717 can control the object detecting apparatus 200 to detect the stopable region on the road.

The object detecting apparatus 200 can detect the stopable region. The object detecting apparatus 200 can detect the stopable region based on the sensing operation of the sensor except for the failed sensor.

The processor 717 can output information on the stopable area through the user interface device 200. [

The processor 717 may select, through the user interface device 200, a stop area, of the one or more stopable areas, when a second user input signal is received.

The second user input signal may be a signal based on a user input that selects a stop region of the vehicle 100, among the one or more stopable regions.

The processor 717 can control the vehicle 100 to stop in the stop area selected based on the second user input signal.

In this case, the processor 717 can control to move at a speed based on the running condition.

The processor 717 can transmit information on the selected stop area to at least one of the other vehicle and the external server.

For example, the processor 717 may transmit information about the selected stop area to another trailing vehicle to prevent an accident.

For example, the processor 717 may transmit information about the selected stop area to the traffic management server so that the vehicle 100 can be towed.

On the other hand, the processor 717 can determine whether or not the vehicle driving assist system operates based on the type information of the failed sensor among the plurality of sensors.

The processor 717 can limit the functions of the vehicle driving assist system based on the type information of the failed sensor among the plurality of sensors.

For example, when it is determined that the front camera has failed, the processor 717 can restrict the functions of the vehicle driving assist device (e.g., LKA, LCA) based on lane detection. In this case, when the AVM camera and the lidar are in a normal state, the processor 717 can control the vehicle to move to the workshop at a low speed based on the sensing data of the AVM camera and the lidar.

For example, when it is determined that the front radar is broken, the processor 717 may limit the function of the vehicle driving assist device (e.g., ACC) based on the detection of the preceding vehicle.

The power supply unit 719 can supply power necessary for the operation of each component under the control of the processor 717. [ The power supply unit 719 can receive power from a battery or the like in the vehicle.

9 is a flowchart of an autonomous travel system according to an embodiment of the present invention.

Referring to Fig. 9, the processor 717 can control the vehicle 100 to travel in an autonomous running state (S910).

While the vehicle 100 is traveling in the autonomous running state, the processor 717 can determine whether each of the plurality of sensors included in the object detecting apparatus 300 has failed (S920).

If it is determined that at least one of the plurality of sensors is malfunctioning, the processor 717 may output sensor malfunction status information through the user interface device 200 (S930).

If it is determined that at least one of the plurality of sensors has failed, the processor 717 can transmit the sensor failure status information to at least one of the other vehicle and the server through the communication device 400 (S930).

Based on the first user input, the processor 717 can determine whether the vehicle can be switched to the manual driving state (S940).

The processor 717 can output the manual travel change request signal through the user interface device 200. [

When a first user input signal is received via the user interface device, the processor 717 can control the vehicle 100 to be switched to the manual running state.

The first user input signal may be a signal based on a user input for switching the user from the autonomous running state to the manual running state.

In the case of switching to the manual driving, the processor 717 can control to travel on the basis of the user input received through the driving operation device 500 (S945).

If the first user input signal is not received, the processor 717 can determine whether autonomous travel is possible (S947).

If it is determined that autonomous travel is possible, the processor 717 can adjust the autonomous travel level (S950).

For example, the processor 717 can adjust the autonomous driving level by lowering the maximum travelable speed.

For example, the processor 717 can adjust the autonomous driving level so that autonomous driving is possible only on the highway.

For example, the processor 717 can adjust the autonomous driving level so that autonomous driving is possible only on roads without traffic lights.

For example, the processor 717 can adjust the autonomous driving level so that the autonomous running can be performed only when the user gazes forward.

For example, the processor 717 can adjust the autonomous driving level so that autonomous driving is possible only when the user's hand is positioned on the steering wheel.

If it is determined that autonomous travel is impossible, the processor 717 can judge whether a stop at the shoulder is possible (S960).

The processor 717 can control the object detecting apparatus 200 to detect the stopable area on the shoulder of the road.

The object detecting apparatus 200 can detect the stopable area on the shoulder of the road. The object detecting apparatus 200 can detect the stopable region based on the sensing operation of the sensor except for the failed sensor.

If more than one stopable area is detected, the processor 717 may determine that a stop on the shoulder is possible.

The processor 717 can output information on the stopable area through the user interface device 200. [

The processor 717 may select, through the user interface device 200, a stop area, of the one or more stopable areas, when a second user input signal is received.

The second user input signal may be a signal based on a user input that selects a stop region of the vehicle 100, among the one or more stopable regions.

The processor 717 may control the vehicle 100 to stop in the selected stop area based on the second user input signal (S970).

In this case, the processor 717 can control to move at a speed based on the running condition.

The processor 717 can transmit information on the selected stop area to at least one of the other vehicle and the external server (S980).

In step S960, if at least one stopable area is not detected, the processor 717 can control the vehicle 100 to run in an emergency (S965).

For example, the processor 717 can control the vehicle to travel at a low speed after traveling to the outermost lane without traveling lane change. In this case, the processor 717 can control the emergency lamp to be turned on.

10 is a diagram referred to explain an operation of determining whether a sensor is malfunctioning according to an embodiment of the present invention.

The processor 717 can determine whether any one of the plurality of sensors is faulty based on the plurality of data for one object 1000 generated by each of the plurality of sensors.

The processor 717 calculates a positional relationship between the object and the vehicle based on at least any one of position data of an object generated by each of the plurality of sensors, path data of the object, relative distance data between the object and the vehicle, It is possible to determine whether any one of the sensors is faulty.

As illustrated in Fig. 10A, the camera 310 can generate relative distance data and relative speed data between the vehicle 100 and the preceding vehicle 1000. Fig.

The radar 320 can generate relative distance data and relative speed data between the vehicle 100 and the preceding vehicle 1000. [

The driver 330 can generate relative distance data and relative speed data between the vehicle 100 and the preceding vehicle 1000. [

The ultrasonic sensor 340 can generate relative distance data and relative speed data between the vehicle 100 and the preceding vehicle 1000. [

The infrared sensor 350 can generate relative distance data and relative speed data between the vehicle 100 and the preceding vehicle 1000. [

The processor 717 can compare the relative distance data generated by each of the camera 310, the radar 320, the RI 330, the ultrasonic sensor 340, and the infrared sensor 350 with each other.

The processor 717 can determine that the sensor that has generated data out of the error range of the comparison result is a failure sensor.

According to the embodiment, the processor 717 can determine that the first sensor is a failure sensor when the data from the first sensor deviates from the error range more than the reference number after repeatedly comparing the predetermined number of times or more.

The processor 717 can compare the relative speed data generated by each of the camera 310, the radar 320, the RI 330, the ultrasonic sensor 340, and the infrared sensor 350 with each other.

The processor 717 can determine that the sensor that has generated data out of the error range of the comparison result is a failure sensor.

According to the embodiment, the processor 717 can determine that the first sensor is a failure sensor when the data from the first sensor deviates from the error range more than the reference number after repeatedly comparing the predetermined number of times or more.

It is possible to determine whether or not the sensor has failed based on the comparison of the estimated travel route between the vehicle 100 and the other vehicle 1000 in the straight section 1001, as illustrated in Fig. 10 (b).

The processor 717 can generate the estimated travel route of the vehicle 100 based on the sensing data of the first sensor.

The processor 717 accumulates the sensing data of the first sensor that senses the periphery of the vehicle 100 (for example, the lane) during the first set time period, and based on the accumulated sensing data, The first route information of the vehicle at the time when the vehicle is traveling.

The processor 717 can generate the estimated travel route of the other vehicle 1000 based on the sensing data of the second sensor.

The processor 717 accumulates the sensing data of the second sensor that senses the other vehicle 1000 and the lane during the first set time period and accumulates the sensed data of the other vehicle in the straight line section 1001 1000 < / RTI >

The processor 717 can compare the first path information and the second path information with each other.

The processor 717 may determine that a failure has occurred in at least one of the first sensor and the second sensor when it is determined that the intersection 1010 of the first path information and the second path information is generated.

11 is a diagram for explaining an operation of determining whether a sensor is faulty according to an embodiment of the present invention.

The processor 717 can determine whether any one of the plurality of sensors is faulty based on the data received through the communication device 400. [

The processor 717 compares the plurality of data for one object and the data received through the communication device 400 generated by the plurality of sensors to each other to determine whether any one of the plurality of sensors is faulty .

As illustrated in Fig. 11, the processor 717 can receive, via the communication device 400, sensing data for the first vehicle 1100. Fig.

Here, the first vehicle 1100 sensing data may be generated in the first vehicle 1100. Alternatively, the sensing data of the first target 1100 may be generated in the second target 1110.

The sensing data for the first vehicle 1100 includes positional data of the first vehicle 1100, route data of the first vehicle 1100, relative data between the first vehicle 1100 and the vehicle 100 Distance data, relative speed data between the first vehicle 1100 and the vehicle 100, and the like.

Each of the plurality of sensors can generate sensing data for the first target 1100.

The processor 717 compares the sensing data of the first vehicle 1100 generated by each of the plurality of sensors with the data received through the communication device 400 to determine whether or not a failure has occurred in each of the plurality of sensors can do.

FIG. 12 is a diagram referred to explain the operation of the autonomous traveling system when it is determined that the sensor is broken according to the embodiment of the present invention.

12, the processor 717 may output the manual travel change request signal 1210 through the user interface device 200 when it is determined that a failure has occurred in any one of the plurality of sensors.

The user interface device 200 may receive a first user input.

Processor 717 may receive a first user input signal based on the first user input.

When the first user input is received, the processor 717 can control the vehicle 100 to switch to the manual running state.

In this case, the processor 717 can control the driving operation device 500 to travel based on the received user driving operation input.

13 is a diagram referred to explain the stop control operation according to the embodiment of the present invention.

As illustrated in FIG. 13A, the processor 717 can distinguish between the traffic road 1302 and the delivery route 1301 through the object detection device 300. FIG.

According to the embodiment, the processor 717 can distinguish between the guidance road 1302 and the delivery route 1301 based on the navigation information.

As illustrated in Fig. 13 (b), the processor 717 can detect the outermost lane 1311 of the road.

The processor 717 can determine whether or not the vehicle can be stopped based on the type or color of the lane 1311. [

The processor 717 can determine whether or not the lane 1311 can be stopped based on whether the lane 1311 is a solid line, a dotted line, or whether it is yellow or white.

As illustrated in (c) of FIG. 13, the processor 717 can detect the stopable areas 1321, 1322, and 1323.

The processor 717 can calculate the distance between the objects 1325 and 1326 based on the data generated by the object detecting apparatus 300. [

The processor 717 can detect the stopable areas 1321, 1322, and 1323 based on the distance information between the objects 1325 and 1326. [

As illustrated in Figure 13 (d), the processor 717 may select one of the one or more stopable areas 1321, 1322, 1323 as the stop area 1332. [

Depending on the embodiment, the processor 717 may select the stop area 1332 based on the user input.

According to the embodiment, the processor 717 can select the stop area 1332 based on the surrounding situation information.

The processor 717 can control the vehicle 100 to move to the selected stopping area 1332. [

In this case, the processor 717 can control the vehicle 100 to be moved at a predetermined constant speed.

In this case, the processor 717 can control the emergency lamp to be turned on.

In this case, the processor 717 can detect an obstacle 1331 that may be located between the vehicle 100 and the stop region 1332. [ The processor 717 can avoid obstacles 1331 and control it to move to the stop area 1332. [

FIG. 14 is a diagram for describing a user interface device according to an embodiment of the present invention.

14, the processor 717 may output information 1410 on the failure of the sensor through the display 251 of the user interface device 200. [

The processor 717 can output the stop operation information 1420 via the display 251 when the stop operation of the shoulder is determined.

The processor 717 can output information on the stopable area 1431 through the display 251. [

The processor 717 can determine the stop region 1432 in the stopable region 1431 and control the vehicle 100 to stop in the stop region 1432 based on the running state information.

The processor 717 determines the stop area 1433 of the stopable area 1431 based on the user input through the user interface device 200 and controls the stopping of the vehicle 100 in the stop area 1432 can do.

FIG. 15 is a diagram referred to explain the operation of the autonomous navigation system according to the embodiment of the present invention.

Processor 717 determines a stop region 1510.

The processor 717 can transmit information about the stop area 1510 to other peripheral vehicles via the communication device 400. [

The information on the stop area 1510 may include travel route information from the position of the vehicle 100 to the stop area 1510. [

Specifically, the processor 717 can transmit information about the stopping area 1510 to other vehicles in a lane located between the driving lane of the vehicle 100 and the driving lane and the stopping area 1510.

The processor 717 can transmit a signal requesting at least one of acceleration, deceleration, and lane change to another vehicle based on the positional relationship between the vehicle 100 and the other vehicle.

The processor 717 runs on the lane 1512 located between the driving lane 1501 and the lane 1501 of the vehicle 100 and the stop region 1510, A signal requesting acceleration may be transmitted.

The processor 717 runs on the lane 1513 located between the lane 1501 and the lane 1501 of the vehicle 100 and the stopping area 1510, A signal requesting deceleration can be transmitted.

The processor 717 also runs on the lane 1513 located between the lane 1501 and the lane 1501 of the vehicle 100 and the stop region 1510, It is possible to transmit to the vehicles a signal requesting driving to the lane 1511 outside the driving lane of the vehicle 100 and the stopping area 1510. [

The present invention described above can be embodied as computer-readable codes on a medium on which a program is recorded. The computer readable medium includes all kinds of recording devices in which data that can be read by a computer system is stored. Examples of the computer readable medium include a hard disk drive (HDD), a solid state disk (SSD), a silicon disk drive (SDD), a ROM, a RAM, a CD-ROM, a magnetic tape, a floppy disk, , And may also be implemented in the form of a carrier wave (e.g., transmission over the Internet). In addition, the computer may include a processor or a control unit. Accordingly, the above description should not be construed in a limiting sense in all respects and should be considered illustrative. The scope of the present invention should be determined by rational interpretation of the appended claims, and all changes within the scope of equivalents of the present invention are included in the scope of the present invention.

100: vehicle
710: Autonomous driving system

Claims (11)

An object detecting device including a plurality of sensors; And
Determining whether each of the plurality of sensors is faulty,
Determines whether or not the vehicle is capable of autonomous travel based on the determination as to whether or not the vehicle is in trouble,
And a processor for controlling the vehicle to stop on the shoulder on the basis of the determination as to whether or not the autonomous drive is possible. The method according to claim 1,
The processor comprising:
Wherein each of said plurality of sensors determines whether any one of said plurality of sensors is faulty or not, based on a plurality of data for one object respectively generated by said plurality of sensors. 3. The method of claim 2,
The processor comprising:
Based on at least any one of position data of the object generated by the plurality of sensors, path data of the object, relative distance data between the object and the vehicle, and relative speed data between the object and the vehicle, And determining whether any one of the sensors is faulty. The method according to claim 1,
And a communication device for performing communication with another device,
The processor comprising:
And determines whether any one of said plurality of sensors is faulty based on data received via said communication device. 5. The method of claim 4,
The processor comprising:
And compares the data for one object generated by the plurality of sensors and the data received through the communication device with each other to determine whether any one of the plurality of sensors is faulty. The method according to claim 2 or 4,
The processor comprising:
And determines whether any one of the plurality of sensors is faulty at a predetermined cycle. The method according to claim 1,
Further comprising: a user interface device,
The processor comprising:
When it is determined that a failure has occurred in any one of the plurality of sensors,
Determines whether or not the vehicle can be manually driven based on the determination as to whether or not the vehicle is in trouble,
Outputting a manual driving change request signal through the user interface device,
Wherein when the first user input signal is received through the user interface device, the vehicle is controlled to be switched to the manual running state. The method according to claim 1,
Further comprising: a user interface device,
The object detecting apparatus includes:
Detecting one or more stationary areas,
The processor comprising:
Outputting information on the stopable area through the user interface device,
And controls the vehicle to stop in a selected stop area based on the second user input signal when a second user input signal is received through the user interface device. 9. The method of claim 8,
And a communication device for performing communication with another device,
The processor comprising:
And transmits information on the selected stop area to at least one of the other vehicle and the external server. The method according to claim 1,
The processor comprising:
And changes the predetermined traveling route based on the determination as to whether or not the failure has occurred. 11. The method of claim 10,
When it is determined that one of the plurality of sensors has failed while the vehicle is traveling on an autonomous road,
The processor comprising:
And controls the vehicle to move from the autonomous-travel-dedicated road to the general-running road.

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