KR20190065043A - Driving system for vehicle - Google Patents

Abstract

The present invention relates to a driving system for a vehicle, which comprises: an object detection device; a sensing unit detecting a collision between a vehicle and an object; and a processor generating a first driving route based on object information, determining a collision cause based on whether a collision object colliding with the vehicle is detected when the object information is generated, wherein the vehicle driven on the first driving route collides with the object, and generating a second driving route based on the collision cause.

Description

[0001] Driving system for vehicle [0002]

The present invention relates to a vehicle operating system.

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

For the convenience of the user who uses 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.

On the other hand, in order for the vehicle to travel, a traveling route must be created. In the case of passive driving, the driver can sense an object outside the vehicle through the sensory system and generate a traveling route based on the sensed information. This process can also be performed by the processor. That is, the processor acquires information on an object outside the vehicle from the object detecting apparatus, and can generate a traveling route based on navigation information and the like. The processor may provide the generated travel route to the driver, or may control the vehicle so that the vehicle travels along the generated travel route to perform autonomous travel.

However, conventionally, when a vehicle running along a traveling route collides with an object, the subsequent control of the vehicle is insufficient. For example, there has been a problem in that, when a vehicle traveling along a traveling path collides with an object, the vehicle travels along a traveling path before collision even after the vehicle is stopped at a collision point or a collision occurs.

Therefore, there is a need for an improved control method that avoids collided objects and restarts driving, depending on whether the vehicle is in a running state, even when a collision occurs in a running vehicle along the running path.

In order to solve the above-described problems, an embodiment of the present invention aims to effectively control a vehicle after a collision when a collision occurs in a vehicle traveling along a path.

It is also an object of the present invention to provide a new traveling route for avoiding an object when a vehicle running on the traveling route collides with an object.

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 a vehicle operating system including: an object detecting device; A sensing unit for sensing a collision between the vehicle and the object; Wherein the control unit acquires object information around the vehicle from the object detection apparatus, generates a first travel route based on the object information, and when a vehicle traveling on the first travel route is detected as colliding with the object, And a processor for determining a cause of the collision based on whether or not the collision object has been detected upon generation of the object information, and generating a second travel route based on the collision cause.

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, after the collision, the cause of the collision is compensated according to the cause of collision, and the vehicle can be effectively controlled.

Secondly, there is an effect that, after the collision, a new travel route can be provided which can prevent further collision.

Third, even if a problem occurs in a vehicle due to a collision, it is possible to securely control the vehicle while completing a problematic part.

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 of a vehicle according to an embodiment of the present invention.
Fig. 8 is a block diagram of the operating system according to the present embodiment.
9 is a control flowchart of the operating system according to the present embodiment.
10A, 10B, and 10C are views for explaining the operating system according to the present embodiment.
11A and 11B are views for explaining the operating system according to the present embodiment.
12A and 12B are views for explaining the operating system according to the present embodiment.
13A and 13B are views for explaining the operating system according to the present embodiment.
Figs. 14A and 14B are views for explaining the step S60 of generating the second travel route shown in Fig.
Figs. 15A and 15B are diagrams for explaining the step S60 of generating the second travel route shown in Fig. 9. Fig.
Figs. 15C and 15D are diagrams for explaining the step S60 of generating the second travel route shown in Fig. 9;
16A and 16B are views for explaining the step S60 of generating the second travel route shown in Fig.
17A, 17B and 17C are diagrams for explaining the operating system according to the present embodiment.
18A, 18B and 18C are views for explaining the operating system according to the present embodiment.

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 of a vehicle according to an embodiment of the present invention.

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 outbound 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 sensing unit 120 can sense the state of the vehicle. The sensing unit 120 may include a sensor such as a yaw sensor, a roll sensor, a pitch sensor, a collision sensor, a wheel sensor, a velocity sensor, A head sensor, a gyro sensor, a position module, a vehicle forward / backward sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor by steering wheel rotation, a vehicle An internal temperature sensor, an in-vehicle humidity sensor, an ultrasonic sensor, an illuminance sensor, an accelerator pedal position sensor, a brake pedal position sensor, and the like.

The sensing unit 120 is configured to generate the sensing information based on the vehicle attitude information, the vehicle collision information, the vehicle direction information, the vehicle position information (GPS information), the vehicle angle information, the vehicle speed information, Obtain a sensing signal for information, fuel information, tire information, vehicle lamp information, vehicle interior temperature information, vehicle interior humidity information, steering wheel rotation angle, vehicle exterior illumination, pressure applied to the accelerator pedal, pressure applied to the brake pedal, can do.

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 called 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.

The sensing unit 120, the interface unit 130, the memory 140 power supply unit 190, the user interface unit 200, the object detection unit 300, the communication unit 400, the driving operation unit 500, The vehicle drive system 600, the operating system 700 and the navigation system 770 may have separate processors or may be integrated into the controller 170. [

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. Each component of the user interface device 200 can be structurally and functionally separated or integrated with the interface 130 described above.

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 214 may be disposed on a steering wheel, a center fascia, a center console, a cockpit module, a door, or the like.

The processor 270 initiates the learning mode of the vehicle 100 in response to user input to at least one of the voice input unit 211, the gesture input unit 212, the touch input unit 213 and the mechanical input unit 214 described above. can do. In the learning mode, the vehicle 100 can perform the traveling path learning of the vehicle and the surrounding environment learning. The learning mode will be described in detail below with respect to the object detecting apparatus 300 and the operating system 700. [

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 used to have transparency, transparent displays include transparent TFEL (Thin Film Electroluminescent), transparent OLED (Organic Light-Emitting Diode), transparent LCD (Liquid Crystal Display), transmissive transparent display, 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 a vehicle that is a vehicle that has a lane 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 the driving lane, or a lane on which the opposed vehicle runs. The lane OB10 may be a concept including left and right lines Line forming a lane.

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 street lamps, street lamps, buildings, electric poles, traffic lights, and bridges.

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

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

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. Each component of the object detecting apparatus 300 can be structurally and functionally separated or integrated with the sensing unit 120 described above.

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 an electromagnetic wave, and detects the position of the detected object, the distance to the detected object, Can be detected.

The radar 320 may be placed 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 lidar 330, the ultrasonic sensor 340, and the infrared sensor 350 with the stored data to detect or classify the object can do.

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.

As described above, when the learning mode of the vehicle 100 is started in response to a user input to the input unit 210, the processor 370 may include a camera 310, a radar 320, And the data sensed by the infrared sensor 350 and the infrared sensor 350 may be stored in the memory 140.

The steps of the learning mode based on the analysis of the stored data and the operation modes following the learning mode will be described in detail below with respect to the operation system 700. 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 may be called 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 610 can perform electronic control of 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 610 can perform control on the motor. The power source drive unit 610 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 unit 642 can perform electronic control of the seatbelt apparatus 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.

On the other hand, the driving system 700 can control the running of the autonomous driving mode based on the learning. In this case, the learning mode and the operation mode based on completion of learning can be performed. A method for the processor of the driving system 700 to perform a learning mode and an operating mode will be described below.

The learning mode can be performed in the manual mode described above. In the learning mode, the processor of the driving system 700 can perform the traveling path learning of the vehicle 100 and the surrounding environment learning.

The traveling route learning may include generating map data on the route that the vehicle 100 travels. In particular, the processor of the navigation system 700 can generate map data based on the information detected through the object detection apparatus 300 while the vehicle 100 travels from the origin to the destination.

The surrounding environment learning may include storing and analyzing information on the environment of the vehicle 100 during the driving process and the parking process of the vehicle 100. [ Particularly, the processor of the driving system 700 detects the information detected through the object detecting apparatus 300 in the parking process of the vehicle 100, for example, the position information of the parking space, the size information, the fixed (or non-fixed) Information on the surrounding environment of the vehicle 100 can be stored and analyzed based on information such as obstacle information and the like.

The operation mode can be performed in the autonomous mode described above. The operation mode will be described on the assumption that the traveling route learning or the surrounding environment learning is completed through the learning mode.

The operation mode may be performed in response to user input through the input unit 210, or may be performed automatically when the vehicle 100 reaches the driving route and the parking space where learning has been completed.

The operation mode includes a semi-autonomous operating mode requiring a part of the user's operation on the driving control device 500 and a fully-autonomous operation requiring no user's operation on the driving control device 500 Mode (fully autonomous operating mode).

Meanwhile, according to the embodiment, the processor of the driving system 700 can control the driving system 710 in the operating mode to drive the vehicle 100 along the traveling path on which learning has been completed.

Meanwhile, according to the embodiment, the processor of the driving system 700 can control the outgoing system 740 in the operating mode to leave the parked vehicle 100 from the learned parking space.

Meanwhile, according to the embodiment, the processor of the driving system 700 can control the parking system 750 in the operation mode to park the vehicle 100 from the current position to the learned parking space.

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.

On the other hand, according to the embodiment,

A navigation device 770, a sensing unit 120, and a control unit 170. The user interface device 270, the object detection device 300 and the communication device 400, the driving operation device 500, the vehicle driving device 600, Or the like.

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

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.

Fig. 8 is a block diagram of the operating system according to the present embodiment.

8, the operating system 800 includes an object detecting apparatus 300, a sensing unit 120, an interface unit 830, a memory 840, a display unit 251, a processor 870, 890 < / RTI >

The driving system 800 can control various operations of the vehicle 100. [

The driving system 800 can provide information necessary for the user to operate the vehicle 100. [

The driving system 800 can assist various operations of the vehicle 100 by assisting the user.

The driving system 800 can control the vehicle driving device 600 to allow the vehicle 100 to autonomously operate.

Depending on the embodiment, the travel system 800 may further include other components than the components described, or may not include some of the components described.

In the running system 800, the description of the running system 700 described above can be applied.

The operating system 800 can be structurally and functionally integrated with or separated from the operating system 700 described above.

The interface unit 830 may serve as a pathway to various kinds of external devices connected to the vehicle 100.

The interface unit 830 may serve as a path for supplying electrical energy to the connected mobile terminal.

The interface unit 830 may be applied to the interface unit 130 described above.

The memory 840 may store various data for operation of the entire travel system 800, such as a program for processing or controlling the processor 870.

The memory 840 may be structurally and functionally separate or integrated with the memory 140 described above.

According to an embodiment, the memory 840 may be formed integrally with the processor 870, or may be implemented as a subcomponent of the processor 870. [

The processor 870 can control the overall operation of each unit within the travel system 800. [

Processor 870 may be any of a variety of devices, such as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs) for example, at least one of controllers, micro-controllers, microprocessors, and other electronic units for performing other functions.

In addition, the object detection apparatus 300, the sensing unit 120, the interface unit 830, the memory 840, the display unit 251, and the power supply unit 890 may have separate processors or may be integrated into the processor 870 .

The processor 870 can acquire object information around the vehicle from the object detecting apparatus 300. [

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.

Alternatively, the processor 870 may receive the sensing signal from the object detecting apparatus 300 and generate the object information.

The processor 870 can generate the first travel route based on the object information.

The travel route can be defined as including a geographic concept such as the direction and distance the vehicle 100 will travel and a time concept such as the speed of the vehicle 100. [

For example, the processor 870 can generate a traveling route including a route for the vehicle 100 to move from one point to another point, and a time required for the vehicle 100 to travel on the route.

The first travel route may be defined as a travel route that is generated earlier in time than the second travel route to be described later.

The first traveling route is described for the purpose of distinguishing it from the second traveling route and it is not necessarily the case that the first traveling route and the second traveling route should exist and the second traveling route is not generated, May be generated.

The processor 870 can obtain the map information from the navigation system 770 of the vehicle 100 via the interface unit 830. [

Processor 870 may obtain stored map information from memory 840. [

The processor 870 can generate the first travel route based on the obtained map information.

The processor 870 can generate the first traveling route based on the information about the fixed object included in the map information and the information about the moving object included in the object information.

The fixed object is an object fixed at a certain position, and can be distinguished from the moving object.

The processor 870 can determine whether it is a fixed object or a moving object, based on the shape information of the object or the motion information of the object.

For example, the fixed object may be a concept including a traffic signal, a road, and a structure.

The information on the fixed object may include three-dimensional position information of the fixed object and three-dimensional shape information of the fixed object.

For example, the moving object may be a concept including an other vehicle, a pedestrian.

The information on the moving object may include three-dimensional position information of the moving object and three-dimensional shape information of the moving object.

The navigation system 800 configured as described above is advantageous in that it can quickly and effectively generate a traveling route based on stored map information and object information sensed in real time.

The processor 870 can obtain the vehicle collision information from the sensing unit 120. [

The vehicle collision information may include information on whether or not the vehicle collided with the object, information on the intensity of the collision, and information on which part of the vehicle collided with the object.

The processor 870 can detect a collision between the vehicle and the object traveling on the first travel route based on the vehicle collision information.

The processor 870 can determine the cause of the collision based on whether or not the collision object that collided with the vehicle was detected at the time of object information generation when the vehicle traveling on the first travel path is detected as colliding with the object. The processor 870 can generate a second travel route based on the cause of the collision.

The processor 870 may determine that an object that has collided with or is likely to collide with the vehicle is a colliding object.

The processor 870 can determine that an object whose distance between the object and the vehicle 100 is less than a preset value is a collision object.

The processor 870 may obtain information related to time to collision (TTC) with the object from the automatic emergency braking system (AEBS) of the vehicle 100.

The processor 870 can determine that the object whose collision prediction time is less than the preset value is a collision object.

The processor 870 may set the value of the distance value or the estimated collision time as a reference for determining the collision object to be different depending on the type of the object.

For example, in the case of a moving object, the processor 870 can determine that the object is a collision object if the distance between the vehicle 100 and the object is less than the first distance value. The processor 0 may determine that the object is a collision object if the distance between the vehicle 100 and the object is less than the second distance value in the case of a fixed object. The second distance value may be a value smaller than the first distance value have.

The processor 870 can determine whether the information about the collision object is the information included in the object information based on the first travel route generation.

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

The processor 870 can determine whether or not the collision object is detected at the time of generating the object information based on a result of determining whether the information about the collision object is the information included in the object information based on the first travel path generation.

The processor 870 can determine that the collision object has been detected at the time of generating the object information when it is determined that the information about the collision object is included in the object information based on the first travel route creation.

The processor 870 can determine that the collision object has not been detected at the time of generating the object information when it is determined that the information about the collision object is not included in the object information based on the first travel route generation.

The cause of the collision may be defined to mean an apparatus or configuration that is abnormal, causing the collision to occur.

If a conflict occurs due to other factors while the device or configuration is operating normally, the normal device or configuration may be defined as not causing the conflict.

Detailed determination as to the cause of the collision will be described in detail with reference to FIGS. 10 to 13. FIG.

The second travel route based on the cause of the collision will be described in detail with reference to FIG. 14 and subsequent figures.

The processor 870 can control the vehicle driving apparatus 600 through the interface unit 830 so that the vehicle 100 travels to the generated traveling path.

The processor 870 can control the vehicle drive system 600 to perform autonomous travel.

The processor 870 can determine that the cause of the collision is the object detecting apparatus 300 or the vehicle driving apparatus when it is determined that the colliding object has been detected at the time of generating the object information.

Even if the collision object is detected at the time of generating the object information, when the vehicle running on the first path based on the collision object collides with the object, it can be seen that the object information is not accurate. Therefore, in such a case, the processor 870 can determine that the object detecting apparatus 300 is the cause of the collision.

For example, when the information on the position of the object sensed by the at least one sensor of the object detecting apparatus 300 is not correct, the vehicle 100 travels on the traveling path generated based on the incorrect position information, Can not avoid the collision can occur.

For example, when the information on the speed of the object sensed by the one or more sensors of the object detecting apparatus 300 is not correct, the vehicle 100 travels on the traveling path generated based on the incorrect speed information, Can not avoid the collision can occur.

The processor 870 can determine that the collision object is the object detection apparatus 300 when it is determined that the collision object was not detected at the time of object information generation and was within the sensing range of the object detection apparatus 300. [

If at least one or more sensors of the object detecting apparatus 300 are not detected at the time of generating the object information even though the collision object is within the sensing range of the object detecting apparatus, it can be regarded as abnormal. In this case, the processor 870 can determine that the object detecting apparatus 300 is the cause of the collision.

The processor 870 can determine whether the collision object was within the sensing range of the object detection apparatus 300, based on the sensing distance, angle of view, and sensing period of the one or more sensors of the object detection apparatus 300. [

The processor 870 can determine that the collision object is within the sensing range of any one of the plurality of sensors of the object detection apparatus 300 and that the sensor is abnormal if it is determined that the collision object is not detected have.

For example, when an object located outside the range of the sensing distance and sensing angle that can be sensed by one or more sensors of the object detecting apparatus 300 suddenly appears and collision occurs with the vehicle 100, It can be determined that the collision object was outside the sensing range of the object detecting apparatus 300. [

For example, when the fixed object is located in front of the vehicle 100, the sensor of the object detecting apparatus 300 may detect the area where the fixed object is located, but can not detect the fixed object and generate the object information. The processor 870 can generate the first travel route based on the object information. The processor 870 can determine that the sensor of the object detecting apparatus 300 that senses the area where the fixed object is located is the cause of the collision when the vehicle 100 traveling on the first traveling path collides with the fixed object .

For example, when the vehicle 100 collides with the moving object, it is possible to determine whether the moving object is in the sensing range of the object detecting apparatus 300 by calculating the moving path before the collision of the moving object.

For example, when the moving object collides with the vehicle 100, the processor 870 determines whether or not the object 100 is moving based on the motion of the collision object after the collision and / or the impact on the vehicle 100 by the collision object. Can be calculated.

When the vehicle 100 collides with the moving object and the moving object is within the sensing range of the object detecting apparatus 300 but is not detected, the processor 870 determines that the object detecting apparatus 300 is the cause of the collision It can be judged.

The processor 870 can store in the memory 840 information about the fixed object that was not detected upon generation of the object information.

The processor 870 can selectively store information about the static object among the objects not detected upon generation of the object information in the memory 840. [

The processor 870 may store in the memory 840 information about an object that is repeatedly detected a predetermined number of times or more.

The processor 870 can use the object information stored in the memory 840 when generating a traveling route.

The processor 870 may generate a travel route based on the map data stored in the memory 840. [

The processor 870 can update and store the stored map data when an object not stored in the map data is sensed by the object detecting apparatus 300 while traveling on the traveling route based on the map data.

The processor 870 compares the stored map data with the object information generated by the object detecting apparatus 300 to determine whether the information is information on a new object.

Processor 870 may add information about the new object that is not stored in the map data to the map data.

The processor 870 may add to the map data if it is determined that a new object has been detected more than a predetermined number of times.

The processor 870 can use the information about the object detected more than a preset number of times when generating the traveling route based on the stored map data.

Through this, the processor 870 can update the map data, improve the reliability of the map data, and update it.

Further, the processor 870 can quickly and accurately generate the traveling route, thereby improving the driving safety.

When it is determined that the cause of the collision is the object detecting apparatus 300, the processor 870 calculates the weight of the sensor, which is determined to be abnormal among the plurality of sensors of the object detecting apparatus 300, Can be reflected to a lower level.

When it is determined that the cause of the collision is the object detection device 300, the processor 870 does not use the signal of the sensor that is determined to be abnormal among the plurality of sensors of the object detection device 300 when generating the second travel route .

The processor 870 can generate the second travel route based on the sensing range of the abnormal sensor.

The processor 870 may generate a second travel route based on a substitution rate that is a rate at which the sensing range of the abnormal sensor may be replaced by sensors that are normal.

For example, the processor 870 can generate a traveling route in which the vehicle 100 travels at a constant speed or higher, when the replacement rate of the abnormal sensor is equal to or greater than a predetermined value.

For example, the processor 870 can generate a traveling route in which the vehicle 100 is rotated in the direction in which the normal sensor is disposed, when the replacement rate of the abnormal sensor is less than a preset value.

For example, when the substitution rate of the abnormal sensor is less than the preset value, the processor 870 determines that the turning radius when turning to the left where the abnormal sensor is disposed is smaller than the turning radius when turning to the right, It is possible to generate the traveling route so as to be larger than the radius.

The navigation system 800 configured as described above has an advantage that the accuracy of the object information can be improved by considering the abnormal sensor and considering the abnormal sensor.

In addition, the travel system 800 has an advantage in that it can generate a traveling route having a running safety in consideration of an abnormal sensor.

The processor 870 can determine that the object detection apparatus 300 is not the cause of the collision if it is determined that the collision object is not detected at the time of object information generation but outside the sensing range of the object detection apparatus 300. [

The processor 870 can generate the second travel route based on the sensing range of the object detecting apparatus 300 when it is determined that the collision object has not been detected at the time of generating the object information and is outside the sensing range of the object detecting apparatus.

When it is determined that the collision object is not detected when the object information is generated and is outside the sensing range of the object detection apparatus and that the sensing range of the object detection apparatus is limited due to an object around the vehicle, It is possible to generate the second travel route so that the vehicle travels at a lower speed than when the sensing range of the object detection device is not limited.

The processor 870 can generate a second travel route based on the sensing distance, the angle, and the sensing period of the object detection device 300. [

For example, when the vehicle 100 travels at a constant speed or more, objects outside the sensing range and the angular range of the object detecting apparatus 300 suddenly appear in a time shorter than the sensing period, and may collide with the vehicle 100 . Thus, the processor 870 can generate a traveling route that causes the vehicle 100 to travel at less than a constant speed.

For example, when the sensing range of the object detecting apparatus 300 is limited by an object around the vehicle 100, such as when running on a narrow alleyway, the processor 870 determines that the vehicle 100 is under a constant speed The traveling route can be generated.

Accordingly, the processor 870 can improve the running safety of the vehicle 100 in response to a change in the sensing range of the vehicle 100 depending on the surrounding environment.

The processor 870 can generate the second travel route based on whether the collision object is a fixed object or a moving object.

The processor 870 can determine whether it is a fixed object or a moving object, based on the shape information of the object or the motion information of the object.

The fixed object may be an object fixed at a fixed position. The fixed object may be an object fixed at a constant position over a certain period of time.

For example, the processor 870, as in the case of a cargo loaded on another vehicle, is an object that is suddenly located on the first traveling route of the vehicle 100 and is located at a fixed position for a predetermined time or more, It can be judged.

For example, when it is determined that the collision object is a fixed object, the processor 870 can generate a second travel path that avoids the collision object more than the first distance. When it is determined that the collision object is a moving object, the processor 870 can generate a second travel path that avoids the collision object more than the second distance and travels. The second distance may be a value greater than the first distance.

The processor 870 can generate the second travel route based on the moving speed of the moving object.

For example, the processor 870 can generate the second travel route so that the vehicle 100 bypasses the direction of movement of the moving object.

When it is determined that the collision object is a moving object, the processor 870 controls the vehicle so as to travel on the first traveling path after a predetermined time stop, if it is determined that the collision object will depart from the first traveling path within a predetermined time . The processor 870 can generate the second travel route if it is determined that the collision object will not depart from the first travel route within the predetermined time.

When the collision object is a moving object, there may be a case where the collision with the vehicle 100 causes the vehicle 100 to travel without modifying the path of the vehicle 100 as the moving object itself moves. Thus, the processor 870 can control the vehicle driving apparatus 600 such that the vehicle 100 is temporarily stopped and then traveled.

The traveling system 800 configured as described above has an advantage that it is possible to effectively generate a traveling route that travels by avoiding an object after a collision occurs, based on the type of the object.

The processor 870 causes the normal driving device 600 in the vehicle driving device 600 to provide a signal to the vehicle driving device 600 to complement and drive the abnormal driving device 600 when it is determined that the cause of the collision is the vehicle driving device 600 , The interface unit can be controlled.

The processor 870 can determine that the cause of the collision is the vehicle driving device 600 when the difference between the generated traveling path and the actual traveling path of the vehicle 100 exceeds a predetermined range.

For example, when the difference between the turning radius of the vehicle 100 that the vehicle 100 turns and the turning radius of the path that the vehicle 100 actually traveled exceeds the predetermined range when the generated running path is followed, , It can be determined that the steering driver 621 is abnormal.

For example, the processor 870 provides a signal to the brake driver 622 so that the vehicle 100 brakes with a braking distance within a certain distance, and the actual braking distance is determined based on the estimated braking distance based on the control signal Range, it can be determined that the brake driver 622 is abnormal.

The processor 870 may obtain the vehicle status information from the sensing unit 120. [

The vehicle status information may include information on the status of each of the components of the powertrain driving section 610 and the chassis driving section 620 of the vehicle driving apparatus 600. [

The processor 870 can determine an abnormal device among the vehicle drive system 600 based on the vehicle state information.

The processor 870 can generate the second travel route based on the vehicle drive device 600 judged to be abnormal when it is determined that the cause of the collision is the vehicle drive device 600. [

For example, when it is determined that the steering driver 621 is abnormal, the processor 870 generates a traveling route so that the turning radius of the vehicle 100 is larger than when the steering driver 621 is normal can do.

For example, when the steering wheel drive unit 621 is judged to be abnormal, the processor 870 controls the vehicle 100 so that the vehicle 100 travels at a lower speed than when the steering wheel drive unit 621 is normal, A traveling route can be generated.

For example, the processor 870 can generate a travel route that minimizes the number of times the vehicle 100 turns when the steering driver 621 is determined to be abnormal.

For example, there may be a path A and a path B having a larger number of turns than the path A but with a shorter travel distance. The processor 870 can generate the B route as the travel route when it is determined that the steering driver 621 is normal. The processor 870 can generate the A path as a traveling path when it is determined that the steering driver 621 is abnormal.

For example, the processor 870 can generate a travel route that minimizes the number of times the vehicle 100 is braked when it is determined that the brake driver 622 is abnormal.

For example, there may be a route A and a route B that travels more frequently than the route A but has a shorter travel distance. The processor 870 can generate the B route as the travel route when it is determined that the brake driver 622 is normal. The processor 870 can generate the A path as the traveling path when it is determined that the brake driving unit 622 is abnormal.

For example, when it is determined that the brake driver 622 is abnormal, the processor 870 can generate a traveling route having a longer braking distance than when the brake driver 622 is normal.

The traveling system 800 configured as described above is advantageous in that even when the vehicle driving apparatus 600 is abnormal, it is possible to create a traveling route that secures the traveling stability by supplementing the abnormality.

The processor 870 can control the interface unit 830 to provide a control signal to the vehicle driving apparatus 600 so that the vehicle 100 travels along the generated traveling path.

The processor 870 can control the display unit 251 so that the first travel route and the second travel route are displayed separately from each other.

Details regarding the control of the display unit 251 will be described later with reference to Fig.

The power supply unit 890 can supply power necessary for the operation of each component under the control of the processor 870. [ The power supply unit 890 can receive power from a battery or the like inside the vehicle.

9 is a control flowchart of the operating system according to the present embodiment.

The processor 870 can acquire object information around the vehicle 100 from the object detecting apparatus 300 (S10).

The processor 870 obtains object information including presence / absence of an object, object position information, object shape information, distance information between the vehicle 100 and the object, and relative velocity information between the vehicle 100 and the object , And can be acquired from the object detecting apparatus 300.

The processor 870 can generate a first travel route based on the obtained object information (S20).

The processor 870 can generate the first travel route based on the obtained object information and the map data previously stored in the memory 840. [

For example, the processor 870 can generate the first travel route based on the map data including the information about the fixed object and the object information including the information about the moving object.

Thereby, the processor 870 has an advantage that it can generate the traveling route accurately and quickly.

The processor 870 can determine a dangerous object based on the object information.

For example, the processor 870 can determine that an object whose distance between the vehicle 100 and the object is less than a predetermined value is regarded as a dangerous object.

For example, the processor 870 can determine that an object that is approaching the vehicle 100 at a speed higher than a preset value and whose distance between the vehicle 100 and the object is less than a predetermined value, as an object of risk .

For example, the processor 870 can determine the distances and the velocity references, which are conditions for judging to be a dangerous object, differently according to the size and type of the object.

The processor 870 may generate a first travel path for avoiding a dangerous object.

The processor 870 can obtain the vehicle collision information from the sensing unit 120. [

The processor 870 can detect a collision between the vehicle 100 and the object based on the vehicle collision information (S30).

The processor 870 may obtain the vehicle status information from the sensing unit 120. [ The processor 870 can acquire vehicle state information, which is generated based on data sensed by various sensors provided in the vehicle 100. [

The processor 870 can detect the collision direction or the collision part of the vehicle 100 that collided with the object based on the vehicle collision information.

The processor 870 can determine, based on the vehicle state information, whether or not a sensor damaged by the collision exists in the object detecting apparatus 300. [

The processor 870 can determine whether at least a part of the components of the vehicle drive system 600 is damaged based on the vehicle state information.

When a collision between the vehicle 100 and the object is detected, the processor 870 can determine the cause of the collision (S40).

The processor 870 judges the cause of the collision based on whether or not the collision object colliding with the vehicle 100 is an object detected when the object information is generated when a collision between the vehicle and the vehicle running on the first travel route is detected can do.

The processor 870 can determine whether the information detected by the collision object is information included in the object information generated before the first travel route generation.

The processor 870 determines whether or not the collision object is detected by the object detection device 300 at the time of generating the object information based on a result of determining whether the information detected by the collision object is information included in the object information generated before the first travel route generation It is possible to determine whether or not the object is an object.

The processor 870 can determine that the object of the collision is the object detection apparatus 300 when it is determined that the information detected by the collision object is included in the object information generated before the first travel route.

This is because the collision object can not be avoided in spite of the fact that the first traveling route is generated based on the information of the collision object detected, so that the information on the collision object can be regarded as inaccurate.

When it is determined that the information that senses the collision object is not included in the object information generated before generation of the first travel route and that the collision object is within the sensing range of the object detection apparatus 300, It can be determined that the object detection apparatus 300 is used.

The processor 870 can determine whether the collision object was within the sensing range of the object detecting apparatus 300 based on the collision portion where the vehicle 100 collided with the collision object.

The processor 870 calculates the movement path of the object before the collision based on the information on the motion of the collision object after collision and the impact applied to the vehicle 100 by the collision object when the object 100 collides with the vehicle 100 .

The processor 870 can determine whether the collision object is located within the sensing range of the object detection apparatus 300 based on the calculated travel path of the collision object.

The processor 870 determines that the collision object has collided with the vehicle 100 after the collision object is located within the sensing range of the object detection apparatus 300 based on the calculated travel path of the collision object, Is not included in the object information, it can be determined that the cause of the conflict is the object detecting apparatus 300. [

The processor 870 determines that the sensor that has not detected the collision object even though the collision object is located within the sensing range among the plurality of sensors of the object detection apparatus 300 on the basis of the calculated travel path of the collision object is abnormal .

The processor 870 determines whether or not the vehicle 100 traveling in the first travel route based on the information sensed by the plurality of sensors of the object detection apparatus 300 and sensed by any one of the plurality of sensors is the object In the case of a collision, it can be determined that the sensor associated with the sensing information that was the basis of the first travel route was abnormal.

The processor 870 can compare the first travel route based on the object information with the actual travel route of the vehicle 100 and determine whether the difference between the first travel route and the actual travel route exceeds the predetermined range.

The processor 870 can determine that the cause of the collision is the vehicle drive device 600 when the difference between the first travel route and the actual travel route of the vehicle 100 exceeds a predetermined range.

The processor 870 can determine whether the vehicle driving apparatus 600 is normal based on the vehicle condition information provided from the sensing unit 120. [

The processor 870 can generate a second travel route based on the cause of the collision (S50).

When it is determined that the cause of the collision is the object detecting apparatus 300, the processor 870 may set the weight of the sensing signal of the sensor determined to be abnormal to be lower than the weight of the sensing signal of the sensor determined to be normal.

Accordingly, the processor 870 can prevent the inaccuracy of the travel route from increasing due to the detection signal of the abnormal sensor, and can generate the travel route covering the area that is not detected by the normal sensor.

Alternatively, when it is determined that the cause of the collision is the object detecting apparatus 300, the processor 870 may generate the object information except for the detection signal of the sensor, which is determined to be abnormal.

The processor 870 determines whether the object detection apparatus 300 is normal and the collision object is outside the sensing range of the object detection apparatus 300 when generating the object information based on the sensing range of the object detection apparatus 300 , The second travel route can be generated.

The processor 870 can generate the second travel route based on the vehicle drive device 600 judged to be abnormal when it is determined that the cause of the collision is the vehicle drive device 600. [

The processor 870 can generate the second traveling route that makes the abnormal configuration of the vehicle driving device 600 complementary to the normal configuration.

The processor 870 can generate a second travel route to substitute for an abnormal configuration using the normal configuration of the configuration of the vehicle drive system 600. [

The processor 870 can generate the traveling route so that the distance from the object is far greater than when the vehicle driving device 600 is abnormal when the vehicle driving device 600 is abnormal.

Thereby, the processor 870 is advantageous in that even when at least a part of the vehicle drive system 600 is in an abnormal state, it is possible to generate a running route capable of securing the running safety.

10A, 10B, and 10C are views for explaining the operating system according to the present embodiment.

Hereinafter, a case where a collision between the vehicle 100 and an object occurs due to false detection of the sensor of the object detecting apparatus 300 will be described with reference to Figs. 10A, 10B, and 10C.

10A is a front view of the vehicle 100 through the windshield inside the vehicle 100 running on the road OB1010.

A traffic cone OB 1021 is located in front of the vehicle 100.

The object detecting apparatus 300 may include one or more sensors for detecting an object in front of the vehicle 100. [

10A shows a case where the sensor for detecting the front of the vehicle is broken, and shows the case where the position of the actual traffic cone OB1021 and the position of the traffic cone OB1022 sensed by the sensor are different.

The object detecting apparatus 300 can generate object information based on signals sensed by one or more sensors. At this time, the position of the traffic cone OB1021 may be erroneously stored as the position of the detected traffic cone OB1022 in the object information.

The processor 870 can obtain the object information from the object detecting apparatus 300. [

The processor 870 can generate the first travel route based on the obtained object information.

10B is a view of the situation of FIG. 10A viewed from the top view of the vehicle 100. FIG.

The first travel route based on the erroneous object information can be generated so as to overlap the position of the actual traffic cone OB1021.

10C shows a state in which the vehicle 100 collides with the traffic cone OB1021 while the vehicle 100 is traveling along the first travel path of Figs. 10A and 10B.

The processor 870 can determine the cause of the collision based on whether the collision object is detected at the time of generating the object information when the collision with the object is detected while the vehicle is traveling on the first travel route.

10A to 10C, the processor 870 determines that a collision has occurred because the traffic cone OB1021 is detected when the object information is generated but the sensed information is not accurate, and it is determined that the cause of the collision is the object detection apparatus have.

11A and 11B are views for explaining the operating system according to the present embodiment.

11A and 11B, a description will be given of the case where the object detecting apparatus 300 causes a collision between the vehicle 100 and the object due to the undetected sensor of the object detecting apparatus 300 .

11A is a view of the vehicle 100 running on the road OB1110.

The object detecting apparatus 300 can detect the surroundings of the vehicle 100 by a plurality of sensors.

The object detecting apparatus 300 includes a first sensor for sensing a first sensing range A1141 in front of the vehicle 100, a second sensor for sensing a second sensing range A1142 in the left front of the vehicle 100, A third sensor for sensing a third sensing range A1143 on the front right of the vehicle 100, a fourth sensor for sensing a fourth sensing range A1144 on the left rear of the vehicle 100, And a fifth sensor sensing a fifth sensing range (A1145) of the second sensing range.

In Fig. 11A, the traffic cone OB1120 is located on the road OB1110 in front of the vehicle 100. Fig.

The traffic cone OB1120 is located in the sensing range A1141 of the first sensor of the object detection apparatus 300. [

11B shows that the object detecting apparatus 300 does not detect the traffic cone OB 1120 and the processor 870 generates the first traveling path 1130 based on the object information in which the traffic cone OB 1120 is missing, (100) and the traffic cone (OB 1120) collide with each other.

When the fixed object is located on the first traveling path 1130 such as the traffic cone OB 1120 and it is determined that the object detecting apparatus 300 does not detect the fixed object, 300 can not detect an object in the sensing range.

This is because, when the vehicle 100 traveling on the traveling route collides with the fixed object located on the traveling route, the object in the sensing range is not detected because the traveling route is generated within the sensed range in order to secure the running safety This is because it can be seen as a failure.

The processor 870 detects that the collision of the vehicle 100 and the object has occurred and determines that the collision object is located within the sensing range of the object detection apparatus 300. If the collision cause is the object detection apparatus 300 .

The processor 870 can determine whether the collision object is located within the sensing range of the object detection apparatus 300 based on the information about the sensor previously stored in the memory 840. [

The information about the sensor may include information about the sensing distance, the sensing angle, and the sensing period of the sensor.

Although not shown, even when the vehicle 100 traveling on the first traveling path 1130 collides with the moving object, based on whether the moving object is within the sensing range of the object detecting apparatus 300, It is possible to determine whether the device 300 is the cause of the collision.

The processor 870 determines whether or not the first and second sensing ranges A1141, A1142, A1143, A1144 and A1145 in Fig. 11A, the information about the collision between the moving object and the vehicle 100, It is possible to judge whether or not the moving object is within the sensing range of the object detecting apparatus 300. [

The processor 870 detects that a collision between the vehicle 100 and the moving object has occurred and if it is determined that the moving object has passed the sensing range of the object detecting apparatus 300 and collided with the vehicle 100, It can be determined that the object detection apparatus 300 is the object detection apparatus 300.

12A and 12B are views for explaining the operating system according to the present embodiment.

Hereinafter, with reference to FIGS. 12A and 12B, when a collision between the vehicle 100 and an object occurs due to undetected sensors of the object detecting apparatus 300, Explain it.

12A shows a state in which the vehicle 100 is traveling on the road OB1210.

The processor 870 can control the object detecting apparatus 300 to detect the vicinity of the vehicle 100 in motion and generate object information.

The processor 870 includes a first sensor for sensing a first sensing range A1141 in front of the vehicle 100, a second sensor for sensing a second sensing range A1142 in the left front of the vehicle 100, A fourth sensor for sensing a fourth sensing range A1144 on the left rear side of the vehicle 100 and a fourth sensor for sensing a third sensing range A1143 on the right rear side of the vehicle 100, 5 sensing range A1145 of the object to be detected.

The processor 870 can receive object information from the object detecting apparatus 300. [

Alternatively, the processor 870 may generate the object information based on the sensor signal acquired from the object detecting apparatus 300. [

The processor 870 can generate the first travel route 1230 based on the object information.

The processor 870 may receive the vehicle collision information from the sensing unit 120. [

The processor 870 can determine the cause of the collision if a collision between the object and the vehicle 100 is detected, based on the vehicle collision information.

The processor 870 can determine the cause of the collision based on whether or not the collision object is detected when generating the object information when a collision of the object with the vehicle 100 traveling on the first travel path is detected.

Referring to FIG. 12A, the object detecting apparatus 300 shows a state where the ball OB 1220 as a collision object does not exist at the time of generating object information. The processor 870 can generate the first travel route 1230 based on the object information that does not include the information about the ball OB1220.

12B shows a state in which the vehicle 100 traveling along the first travel route 1230 collides with the ball OB1220 suddenly appearing.

The processor 870 determines whether or not the space OB1220 is in the sensing range A1241, A1242, A1243, A1244, A1245 of the object detection apparatus 300 and determines whether the object detection apparatus 300 is the cause of the collision It can be judged.

The processor 870 can determine whether the collision object is within the sensing range of the object detection apparatus, based on the sensing distance, angle, and sensing period of the at least one sensor of the object detection apparatus 300. [

When the vehicle suddenly appears in the blind spot of the sensor of the object detecting apparatus 300 and collides with the vehicle 100 or collides with the vehicle 100 during the sensing period of the sensor of the object detecting apparatus 300, The object may not be detected. In this case, the processor 870 can determine that the collision object was out of the sensing range.

The fact that the collision object is outside the sensing range may mean that the sensor is not in error and that the sensor can not sense the sensor according to the specification.

The processor 870 can calculate the movement path of the moving object before the collision if the vehicle 100 collides with the moving object and determine whether the moving object is in the sensing range of the object detecting apparatus 300. [

For example, when the moving object collides with the vehicle 100, the processor 870 determines whether or not the object 100 is moving based on the motion of the collision object after the collision and / or the impact on the vehicle 100 by the collision object. Can be calculated.

12B, the processor 870 determines that the ball OB1220 that was outside the sensing range of the object detecting apparatus 300 collided with the vehicle 100, considering the sensing distance, the angle, and the sensing period of the sensor , The object detecting apparatus 300 can determine that it is not the cause of the collision.

The processor 870 can generate the second travel route based on the sensing range of the object detecting apparatus 300. [

For example, when it is determined that the sensing range of the object detecting apparatus 300 is limited by the object near the traveling path, the processor 870 determines that the sensing range of the object detecting apparatus 300 is limited It is possible to generate the second travel route in which the vehicle travels at a lower speed than when the vehicle is not traveling.

13A and 13B are views for explaining the operating system according to the present embodiment.

Hereinafter, a case where a collision between the vehicle 100 and an object occurs due to an abnormality of the vehicle drive system 600 will be described with reference to FIGS. 13A and 13B.

13A shows a state in which the vehicle 100 is entering an intersection to make a right turn.

The processor 870 can control the object detecting apparatus 300 to generate object information around the vehicle 100 while the vehicle 100 is running.

13A, the object detecting apparatus 300 can generate object information including information about the road OB1310 and the other vehicle OB1320.

The processor 870 can receive the object information transmitted by the object detecting apparatus 300. [

The processor 870 can generate the first travel route 1331 based on the object information.

The processor 870 can generate the first travel route 1331 that allows the vehicle 100 to avoid the detected other vehicle OB 1320 and turn it to the right.

The vehicle 100 may travel in the manual mode or the autonomous mode, along the first travel route 1331. [

The processor 870 may control the sensing unit 120 to generate and provide vehicle collision information to the processor 870.

13B, when the vehicle 100 traveling on the first traveling path 1331 collides with the other vehicle OB 1320, the processor 870 determines whether or not the vehicle 100 collides with the other vehicle OB 1320 based on the vehicle collision information generated by the sensing unit 120 So that a collision can be detected.

The processor 870 can determine that the vehicle driving apparatus 600 is the cause of the collision if the difference between the generated first traveling path and the actual traveling path of the vehicle 100 exceeds a predetermined range.

13B, when the difference between the first traveling path 1331 and the actual traveling path 1332 of the vehicle 100 exceeds a predetermined range, the processor 870 determines that the cause of the collision is the vehicle driving apparatus 600, . ≪ / RTI >

For example, the processor 870 determines whether the difference between the turning radius of the vehicle 100 along the first traveling path 1331 and the turning radius of the vehicle 100 along the actual traveling path 1332 is within a predetermined range , It can be determined that the steering driver 621 is abnormal.

For example, when the difference between the braking distance of the vehicle 100 along the first traveling route and the braking distance of the vehicle 100 along the actual traveling route exceeds a predetermined range, the processor 870 controls the brake- It can be judged that the signal 622 is abnormal.

13B, when it is detected that the vehicle 100 travels on the actual traveling path 1332 out of the first traveling path 1331 and a collision with the other vehicle OB 1320 occurs, the processor 870 determines that the collision with the other vehicle OB 1320 occurs, It can be determined that the cause 621 is the cause of the collision.

Figs. 14A and 14B are views for explaining the step S60 of generating the second travel route shown in Fig.

Hereinafter, a method of generating the second travel route when the sensing range of the object detecting apparatus 300 is limited due to the object near the travel route will be described with reference to FIG.

The processor 870 can receive object information about the vehicle 100 from the object detecting apparatus 300. [

The processor 870 can generate the first travel route based on the object information.

The processor 870 can generate the first travel route based on the sensing range of the object detection device 300. [

When the sensing range of the object detecting apparatus 300 is limited by the objects around the vehicle 100, the processor 870 determines that the sensing range of the object detecting apparatus 300 is not restricted by the object, 100 can run at a low speed.

The processor 870 may control the sensing unit 120 to provide vehicle collision information when a collision of the vehicle 100 is detected.

The processor 870 can detect a collision between the vehicle 100 and the object based on the vehicle collision information provided from the sensing unit 120. [

The processor 870 can determine the cause of the collision when it is determined that a collision of the object with the vehicle that is traveling on the first travel route has occurred.

The processor 870 can determine the cause of the collision based on whether or not the information on the collision object is contained in the object information on which the first travel route is generated.

The processor 870 can generate a second travel route based on the cause of the collision.

The processor 870 can generate a second travel route based on the sensing range of the object detecting device 300. [

When the sensing range of the object detecting apparatus 300 is limited by the objects around the vehicle 100, the processor 870 determines that the sensing range of the object detecting apparatus 300 is not restricted by the object, 100 can run at a low speed.

14A shows a state in which the vehicle 100 travels on the second travel route 1431 after a collision with an object while traveling on the road OB 1411. FIG.

The object detecting apparatus 300 includes a first sensor for sensing a first sensing range A1441 in front of the vehicle 100, a second sensor for sensing a second sensing range A1442 in the left front of the vehicle 100, A third sensor for sensing a third sensing range A1443 on the front right of the vehicle 100, a fourth sensor for sensing a fourth sensing range A1444 on the rear left of the vehicle 100, And a fifth sensor sensing a fifth sensing range (A1445) of the first sensor.

In Fig. 14A, the sensing range of the object detecting apparatus 300 is not limited by the objects around the vehicle 100. Fig.

The processor 870 can generate the second travel route 1431 based on the cause of the collision and the sensing range of the object detecting apparatus 300. [

The vehicle 100 can travel along the second travel route 1431 in the manual travel mode or the autonomous travel mode.

14B shows a state in which the vehicle 100 travels on the second travel route 1432 after a collision with an object while the road OB 1413 is surrounded by the walls OB1414 and OB1415.

The object detecting apparatus 300 includes a first sensor for sensing a first sensing range A1441 in front of the vehicle 100, a second sensor for sensing a second sensing range A1442 in the left front of the vehicle 100, A third sensor for sensing a third sensing range A1443 on the front right of the vehicle 100, a fourth sensor for sensing a fourth sensing range A1444 on the rear left of the vehicle 100, And a fifth sensor sensing a fifth sensing range (A1445) of the first sensor.

14B, the sensing range of the object detecting apparatus 300 is limited by the walls OB1414 and OB1415 around the vehicle 100. In Fig.

The processor 870 may generate a second travel path 1432 based on the cause of the collision and the sensing range of the object detection apparatus 300. [

The processor 870 determines whether or not the vehicle 100 is in a state in which the sensing range A1441, A1442, A1443, A1444, A1445 of the object detecting device 300 is restricted due to the objects OB1414, OB1415 around the vehicle 100. [ It is possible to generate the second travel route 1432 that travels at this low speed.

The processor 870 determines the speed of the vehicle 100 in the second travel route 1432 when the sensing range is limited to the second travel route 1431 when the sensing range of the object detection device 300 is not limited, Can be controlled so as to be slow.

Thereby, the processor 870 can generate a safe running route in response to the environment of the vehicle 100. [

The processor 870 can guide the generated travel route to the driver.

The processor 870 can control the vehicle drive device 600 to autonomously drive the vehicle 100 along the generated travel route.

Figs. 15A and 15B are diagrams for explaining the step S60 of generating the second travel route shown in Fig. 9. Fig.

Hereinafter, a method of generating the second travel route according to the type of the collision object will be described with reference to FIGS. 15A and 15B.

15A is a diagram showing a case where the vehicle 100 traveling on the road OB1510 collides with a traffic cone OB1521 as a fixed object.

The processor 870 can obtain the vehicle collision information from the sensing unit 120. [

The processor 870 can detect the collision of the vehicle 100 and the object based on the vehicle collision information.

The processor 870 can determine the cause of the collision when it is detected that the vehicle 100 collided with the object while traveling on the first travel route based on the object information.

The processor 870 can generate a second travel route based on the cause of the collision.

The processor 870 may generate the second travel route differently depending on whether the collision object is a fixed object or a moving object.

The fixed object may be defined as an object that is in a stopped state after collision with the vehicle 100. [

The moving object can be defined as an object that is in a moving state after collision with the vehicle 100. [

Referring to FIG. 15A, the processor 870 may generate a second travel path 1531, where the vehicle 100 stops and moves back a certain distance when a collision with an object is detected.

The processor 870 may generate a second travel route 1531 for avoiding the traffic cone OB 1521 which is a fixed object.

The processor 870 can generate the second travel route 1531 based on the position of the traffic cone OB1521 on the basis of the road OB1510.

For example, when it is determined that the traffic cone OB 1521 as a collision object is located close to one side edge of the road OB 1510, the processor 870 determines that the vehicle 100 is located between the traffic cone OB 1521 and the other side edge of the road The second travel route 1531 can be generated.

Referring to FIG. 15B, the processor 870 may generate a second travel path 1532, when the vehicle is stopped and a collision with the object is detected, such that the vehicle is stopped and moved backward a certain distance.

The processor 870 may generate a second travel path 1532 for avoiding the hole OB1522 which is a moving object.

The processor 870 can generate the second travel route so that the vehicle 100 travels in the direction opposite to the direction in which the moving object OB1522 is moving based on the road OB1510.

The processor 870 determines whether or not the collision object is in conflict with the collision object 1532 when generating the second travel path 1532 for avoiding the ball OB 1522, The second travel route 1532 can be generated with a large distance.

Accordingly, the processor 870 can advantageously create a traveling route that can effectively avoid additional collision in case of a moving object that is difficult to predict the movement.

Figs. 15C and 15D are diagrams for explaining the step S60 of generating the second travel route shown in Fig. 9;

Hereinafter, a method of generating a second travel route in order to avoid a moving object will be described with reference to Figs. 15C and 15D.

15C and 15D show a state in which the vehicle 100 traveling on the road OB1510 collides with the ball OB1521.

The processor 870 may control the object detection apparatus 300 to provide object information.

The processor 870 can generate the first travel route based on the object information.

The processor 870 can provide a signal to the vehicle drive apparatus 600 via the interface section 830 so that the vehicle 100 travels on the first travel route.

The processor 870 may control the sensing unit 120 to provide vehicle collision information.

The processor 870 can detect the collision of the vehicle 100 and the object based on the vehicle collision information.

The processor 870 can determine the cause of the collision when it is detected that the vehicle 100 collided with the object while traveling on the first travel route based on the object information.

The processor 870 can generate a second travel route based on the cause of the collision.

The processor 870 can generate the second travel route based on the movement of the moving object after the collision if the collision object is a moving object.

Referring to FIG. 15C, the processor 870 can generate the second travel route when it is determined that the ball OB1521 as the collision object does not depart from the first travel route within the predetermined time.

The processor 870 can generate the second travel route 1531 in which the vehicle 100 stops and moves back a certain distance.

The processor 870 causes the vehicle 100 to travel between the space OB1521 and the other edge of the road OB1510 when the moving object OB1521 is moving toward one side of the road OB1510, Path 1533 can be generated.

The processor 870 determines that the distance to the collision object is smaller than that in the case where the second travel route 1531 for avoiding the moving object OB 1521 is generated, The second travel route 1533 can be generated.

Referring to FIG. 15D, the processor 870 may not generate the second travel route if it is determined that the ball OB1522 as the collision object is out of the first travel route within the predetermined time.

The processor 870 can control the interface unit 830 so that the user interface device 200 outputs guidance information to the driver so that the vehicle 100 stops for a predetermined time.

The processor 870 can provide the signal for controlling the vehicle drive device 600 via the interface unit 830 so that the vehicle 100 stops for a predetermined time.

The processor 870 controls the interface unit 830 to output the guidance information to the driver so that the vehicle 100 travels along the first travel path 1534 after a predetermined time has elapsed Can be controlled.

The processor 870 can provide a signal for controlling the vehicle drive device 600 through the interface unit 830 so that the vehicle 100 travels along the first travel path 1534 after a predetermined time elapses have.

Accordingly, the processor 870 has an advantage that it can provide a traveling route that minimizes unnecessary movement while avoiding the collision object in consideration of the movement of the colliding object.

16A and 16B are views for explaining the step S60 of generating the second travel route shown in Fig.

Hereinafter, a method of generating the second travel route when the vehicle drive system 600 is abnormal will be described with reference to FIGS. 16A and 16B.

16A is a diagram showing a second travel route when the vehicle drive system 600 is normal.

The processor 870 can determine the cause of the collision when the collision between the vehicle 100 and the object is detected by the sensing unit 120. [

The processor 870 can generate a second travel route based on the cause of the collision.

16A, when the vehicle 100 traveling on the road OB1610 along the first travel path is detected as colliding with the object, the processor 870 determines that the collision object OB1620 is at least a certain distance away from the collision object OB1620 It is possible to generate the second traveling route 1631 which is reversed.

The processor 870 can generate the second travel route 1631 so that the vehicle 100 travels away from the collision object OB 1620 by a certain distance after the vehicle 100 is backward.

16B is a diagram showing a second travel route when the vehicle drive system 600 is abnormal.

The processor 870 may obtain the vehicle status information from the sensing unit 120. [

The processor 870 can determine the state of the vehicle drive system 600 based on the vehicle state information.

The processor 870 can determine the state of the vehicle drive system 600 based on the result of comparison between the generated first travel route and the actual travel route of the vehicle 100. [

The processor 870 can determine that the vehicle driving apparatus 600 is abnormal when the difference between the generated first traveling path and the actual traveling path of the vehicle 100 exceeds a certain range.

16B, when the vehicle 100 traveling on the road OB1610 along the first travel route is detected as colliding with the object, the processor 870 determines that the collision object OB1620 is at least a certain distance away from the collision object OB1620 The second travel route 1632 can be generated.

The processor 870 can generate the second travel route 1632 so that the vehicle 100 travels away from the collision object OB 1620 by a certain distance after the vehicle 100 is backward.

The processor 870 determines whether or not the distance between the vehicle 100 and the collision object OB 1620 when the vehicle driving apparatus 600 is determined to be abnormal is greater than the distance 100) and the collision object (OB 1620), as shown in FIG.

Thereby, the processor 870 is advantageous in that even when at least a part of the vehicle drive system 600 is in an abnormal state, it is possible to generate a running route capable of securing the running safety.

On the other hand, the processor 870 can control the vehicle 100 to make an emergency stop when the degree of abnormality of the vehicle drive system 600 exceeds a certain level as a result of the determination based on the vehicle state information.

The processor 870 can control the vehicle 100 so that the vehicle 100 is not operated when the abnormality degree of the vehicle driving apparatus 600 exceeds a certain level.

 17A, 17B and 17C are diagrams for explaining the operating system according to the present embodiment.

17A, 17B, and 17C, a description will be made of a case where the vehicle driving apparatus 600 is damaged due to a collision with an object, in the case of an emergency stop.

17A shows a state in which the vehicle 100 running on the road OB 1710 collides with the object OB 1711 on the road and the vehicle driving apparatus 600 is damaged.

The vehicle 100 may include a front left wheel 111, a front right wheel 112, a rear left wheel 113 and a rear right wheel 114, And can be driven.

Referring to Fig. 17A, the processor 870 can detect a collision between the vehicle 100 and the object OB1711 based on the vehicle collision information.

The processor 870 can obtain the vehicle collision information from the sensing unit 120. [

The processor 870 can determine the state of the apparatus provided in the vehicle 100 after the collision, based on the vehicle state information.

The processor 870 may obtain the vehicle status information from the sensing unit 120. [

The processor 870 controls the interface unit 830 to send a signal to the vehicle drive apparatus 600 when it is determined that the steering drive unit 621 is damaged and difficult to travel due to the collision, have.

Emergency stop can be defined as a driving operation in which the vehicle 100 is moved by a certain distance and then stopped to secure the safety of the vehicle, such as a shoulder of a road.

Processor 870 may generate a travel path 1730 for performing emergency stop.

17B, the processor 870 outputs a signal to the brake driver 622 to brake the front right wheel 112 and the rear right wheel 114 when it is determined by the steering driver 621 that steering is difficult, So that the steering driver 621 can be supplemented.

17C, the processor 870 may provide a signal to the brake driver 622 so that the vehicle 100 is completely stopped, when it is determined that the vehicle 100 has reached the predetermined target point.

Thereby, the processor 870 has an advantage that, when a part of the vehicle drive apparatus 600 is damaged, it can be controlled so as to supplement the abnormal apparatus with the normal apparatus.

18A, 18B and 18C are views for explaining the operating system according to the present embodiment.

Hereinafter, a method of controlling the display unit 251 will be described with reference to Figs. 18A, 18B, and 18C.

The processor 870 can receive object information about the vehicle 100 from the object detecting apparatus 300. [

The processor 870 can determine a dangerous object based on the object information.

The processor 870 can generate the first travel route based on the object information.

The processor 870 can generate a first travel route for avoiding a dangerous object.

The processor 870 may acquire the vehicle collision information from the sensing unit 120 to detect collision of the vehicle 100 and the object.

When a collision is detected, the processor 870 can generate a second travel route by determining the cause of the collision.

18A is a diagram showing that the object detecting apparatus 300 of the vehicle 100 running on the road OB 1810 generates object information and the processor 870 generates the first travel route 1831 based on the object information to be.

18A shows a case where a difference occurs between the position of the traffic cone OB 1822 detected by the object detecting apparatus and the position of the actual traffic cone OB 1821 due to the failure of the sensor of the object detecting apparatus 300.

When it is determined that the collision object considered in the generation of the object information collides with the vehicle 100 while the vehicle is traveling on the first traveling route based on the object information, the processor 870 determines that the collision cause is the object detection apparatus 300 .

The processor 870 can generate the second travel route based on the object detecting apparatus 300 which is the cause of the collision.

18B shows a state in which a first driving route 1831 and a second driving route 1832 are displayed on a display unit 251 implemented by a Head Up Display (HUD).

The processor 870 can control the display section 251 to display the first travel route 1831 and the second travel route 1832 to the windshield of the vehicle 100. [

The processor 870 includes a first graphic object 1841 indicating a position where the collision object OB1821 is detected when the first travel path 1831 is generated in the windshield of the vehicle 100, The display unit 251 may be controlled to display the second graphic object 1842 indicating the position of the collided object OB 1821 determined at the time of creation.

18C shows a top view image of the vehicle 100 displayed on the display unit 251. FIG.

The processor 870 can control the display unit 251 so that the vehicle 100 and the road OB1810 on which the vehicle 100 is traveling are displayed as the top view image.

The processor 870 can control the display unit 251 such that the first travel route 1851 and the second travel route 1852 are displayed on the display unit 251 so that they are distinguished from each other.

The processor 870 can control the display unit 251 such that at least one of the first travel route 1851 and the second travel route 1852 is different in shape, color, and contrast.

The processor 870 includes a first graphic object 1861 indicating the position where the collision object OB1821 is detected when generating the first travel route 1851 and a second graphic object 1861 indicating the position of the collision object OB1821 The second graphic object 1862 may be displayed on the display unit 251 to control the display unit 251.

Thereby, the processor 870 displays the second travel route based on the cause of the collision with the first travel route, thereby making it possible for the user to be relieved, thereby improving the user experience.

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 800: operating system
830: Interface unit 840: Memory
870: Processor 890: Power supply

Claims (10)

An object detecting device;
A sensing unit for sensing a collision between the vehicle and the object;
Acquires object information about the vehicle from the object detection device,
Generates a first travel route based on the object information,
When it is detected that the vehicle traveling on the first travel route collides with the object,
Determining a cause of the collision based on whether or not a collision object colliding with the vehicle is detected at the time of generating the object information,
And a processor for generating a second travel route based on the cause of the collision. The method according to claim 1,
The processor comprising:
If it is determined that the collision object has been detected at the time of generating the object information,
And determines that the cause of the collision is the object detecting device or the vehicle driving device. 3. The method of claim 2,
The processor comprising:
When it is determined that the collision object is not detected when the object information is generated and is within the sensing range of the object detection apparatus,
And determines that the cause of the collision is the object detecting apparatus. 3. The method of claim 2,
The processor comprising:
When it is determined that the cause of the collision is the object detecting apparatus,
Wherein when the second traveling route is generated, the weight of the sensor determined to be abnormal among the plurality of sensors of the object detecting device is reflected to be lower than that of the normal sensor. 3. The method of claim 2,
The processor comprising:
When it is determined that the collision object is not detected when the object information is generated and is outside the sensing range of the object detection apparatus and that the sensing range of the object detection apparatus is limited due to an object around the vehicle,
And generates a second travel route so that the vehicle travels at a lower speed than when the sensing range of the object detection device is not limited due to an object around the vehicle. The method according to claim 1,
The processor comprising:
And generates a second travel route based on whether the collision object is a fixed object or a moving object. The method according to claim 6,
The processor comprising:
If it is determined that the collision object is a moving object,
When the collision object is determined to depart from the first travel route within a predetermined time, the vehicle travels to the first travel route after a predetermined time stop,
And generates a second travel route when it is determined that the collision object does not depart from the first travel route within a predetermined time. The method according to claim 1,
And an interface unit,
The processor comprising:
If it is determined that the cause of the collision is the vehicle driving apparatus,
And controls the interface unit to provide a signal to the vehicle drive unit so that the normal one of the drive units compensates for the abnormal unit. The method according to claim 1,
The processor comprising:
If it is determined that the cause of the collision is the vehicle driving apparatus,
And generates a second travel route based on the vehicle drive apparatus determined to be abnormal. The method according to claim 1,
And a display unit,
The processor comprising:
And controls the display unit so that the first travel route and the second travel route are displayed separately from each other.

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