KR20220073874A - Moving direction control system of autonomous driving vehicle using traffic environment information at short and long distance - Google Patents

Moving direction control system of autonomous driving vehicle using traffic environment information at short and long distance Download PDF

Info

Publication number
KR20220073874A
KR20220073874A KR1020200160635A KR20200160635A KR20220073874A KR 20220073874 A KR20220073874 A KR 20220073874A KR 1020200160635 A KR1020200160635 A KR 1020200160635A KR 20200160635 A KR20200160635 A KR 20200160635A KR 20220073874 A KR20220073874 A KR 20220073874A
Authority
KR
South Korea
Prior art keywords
environment information
vehicle
traffic environment
distance traffic
long
Prior art date
Application number
KR1020200160635A
Other languages
Korean (ko)
Inventor
최성재
최상복
Original Assignee
주식회사 케이에이알
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 주식회사 케이에이알 filed Critical 주식회사 케이에이알
Priority to KR1020200160635A priority Critical patent/KR20220073874A/en
Publication of KR20220073874A publication Critical patent/KR20220073874A/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B60W60/0015—Planning or execution of driving tasks specially adapted for safety
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R21/00—Arrangements or fittings on vehicles for protecting or preventing injuries to occupants or pedestrians in case of accidents or other traffic risks
    • B60R21/01—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents
    • B60R21/013—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over
    • B60R21/0134—Electrical circuits for triggering passive safety arrangements, e.g. airbags, safety belt tighteners, in case of vehicle accidents or impending vehicle accidents including means for detecting collisions, impending collisions or roll-over responsive to imminent contact with an obstacle, e.g. using radar systems
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/10—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to vehicle motion
    • E—FIXED CONSTRUCTIONS
    • E01—CONSTRUCTION OF ROADS, RAILWAYS, OR BRIDGES
    • E01F—ADDITIONAL WORK, SUCH AS EQUIPPING ROADS OR THE CONSTRUCTION OF PLATFORMS, HELICOPTER LANDING STAGES, SIGNS, SNOW FENCES, OR THE LIKE
    • E01F9/00—Arrangement of road signs or traffic signals; Arrangements for enforcing caution
    • E01F9/60—Upright bodies, e.g. marker posts or bollards; Supports for road signs
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/0088—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots characterized by the autonomous decision making process, e.g. artificial intelligence, predefined behaviours
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B60W2554/20—Static objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/20—Ambient conditions, e.g. wind or rain
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/10—Longitudinal speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2720/00—Output or target parameters relating to overall vehicle dynamics
    • B60W2720/24—Direction of travel

Landscapes

  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Mathematical Physics (AREA)
  • Business, Economics & Management (AREA)
  • Human Computer Interaction (AREA)
  • Architecture (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Health & Medical Sciences (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

본 발명은 자율주행 차량의 주행방향을 제어하는 시스템에 관한 것으로, 차량에 장착된 센서로 감지되는 주변의 근거리 교통 환경정보는 물론, 센서 감지범위를 초과하는 원거리 교통 환경정보도 노변장치로부터 주행 중 실시간으로 취득할 수 있다. 따라서, 취득된 근거리 및 원거리 교통 환경정보에 따라 방향과 속도를 제어함으로써 원활한 자율주행이 이루어질 수 있다. The present invention relates to a system for controlling the driving direction of an autonomous vehicle, and not only the surrounding short-distance traffic environment information sensed by a sensor mounted on the vehicle, but also long-distance traffic environment information exceeding the sensor detection range while driving from the roadside device can be acquired in real time. Accordingly, smooth autonomous driving can be achieved by controlling the direction and speed according to the obtained local and long-distance traffic environment information.

Description

근거리 및 원거리 교통 환경정보를 이용한 자율주행 차량의 주행 제어시스템 {Moving direction control system of autonomous driving vehicle using traffic environment information at short and long distance}{Moving direction control system of autonomous driving vehicle using traffic environment information at short and long distance}

본 발명은 자율주행 차량의 주행방향을 제어하는 시스템에 관한 것으로, 보다 상세하게는 주행하는 도로 변에 설치된 노변장치로부터 수신된 전방 교통상황에 따라 차선변경과 주행속도를 제어하는 시스템에 관한 것이다. The present invention relates to a system for controlling the driving direction of an autonomous vehicle, and more particularly, to a system for controlling a lane change and a driving speed according to a forward traffic condition received from a roadside device installed on the side of a driving road.

최근 운전자의 개입이 전혀 없거나, 최소화하면서 운전자와 탑승자를 안전하게 운송하는 자율주행 차량의 개발이 활발하게 이루어지고 있다. Recently, autonomous vehicles that safely transport a driver and passengers with no or minimal driver intervention are being actively developed.

자율주행 차량은 주행, 정지, 회전, 가속 또는 감속 등의 운전이 자동으로 이루어지는 차량으로, 주변지형이나 위치를 포함하는 주변 환경을 감지하는 카메라, 레이더(Radio Detecting And Ranging; RADAR), 라이다(Light Detection And Ranging; LIDAR), 초음파 센서 등 다양한 센서가 장착된다.An autonomous vehicle is a vehicle that automatically drives, such as driving, stopping, turning, accelerating or decelerating. Various sensors such as Light Detection And Ranging (LIDAR) and ultrasonic sensors are installed.

자율주행 차량은 이와 같은 센서로 감지되는 도로 주변상황을 인지하여 주행 차선의 유지, 인접차량과의 안전거리 확보와 근접 장애물의 검출과 충돌회피, 교통상황이나 도로 환경에 따른 차량속도 제어 등이 자동으로 수행된다.Autonomous driving vehicles automatically recognize the surrounding road conditions detected by these sensors to maintain the driving lane, secure a safe distance from adjacent vehicles, detect nearby obstacles and avoid collisions, and control vehicle speed according to traffic conditions or road conditions. is performed with

하지만, 자율주행 차량에 장착된 이와 같은 센서 들은 감지범위가 제한되어 근거리 상황만 인지할 수 있을 뿐, 원거리의 상황을 인지하기는 어렵다.However, these sensors installed in autonomous vehicles have a limited detection range, so they can only recognize a near-field situation, but it is difficult to recognize a long-distance situation.

즉, 전방의 사고 또는 공사 등의 이유로 차량이 정지하고 있는 도로를 자율주행 차량이 주행하는 경우, 차량에서 이격된 전방의 상황을 전혀 인지할 수 없어 원활한 주행이 이루어지기 어렵다. That is, when the autonomous driving vehicle drives on a road where the vehicle is stopped due to an accident or construction in the front, it is difficult to achieve smooth driving because the situation in front of the vehicle cannot be recognized at all.

대한민국 등록특허공보 제10-1998298호(카메라 및 라이다 센서를 이용한 차량 자율주행방법)Republic of Korea Patent Publication No. 10-1998298 (Autonomous vehicle driving method using camera and lidar sensor) 대한민국 공개등록공보 제10-2011-0094954호(주행이력정보 기반의 차량 자율주행 시스템)Republic of Korea Public Registration Publication No. 10-2011-0094954 (Autonomous vehicle driving system based on driving history information)

따라서, 본 발명은 차량으로부터 이격된 전방 원거리의 교통 환경정보를 인지하여 사고나 공사 등과 같은 도로 응급상황이 발생하더라도 이에 대응하여 주행하는 방향과 속도를 변경할 수 있는 자율주행 차량의 주행 제어시스템을 제공하는데 목적이 있다.Accordingly, the present invention provides a driving control system for an autonomous vehicle capable of changing the driving direction and speed in response to road emergency situations such as accidents or construction by recognizing traffic environment information at a distance in front of the vehicle. there is a purpose to

상기와 같은 기술적 과제를 해결하기 위하여, 본 발명은 자율주행 차량의 주행을 제어하는 시스템으로, 차량의 주행되는 도로 변에 설치되어 전방의 원거리 교통 환경정보를 획득하는 노변장치 및, 차량에 장착되어 차량 주위에 인식된 근거리 교통 환경정보와 노변장치로부터 수신한 상기 전방의 원거리 교통 환경정보를 수신하여 차량의 속도와 방향을 제어하는 주행 제어장치를 구비한다. In order to solve the above technical problems, the present invention is a system for controlling the driving of an autonomous driving vehicle, a roadside device installed on the side of the road where the vehicle is driven to obtain long-distance traffic environment information in front, and is mounted on the vehicle and a driving control device for controlling the speed and direction of the vehicle by receiving the short-distance traffic environment information recognized around the vehicle and the forward long-distance traffic environment information received from the roadside device.

본 발명에 있어서, 근거리 교통 환경정보는 차량에 장착되는 센서부에 의해 감지되는 영상정보로부터 대상 물체를 인식하여 취득된다. In the present invention, the short-distance traffic environment information is acquired by recognizing a target object from image information sensed by a sensor unit mounted on a vehicle.

본 발명에 있어서, 원거리 교통 환경정보는 차량정체 또는 소통 유무, 정체되는 차선 및 거리, 교통사고 또는 도로공사 유무, 전방의 기상상황 정보 중 어느 하나일 수 있다. In the present invention, the long-distance traffic environment information may be any one of vehicle congestion or communication, congestion lanes and distances, traffic accidents or road construction, and weather condition information in front.

본 발명에 있어서, 노변장치는 통신망으로 연결되는 교통관제 서버로부터 수신한 전방 기상상황 정보를 주행 제어장치로 전송한다.In the present invention, the roadside device transmits forward weather condition information received from a traffic control server connected to a communication network to the driving control device.

본 발명에 있어서, 주행 제어장치는 차량의 주변의 객체를 감지하는 센서부, 감지된 객체로부터 대상 물체를 인식하여 근거리 교통 환경정보를 취득하는 근거리 교통 환경정보 인식부, 노변장치로부터 전방의 원거리 교통 환경정보를 수신하는 원거리 교통 환경정보 수신부 및, 근거리 및 원거리 교통 환경정보에 따라 차량의 속도와 방향을 제어하는 주행 제어부를 구비한다. In the present invention, the driving control device includes a sensor unit for detecting an object around the vehicle, a short-distance traffic environment information recognition unit for recognizing a target object from the sensed object to obtain short-distance traffic environment information, and a long-distance traffic in front from the roadside device It includes a long-distance traffic environment information receiving unit for receiving environmental information, and a driving control unit for controlling the speed and direction of the vehicle according to the short-distance and long-distance traffic environment information.

본 발명에 따르면, 차량에 장착된 센서로 감지되는 주변의 근거리 교통 환경정보는 물론, 센서 감지범위를 초과하는 원거리 교통 환경정보도 노변장치로부터 주행 중 실시간으로 취득함으로써, 이들 근거리 및 원거리 교통 환경정보에 따라 방향과 속도를 제어함으로써 원활한 자율주행이 이루어질 수 있다. According to the present invention, not only the surrounding short-distance traffic environment information sensed by the sensor mounted on the vehicle, but also the long-distance traffic environment information exceeding the sensor detection range are acquired in real time from the roadside device while driving, so that these short-distance and long-distance traffic environment information Smooth autonomous driving can be achieved by controlling the direction and speed accordingly.

도 1은 본 발명에 따른 자율주행 차량의 주행 제어시스템의 구성도이다.
도 2는 본 발명에 따라 통신망으로 교신하는 자율주행 차량과 노변장치의 구성을 나타내는 블록도이다.1 is a configuration diagram of a driving control system for an autonomous vehicle according to the present invention.
2 is a block diagram showing the configuration of an autonomous vehicle and a roadside device communicating through a communication network according to the present invention.

이하, 첨부 도면을 참조하여 본 발명의 실시예를 상세히 설명한다. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

본 실시예는 당업계에서 평균적인 지식을 가진 자에게 본 발명을 보다 완전하게 설명하기 위해서 제공되어지는 것으로서, 도면에서의 요소의 형상, 요소의 크기, 요소간의 간격 등은 보다 명확한 설명을 강조하기 위해서 과장되거나 축소되어 표현될 수 있다.This embodiment is provided to more completely explain the present invention to those with average knowledge in the art, and the shape of elements in the drawings, the size of elements, the spacing between elements, etc. may be exaggerated or reduced for

또한, 실시예를 설명하는데 있어서, 만일 어떤 구성요소가 다른 구성요소에 "형성되어", "포함되어", "결합되어", "고정되어" 있다고 기재된 때에는, 그 다른 구성요소에 직접적으로 형성, 포함, 결합 또는 고정되어 있을 수도 있지만, 중간에 다른 구성요소가 존재할 수도 있다고 이해되어야 할 것이다.In addition, in the description of the embodiment, if a component is described as being "formed", "included", "coupled", or "fixed" to another component, it is directly formed in the other component, It may be included, coupled, or fixed, but it will be understood that other components may be present in between.

또한, 실시예를 설명하는데 있어서 원칙적으로 관련된 공지의 기능이나 공지의 구성과 같이 이미 당해 기술 분야의 통상의 기술자에게 자명한 사항으로서 본 발명의 기술적 특징을 불필요하게 흐릴 수 있다고 판단되는 경우에는 그 상세한 설명을 생략하기로 한다.In addition, when it is determined that the technical features of the present invention may be unnecessarily obscured as it is already obvious to a person skilled in the art, such as a known function or a known configuration related in principle in explaining the embodiment, the detailed description thereof A description will be omitted.

도 1은 본 발명에 따른 자율주행 차량의 주행 제어시스템을 도시한 구성도로, 본 발명은 통신망으로 연결되는 주행 제어장치(100)가 탑재된 자율주행 차량(10)과 주행하는 도로 인근에 설치된 노변장치(Road Side Unit. 20)로 이루어진다. 1 is a block diagram illustrating a driving control system for an autonomous driving vehicle according to the present invention. In the present invention, an autonomous driving vehicle 10 equipped with a driving control device 100 connected to a communication network is installed and a roadside installed near a road on which it travels. It consists of a device (Road Side Unit. 20).

통신망은 V2I(Vehicle to Infrastructure) 통신 또는 I2V(Infrastructure to Vehicle) 통신을 수행할 수 있는 DSRC(Dedicated Short Range Communications)/WAVE(Wireless Access for Vehicular Environment)으로, 자율주행 차량(10)은 교차로에 진입하여 노변장치(20)의 통신반경에 이르면 노변장치(20)와 통신한다.The communication network is a Dedicated Short Range Communications (DSRC)/Wireless Access for Vehicular Environment (WAVE) that can perform V2I (Vehicle to Infrastructure) communication or I2V (Infrastructure to Vehicle) communication, and the autonomous vehicle 10 enters an intersection. Thus, when the communication radius of the roadside device 20 is reached, it communicates with the roadside device 20 .

노변장치(20)는 자율주행 차량(10)이 주행되는 도로 변에 설치되어, 통신 반경에 진입하는 차량(10)에 탑재된 주행 제어장치(100)와 통신하여 전방의 교통 환경정보를 제공한다. 여기서, 전방의 교통 환경정보는 전방의 차량정체 또는 소통 유무, 정체되는 차선 및 거리와 같은 교통흐름 정보, 교통사고 또는 도로공사 유무와 같은 도로상황 정보, 전방의 기상상황 정보를 포함하는 정보로, 통신망으로 연결된 교통관제 서버(30)로부터 획득될 수 있다. 이와 같은 노변장치(20)는 통신 반경에 따라 차량(10)의 주행경로 상에 복수개로 설치되며, 설치된 지역은 물론 인근 지역의 교통 환경정보도 차량(10)으로 제공될 수 있다. The roadside device 20 is installed on the side of the road on which the autonomous vehicle 10 is driven, and communicates with the driving control device 100 mounted on the vehicle 10 entering the communication radius to provide forward traffic environment information. . Here, the forward traffic environment information is information including vehicle congestion or communication in the front, traffic flow information such as a congested lane and distance, road condition information such as a traffic accident or road construction presence, and weather condition information in the front, It may be obtained from the traffic control server 30 connected to the communication network. A plurality of such roadside devices 20 are installed on the driving path of the vehicle 10 according to a communication radius, and traffic environment information of the installed area as well as a nearby area may be provided to the vehicle 10 .

노변장치(20)와 통신망으로 연결되는 주행 제어장치(100)는, 도 2에 도시되는 바와 같이, 센서부(110), 근거리 교통 환경정보 인식부(120), 원거리 교통 환경정보 수신부(130), 및 주행 제어부(140)를 구비한다. 이와 같은 주행 제어장치(100)의 구성은 하드웨어 모듈 또는 소프트웨어 모듈 형태로 구현되거나, 하드웨어 모듈과 소프트웨어 모듈이 조합된 형태로도 구현될 수 있다. 여기서, 소프트웨어 모듈이란, 예컨대 주행 제어장치(100) 내에서 연산을 수행하는 프로세서에 의해 실행되는 명령어로 이해될 수 있으며, 이러한 명령어는 메모리에 탑재된 형태를 가질 수 있을 것이다. As shown in FIG. 2 , the roadside device 20 and the driving control device 100 connected to the communication network include a sensor unit 110 , a local traffic environment information recognition unit 120 , and a long-distance traffic environment information receiving unit 130 . , and a driving control unit 140 . Such a configuration of the driving control device 100 may be implemented in the form of a hardware module or a software module, or may be implemented in a form in which a hardware module and a software module are combined. Here, the software module may be understood as, for example, a command executed by a processor that performs an operation in the driving control device 100 , and the command may have a form mounted in a memory.

센서부(110)는 차량(10) 주변의 객체를 감지하는데, 여기서 객체는 임계 거리 이내에 객체(사람, 외부차량, 차선, 교통신호 등)의 존재, 객체의 속도 및 방향 등과 같이 차량(10)의 주변 객체에 관한 데이터이다. 센서부(110)로는 카메라, 레이더(Radio Detecting And Ranging; RADAR), 라이다(Light Detection And Ranging; LIDAR), 초음파 센서 및 GPS 센서 중 적어도 하나 이상을 포함할 수 있다. The sensor unit 110 detects an object around the vehicle 10, where the object is the vehicle 10, such as the presence of an object (person, outside vehicle, lane, traffic signal, etc.) within a threshold distance, the speed and direction of the object, etc. It is data about surrounding objects of . The sensor unit 110 may include at least one of a camera, a radar (Radio Detecting And Ranging; RADAR), a LIDAR (Light Detection And Ranging; LIDAR), an ultrasonic sensor, and a GPS sensor.

여기서, 레이더는 전자기파(일례로, 일종의 마이크로파로 10cm 내지 100cm의 파장을 가진 극초단파)를 대상물체에 발사하여 반사되는 전자기파를 수신하여 그 대상물체와의 거리나 방향을 감지하는 장치로 원거리에 위치한 객체 검출에 이용된다. 카메라는 차량(10) 주변의 이미지를 촬영하여 영상정보를 취득하는 장치로, CMOS 센서를 이용한 가시광선 카메라 또는 TOD 센서를 이용한 열 영상 카메라가 사용될 수 있다. Here, the radar is a device that detects the distance or direction from the target object by emitting electromagnetic waves (for example, microwaves with a wavelength of 10 cm to 100 cm as a kind of microwave) to the target object and receiving the reflected electromagnetic waves. used for detection. The camera is a device for acquiring image information by photographing an image around the vehicle 10 , and a visible light camera using a CMOS sensor or a thermal imaging camera using a TOD sensor may be used.

그리고, 라이다는 레이저 반사광을 이용하여 대상물체와의 거리를 측정하는 장치로 대상물체를 입체 영상(stereo image)으로 매핑시킬 수 있다. 초음파 센서는 대상물체에 초음파를 발사한 후, 반사된 초음파를 이용하여 객체와의 거리 및 방향을 검출하는 장치로 근거리에 위치한 객체 검출에 이용된다. In addition, the lidar is a device that measures the distance to the target object using the laser reflected light, and may map the target object to a stereo image. The ultrasonic sensor is a device that emits ultrasonic waves to a target object and then detects a distance and direction from an object using the reflected ultrasonic waves, and is used to detect a nearby object.

자율주행 차량(10)은 이들 복수의 센서들 중 적어도 하나 또는 그것들의 조합을 이용하여 근거리 교통 환경정보를 획득할 수 있다. 이와 같이 취득된 근거리 교통 환경정보는 주변환경 인식부(120)에 의해 인식된다. The autonomous vehicle 10 may acquire short-distance traffic environment information by using at least one of these plurality of sensors or a combination thereof. The obtained short-distance traffic environment information is recognized by the surrounding environment recognition unit 120 .

여기서, 근거리 교통 환경정보 인식부(120)가 인식한다는 것은 센서부(110)에 의해 취득되는 카메라, 레이더, 라이더의 객체 영상정보로부터 대상 물체에 대응하여 인식하는 것으로, 영상기반의 객체 인식기법을 이용하여 인식할 수 있다. 예를 들어, 입력영상으로부터 객체를 인식하도록 학습된 인식기를 이용하여 인식할 수 있는데, 해당 인식기는 인공 뉴럴 네트워크를 포함할 수 있으며, 인공 뉴럴 네트워크는 딥 러닝을 통해 대상 물체를 인식하도록 학습될 수 있다. Here, the recognition by the short-distance traffic environment information recognition unit 120 corresponds to the target object from the object image information of the camera, radar, and rider acquired by the sensor unit 110, and an image-based object recognition technique is used. can be recognized using For example, recognition may be performed using a recognizer trained to recognize an object from an input image, and the recognizer may include an artificial neural network, and the artificial neural network may be trained to recognize a target object through deep learning. have.

원거리 교통 환경정보 수신부(130)는 통신망으로 연결된 노변장치(20)로부터 전방의 실시간 교통 환경정보를 수신하기 위한 구성으로, 무선통신을 수행하기 위해 송신 안테나, 수신 안테나, 각종 통신 프로토콜이 구현 가능한 RF 회로를 포함하여 구성된다. 원거리 교통 환경정보 수신부(130)는 자율주행 차량(10)이 노변장치(20)의 통신반경 내로 진입하면, 이를 감지한 노변장치(20)로부터 상술한 전방의 교통 환경정보를 수신한다. The long-distance traffic environment information receiving unit 130 is configured to receive real-time traffic environment information in front from the roadside device 20 connected through a communication network. In order to perform wireless communication, a transmitting antenna, a receiving antenna, and RF capable of implementing various communication protocols It consists of a circuit. When the autonomous vehicle 10 enters within the communication radius of the roadside device 20, the long-distance traffic environment information receiving unit 130 receives the above-described forward traffic environment information from the roadside device 20 that has sensed it.

주행 제어부(140)는 센서부(110)에 의해 감지된 근거리 교통 환경정보와 원거리 교통 환경정보 수신부(130)에 의해 수신된 원거리 교통 환경정보에 따라 차량(10)의 차선변경이나 속도를 제어한다. 예를 들어, 원거리 교통 환경정보 수신부(130)에 의해 현재 주행차선 전방에 사고 또는 공사정보가 수신되면, 센서부(110)에 의해 감지되는 인접차선의 차량 유무를 판단하여 차선을 변경할 수 있으며, 또한 원거리 교통 환경정보 수신부(130)에 의해 차량이 정체정보가 수신되면 센서부(110)에 의해 감지되는 전, 후방 차량과의 거리를 고려하여 속도를 감속할 수 있다. The driving control unit 140 controls the lane change or speed of the vehicle 10 according to the short-distance traffic environment information sensed by the sensor unit 110 and the long-distance traffic environment information received by the long-distance traffic environment information receiving unit 130 . . For example, when accident or construction information is received in front of the current driving lane by the long-distance traffic environment information receiving unit 130, it is possible to change the lane by determining whether there is a vehicle in the adjacent lane detected by the sensor unit 110, In addition, when the vehicle congestion information is received by the long-distance traffic environment information receiving unit 130 , the speed may be reduced in consideration of the distance to the front and rear vehicles sensed by the sensor unit 110 .

이와 같이 본 발명은 차량(10)의 주행 중에 센서부(110)에 의하여 감지되는 근거리 교통 환경정보는 물론, 센서부(110)의 감지범위를 초과하는 원거리 교통 환경정보를 노변장치(20)로부터 실시간 취득함으로써, 이들 근거리 및 원거리 교통 환경정보에 따라 방향과 속도를 제어함으로써 원활한 자율주행이 이루어질 수 있다. As described above, the present invention provides not only short-distance traffic environment information sensed by the sensor unit 110 during driving of the vehicle 10, but also long-distance traffic environment information exceeding the detection range of the sensor unit 110 from the roadside device 20. By real-time acquisition, smooth autonomous driving can be achieved by controlling the direction and speed according to these short-distance and long-distance traffic environment information.

이상 설명한 본 발명은 기재된 실시예에 한정되는 것은 아니고, 본 발명의 사상 및 범위를 벗어나지 않고 다양하게 수정 및 변형할 수 있음은 이 기술의 분야에서 통상의 지식을 가진 자에게 자명하다. 따라서 그러한 변형 예 또는 수정 예들은 본 발명의 특허청구범위에 속한다 해야 할 것이다.The present invention described above is not limited to the described embodiments, and it is apparent to those skilled in the art that various modifications and variations can be made without departing from the spirit and scope of the present invention. Accordingly, it should be said that such variations or modifications fall within the scope of the claims of the present invention.

10 : 자율주행 차량 20 : 노변장치
30 : 관제서버 100 : 주행 제어장치
110 : 센서부
120 : 근거리 교통 환경정보 인식부
130 : 원거리 교통 환경정보 수신부
140 : 주행 제어부10: autonomous vehicle 20: roadside device
30: control server 100: driving control device
110: sensor unit
120: short-distance traffic environment information recognition unit
130: long-distance traffic environment information receiving unit
140: driving control unit

Claims (5)

자율주행 차량의 주행을 제어하는 시스템에 있어서,
상기 차량의 주행되는 도로 변에 설치되어 전방의 원거리 교통 환경정보를 생성하는 노변장치; 및,
상기 차량에 장착되어 차량 주위에 인식된 근거리 교통 환경정보와 상기 노변장치로부터 수신한 상기 전방의 원거리 교통 환경정보를 수신하여 상기 차량의 속도와 방향을 제어하는 주행 제어장치;를 구비하는 것을 특징으로 하는 자율주행 차량의 주행 제어시스템.A system for controlling the driving of an autonomous vehicle, the system comprising:
a roadside device installed on the side of the road on which the vehicle is driven to generate long-distance traffic environment information; and,
and a driving control device mounted on the vehicle to receive the short-distance traffic environment information recognized around the vehicle and the front long-distance traffic environment information received from the roadside device to control the speed and direction of the vehicle; A driving control system for autonomous vehicles. 제1항에 있어서,
상기 근거리 교통 환경정보는,
상기 차량에 장착되는 센서부에 의해 감지되는 영상정보로부터 대상 물체를 인식하여 취득되는 것을 특징으로 하는 자율주행 차량의 주행 제어시스템.According to claim 1,
The short-distance traffic environment information,
The driving control system of an autonomous vehicle, characterized in that it is acquired by recognizing a target object from image information sensed by a sensor unit mounted on the vehicle. 제2항에 있어서,
상기 원거리 교통 환경정보는,
차량정체 또는 소통 유무, 정체되는 차선 및 거리, 교통사고 또는 도로공사 유무, 전방의 기상상황 정보 중 어느 하나인 것을 특징으로 하는 자율주행 차량의 주행 제어시스템.3. The method of claim 2,
The long-distance traffic environment information,
A driving control system for an autonomous vehicle, characterized in that it is any one of vehicle congestion or communication, congestion lanes and distances, traffic accidents or road construction, and weather condition information in front. 제3항에 있어서,
상기 노변장치는,
통신망으로 연결되는 교통관제 서버로부터 수신한 전방 기상상황 정보를 상기 주행 제어장치로 전송하는 것을 특징으로 하는 자율주행 차량의 주행 제어시스템.4. The method of claim 3,
The roadside device is
A driving control system for an autonomous vehicle, characterized in that it transmits forward weather situation information received from a traffic control server connected to a communication network to the driving control device. 제1항에 있어서,
상기 주행 제어장치는,
상기 차량 주변의 객체를 감지하는 센서부;
감지된 상기 객체로부터 대상 물체를 인식하여 상기 근거리 교통 환경정보를 취득하는 근거리 교통 환경정보 인식부;
상기 노변장치로부터 전방의 원거리 교통 환경정보를 수신하는 원거리 교통 환경정보 수신부; 및
상기 근거리 및 원거리 교통 환경정보에 따라 상기 차량의 속도와 방향을 제어하는 주행 제어부;를 구비하는 것을 특징으로 하는 자율주행 차량의 주행 제어시스템.According to claim 1,
The driving control device,
a sensor unit for detecting an object around the vehicle;
a short-distance traffic environment information recognition unit for recognizing a target object from the sensed object to obtain the short-distance traffic environment information;
a long-distance traffic environment information receiving unit for receiving forward long-distance traffic environment information from the roadside device; and
and a driving control unit configured to control the speed and direction of the vehicle according to the local and long-distance traffic environment information.
KR1020200160635A 2020-11-26 2020-11-26 Moving direction control system of autonomous driving vehicle using traffic environment information at short and long distance KR20220073874A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
KR1020200160635A KR20220073874A (en) 2020-11-26 2020-11-26 Moving direction control system of autonomous driving vehicle using traffic environment information at short and long distance

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
KR1020200160635A KR20220073874A (en) 2020-11-26 2020-11-26 Moving direction control system of autonomous driving vehicle using traffic environment information at short and long distance

Publications (1)

Publication Number Publication Date
KR20220073874A true KR20220073874A (en) 2022-06-03

Family

ID=81982760

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1020200160635A KR20220073874A (en) 2020-11-26 2020-11-26 Moving direction control system of autonomous driving vehicle using traffic environment information at short and long distance

Country Status (1)

Country Link
KR (1) KR20220073874A (en)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230170531A (en) 2022-06-10 2023-12-19 최준회 Traffic information provision system for autonomous driving

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20110094954A (en) 2010-02-18 2011-08-24 자동차부품연구원 Self control driving system based on driving record
KR101998298B1 (en) 2018-12-14 2019-07-09 위고코리아 주식회사 Vehicle Autonomous Driving Method Using Camera and LiDAR Sensor

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20110094954A (en) 2010-02-18 2011-08-24 자동차부품연구원 Self control driving system based on driving record
KR101998298B1 (en) 2018-12-14 2019-07-09 위고코리아 주식회사 Vehicle Autonomous Driving Method Using Camera and LiDAR Sensor

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230170531A (en) 2022-06-10 2023-12-19 최준회 Traffic information provision system for autonomous driving

Similar Documents

Publication Publication Date Title
US11027653B2 (en) Apparatus, system and method for preventing collision
KR102553730B1 (en) Apparatus and method for controlling collision avoidance of vehicle
US20200387160A1 (en) Autonomous cruise control apparatus and method
US10926764B2 (en) Lane keeping assistance apparatus, vehicle having the same and method for controlling the same
US10114117B2 (en) Detection of an object by use of a 3D camera and a radar
KR20200142155A (en) Advanced Driver Assistance System, Vehicle having the same and method for controlling the vehicle
US11878711B2 (en) Method of sharing and using sensor data
JP2007139594A (en) Object detection device
US11897458B2 (en) Collision avoidance apparatus for vehicle
JP2008015920A (en) Vehicle collision prevention support system
US11260789B2 (en) Out-of-vehicle notification device
US11541868B2 (en) Vehicle control device and vehicle control method
KR20210158705A (en) Vehicle and control method thereof
EP4016497B1 (en) Vehicle behavior determination method and vehicle behavior determination device
US20220092982A1 (en) Method, computer program and apparatus for providing hazard information
KR20220073874A (en) Moving direction control system of autonomous driving vehicle using traffic environment information at short and long distance
KR102356612B1 (en) Collision Avoidance device, Vehicle having the same and method for controlling the same
KR20210072225A (en) System for recognizing the surrounding environment within near-far distance of autonomous driving vehicle
JPH09319999A (en) Drive-supporting device
US20220410904A1 (en) Information processing device, information processing system and information processing method
KR20210068643A (en) Apparatus and method for informing driving situation information of autonomous driving vehicle
KR20220083002A (en) Vehicle
KR20200072908A (en) Vehicle and control method thereof
US20230264628A1 (en) Active notice device for safety of vehicle and pedestrian
US20240174173A1 (en) Notification device

Legal Events

Date Code Title Description
E902 Notification of reason for refusal
E601 Decision to refuse application