KR20230110395A - Vehicle for overtaking a specific type’s bus and method thereof - Google Patents

Abstract

The present invention relates to an autonomous vehicle, and a method for controlling a vehicle overtaking a specific type of bus according to an embodiment of the present invention includes recognizing a specific type of bus located ahead, tracking whether the recognized specific type of bus is traveling in the same lane as the vehicle, first determining whether the recognized specific type of bus will stop at a stop, and as a result of the first determination, the recognized specific type of bus will stop at the stop. If it is determined, a step of secondly determining whether to overtake the recognized specific type of bus, and as a result of the second determination, if it is determined that the recognized specific type of bus is to be overtaken, controlling the specific type of bus to be overtaken.

Description

Vehicle overtaking a specific type of bus and its control method {VEHICLE FOR OVERTAKING A SPECIFIC TYPE’S BUS AND METHOD THEREOF}

The present embodiments are applicable to vehicles in all fields, and more specifically, may be applied to a system capable of automatically overtaking a specific type of vehicle (eg, a city bus).

The American Society of Automotive Engineers, SAE (Society of Automotive Engineers), subdivides autonomous driving levels into six levels, from level 0 to level 5, for example, as follows.

Level 0 (No Automation) is a stage in which the driver controls and takes responsibility for everything in driving. The driver drives all the time, and the system of the vehicle performs only auxiliary functions such as emergency notification. The subject of driving control is human, and the responsibility for variable detection and driving while driving is also at the human level.

Level 1 (Driver Assistance) is a stage of assisting the driver through adaptive cruise control and lane keeping functions. When the system is activated, it assists the driver by maintaining the speed and distance between the vehicle and the lane. The subject of driving control lies with the human and the system, and the responsibility for detecting variables that occur during driving and driving is all at the human level.

Level 2 (partial automation) is a stage in which the vehicle can simultaneously control the vehicle's steering and acceleration/deceleration with a human for a certain period of time under specific conditions. Steering on gentle curves and assisted driving to maintain a distance from the car in front are possible. However, variable detection and driving responsibility while driving are at the human level, and the driver always needs to monitor the driving situation, and the driver must immediately intervene in driving situations that the system does not recognize.

Level 3 (conditional automation) is a level in which the system takes charge of driving in sections under specific conditions, such as highways, and the driver intervenes only in case of danger. Driving control and detecting variables while driving are handled by the system, and unlike Level 2, the above monitoring is not required. However, if the system requirements are exceeded, the system requests the driver's immediate intervention.

At level 4 (high automation), autonomous driving is possible on most roads. Both driving control and driving responsibility lie with the system. Driver intervention is unnecessary on most roads except in restricted situations. However, since driver intervention may be requested under specific conditions such as bad weather, a driving control device through a human is required.

Level 5 (full automation) is a stage in which a driver is not required and driving is possible with only passengers. The occupant only inputs the destination, and the system takes care of driving in all conditions. At level 5, control devices for vehicle steering, acceleration, and deceleration are unnecessary.

Meanwhile, in Korea, safety standards for Level 3 were prepared in 2020 in consideration of international trends being discussed at the International Forum for Harmonization of Automotive Safety Standards (UN/ECE/WP.29) under the United Nations.

However, autonomous driving systems known to date have been mainly discussed only for the purpose of accident prevention, while a solution for detecting a specific vehicle showing a routine pattern and improving smooth traffic flow based on this detection has not been specifically discussed.

In order to solve the above problems, an embodiment of the present invention is to solve the problem that autonomous driving of a vehicle traveling in the same lane is delayed when a city bus or the like stops at each stop.

Another embodiment of the present invention is to provide a new type of autonomous driving system capable of safely overtaking a front bus.

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

A method for controlling a vehicle overtaking a bus of a specific type according to any one of the embodiments of the present invention to solve the above problems described above includes recognizing a specific type of bus located ahead, tracking whether the recognized specific type of bus travels in the same lane as the vehicle, first determining whether the recognized specific type of bus will stop at a stop, and as a result of the first determination, determining that the recognized specific type of bus will stop at the stop. If the bus of the recognized specific type is to be overtaken, the second step of determining whether to overtake the recognized specific type of bus is performed, and as a result of the second determination, when it is determined that the recognized specific type of bus is to be overtaken, the control step of overtaking the specific type of bus is included.

A vehicle overtaking a specific type of bus according to one of the embodiments of the present invention includes a camera and a controller for recognizing a specific type of bus located in front. In particular, the controller, for example, tracks whether the recognized specific type of bus is traveling on the same lane as the vehicle, first determines whether the recognized specific type of bus will stop at a stop, second determines whether to overtake the recognized specific type of bus, and, as a result of the second determination, overtakes the recognized specific type of bus when it is determined that the recognized specific type of bus will stop at a stop. Only when it is determined, it is characterized in that the control is performed to overtake the bus of the specific type.

A recording medium storing a program for controlling a vehicle overtaking a specific type of bus according to one of the embodiments of the present invention to solve the above-described problems includes a command for recognizing a specific type of bus located ahead, a command for tracking whether the recognized specific type of bus is traveling in the same lane as the vehicle, a command for first determining whether the recognized specific type of bus will stop at a stop, and as a result of the first determination, the recognized specific type of bus. Stores a command for secondarily determining whether to overtake the recognized specific type of bus when it is determined to stop at a stop, and a command for controlling overtaking of the recognized specific type of bus only when it is determined to pass the recognized specific type of bus as a result of the second determination.

According to any one of the embodiments of the present invention, by determining in advance whether the front bus is stopped by congestion and signals or by a bus stop, technical effects that can contribute to a smooth traffic situation despite being an autonomous vehicle are expected.

Furthermore, according to any one of the embodiments of the present invention, the safety of the autonomous vehicle can be improved by determining whether to overtake the bus in comprehensive consideration of surrounding conditions.

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

1 is an overall block configuration diagram of an autonomous driving control system to which an autonomous driving device according to one of the embodiments of the present invention can be applied.
2 is an exemplary view showing an example in which an autonomous driving device according to any one of the embodiments of the present invention is applied to a vehicle.
3 illustrates a scenario in which an autonomous vehicle according to one of the embodiments of the present invention recognizes a specific type of vehicle.
4 is a flowchart illustrating a control method of an autonomous vehicle according to one of the embodiments of the present invention.
And, FIG. 5 is a flow chart showing step S440 shown in FIG. 4 in more detail.

Hereinafter, with reference to the accompanying drawings, embodiments of the present invention will be described in detail so that those skilled in the art can easily carry out the present invention. However, the present invention may be embodied in many different forms and is not limited to the embodiments described herein. And in order to clearly explain the present invention in the drawings, parts irrelevant to the description are omitted, and similar reference numerals are attached to similar parts throughout the specification.

Throughout the specification, when a certain component is said to "include", it means that it may further include other components without excluding other components unless otherwise stated.

1 is an overall block configuration diagram of an autonomous driving control system to which an autonomous driving device according to one of the embodiments of the present invention can be applied. 2 is an exemplary view showing an example in which an autonomous driving device according to any one of the embodiments of the present invention is applied to a vehicle.

First, with reference to FIGS. 1 and 2 , the structure and function of an autonomous driving control system (eg, an autonomous vehicle) to which the autonomous driving device according to the present embodiments can be applied will be described.

As shown in FIG. 1 , an autonomous vehicle 1000 may be implemented around an autonomous driving integrated control unit 600 that transmits and receives data necessary for autonomous driving control of the vehicle through a driving information input interface 101, a driving information input interface 201, a passenger output interface 301, and a vehicle control output interface 401. However, the autonomous driving integrated controller 600 may also be referred to as a controller, a processor, or simply a controller in this specification.

The autonomous driving integrated control unit 600 may obtain driving information according to a driver's manipulation of the user input unit 100 in the autonomous driving mode or the manual driving mode of the vehicle through the driving information input interface 101 . As shown in FIG. 1, the user input unit 100 may include a driving mode switch 110 and a control panel 120 (for example, a navigation terminal mounted on a vehicle, a smartphone or a tablet PC carried by a passenger, etc.), and thus driving information may include driving mode information and navigation information of the vehicle.

For example, the vehicle's driving mode (i.e., autonomous driving mode/manual driving mode or sports mode/eco mode/safe mode/normal mode) determined according to the driver's manipulation of the driving mode switch 110 may be transmitted to the autonomous driving integrated control unit 600 through the driving information input interface 101 as the driving information.

In addition, navigation information such as the passenger's destination input by the passenger through the control panel 120 and the route to the destination (shortest route or preferred route selected by the passenger among candidate routes to the destination) may be transmitted to the autonomous driving integrated control unit 600 through the driving information input interface 101 as driving information.

Meanwhile, the control panel 120 may be implemented as a touch screen panel that provides a user interface (UI) for a driver to input or modify information for autonomous driving control of the vehicle. In this case, the aforementioned driving mode switch 110 may be implemented as a touch button on the control panel 120.

In addition, the autonomous driving integrated control unit 600 may obtain driving information indicating a driving state of the vehicle through the driving information input interface 201 . The driving information may include a steering angle formed as the occupant operates the steering wheel, an accelerator pedal stroke or brake pedal stroke formed as the occupant presses the accelerator or brake pedal, and various information representing the driving state and behavior of the vehicle, such as vehicle speed, acceleration, yaw, pitch, and roll, as behaviors formed in the vehicle. As shown in FIG. 0), vehicle speed sensor 230, acceleration sensor 240, and yaw/pitch/roll sensor 250.

Furthermore, vehicle driving information may include vehicle location information, and vehicle location information may be acquired through a Global Positioning System (GPS) receiver 260 applied to the vehicle. Such driving information may be transmitted to the autonomous driving integrated control unit 600 through the driving information input interface 201 and used to control driving of the vehicle in the autonomous driving mode or the manual driving mode.

In addition, the autonomous driving integrated control unit 600 may transmit driving state information provided to the occupant in the autonomous driving mode or the manual driving mode of the vehicle to the output unit 300 through the occupant output interface 301 . That is, the autonomous driving integrated control unit 600 transmits driving state information of the vehicle to the output unit 300, so that the occupant can check the autonomous driving state or the manual driving state of the vehicle based on the driving state information output through the output unit 300.

In addition, when it is determined that the driver needs to be warned in the autonomous driving mode or the manual driving mode of the vehicle along with the driving state information, the autonomous driving integrated control unit 600 transmits the warning information to the output unit 300 through the occupant output interface 301 so that the output unit 300 outputs a warning to the driver. In order to audibly and visually output such driving state information and warning information, the output unit 300 may include a speaker 310 and a display device 320 as shown in FIG. 1 . At this time, the display device 320 may be implemented as the same device as the aforementioned control panel 120 or may be implemented as a separate and independent device.

In addition, the autonomous driving integrated control unit 600 may transmit control information for driving control of the vehicle in the autonomous driving mode or the manual driving mode to the lower control system 400 applied to the vehicle through the vehicle control output interface 401. The lower control system 400 for vehicle driving control may include an engine control system 410, a braking control system 420, and a steering control system 430 as shown in FIG. Accordingly, the engine control system 410 may increase or decrease the fuel supplied to the engine to control vehicle speed and acceleration, the braking control system 420 may control braking of the vehicle by adjusting the braking force of the vehicle, and the steering control system 430 may control steering of the vehicle through a steering device (eg, a motor driven power steering (MDPS) system) applied to the vehicle.

As described above, the autonomous driving integrated control unit 600 according to the present embodiment obtains driving information according to the driver's operation and driving information representing the driving state of the vehicle through the driving information input interface 101 and the driving information input interface 201, respectively, and transmits the driving state information and warning information generated according to the autonomous driving algorithm to the output unit 300 through the occupant output interface 301. Also, the control information generated according to the autonomous driving algorithm can be transmitted to the lower control system through the vehicle control output interface 401. By transmitting to 400, it can be operated to control the driving of the vehicle.

On the other hand, in order to ensure stable autonomous driving of the vehicle, it is necessary to continuously monitor the driving state by accurately measuring the driving environment of the vehicle and control the driving according to the measured driving environment. To this end, the autonomous driving device of the present embodiment may include a sensor unit 500 for detecting objects around the vehicle, such as surrounding vehicles, pedestrians, roads, or fixed facilities (eg, traffic lights, milestones, traffic signs, construction fences, etc.), as shown in FIG. 1 .

As shown in FIG. 1 , the sensor unit 500 may include one or more of a lidar sensor 510 , a radar sensor 520 , and a camera sensor 530 to detect surrounding objects outside the vehicle.

The lidar sensor 510 may detect a surrounding object outside the vehicle by transmitting a laser signal around the vehicle and receiving a signal reflected back by the object, and may detect a surrounding object located within a predefined set distance and set vertical field of view and set horizontal field of view according to the specification. The lidar sensor 510 may include a front lidar sensor 511, an upper lidar sensor 512, and a rear lidar sensor 513 installed on the front, top, and rear of the vehicle, respectively, but the installation location and number are not limited to specific embodiments. A threshold value for determining the validity of a laser signal reflected by a corresponding object and returned may be stored in advance in a memory (not shown) of the integrated self-driving control unit 600, and the integrated self-driving control unit 600 may determine the position (including the distance to the corresponding object), speed, and direction of movement of the object through a method of measuring the time for the laser signal transmitted through the LIDAR sensor 510 to be reflected and returned to the object.

The radar sensor 520 may detect a surrounding object outside the vehicle by radiating electromagnetic waves around the vehicle and receiving a signal reflected back by the corresponding object, and may detect a surrounding object located within a predefined set distance, set vertical angle of view, and set horizontal angle of view range according to its specifications. The radar sensors 520 may include a front radar sensor 521, a left radar sensor 521, a right radar sensor 522, and a rear radar sensor 523 installed on the front, left side, right side, and rear of the vehicle, respectively. However, the installation location and number of installations are not limited to a specific embodiment. The autonomous driving integrated control unit 600 can determine the location (including the distance to the corresponding object), speed, and direction of movement of the object through a method of analyzing the power of electromagnetic waves transmitted and received through the radar sensor 520.

The camera sensor 530 may detect surrounding objects outside the vehicle by capturing an image of the surroundings of the vehicle, and may detect surrounding objects located within ranges of a predefined set distance, set vertical angle of view, and set horizontal angle of view according to its specifications.

The camera sensors 530 may include a front camera sensor 531, a left camera sensor 532, a right camera sensor 533, and a rear camera sensor 534 installed on the front, left side, right side, and rear side of the vehicle, respectively, but the installation location and number of installations are not limited to a specific embodiment. The autonomous driving integrated control unit may determine the location (including distance to the corresponding object), speed, and direction of movement of the object by applying predefined image processing to the image captured through the camera sensor 530.

In addition, an internal camera sensor 535 for capturing an image of the inside of the vehicle may be mounted at a predetermined position inside the vehicle (e.g., a rear view mirror), and the autonomous driving integrated control unit 600 may monitor the behavior and condition of the occupant based on the image acquired through the internal camera sensor 535, and output a guide or warning to the occupant through the output unit 300 described above.

In addition to the lidar sensor 510, the radar sensor 520, and the camera sensor 530, the sensor unit 500 may further include an ultrasonic sensor 540 as shown in FIG.

2 shows an example in which a front lidar sensor 511 or a front radar sensor 521 is installed on the front of the vehicle, a rear lidar sensor 513 or a rear radar sensor 524 is installed on the rear of the vehicle, and the front camera sensor 531, the left camera sensor 532, the right camera sensor 533, and the rear camera sensor 534 are installed on the front, left side, right side, and rear side of the vehicle, respectively. As such, the installation position and number of installations of each sensor are not limited to a specific embodiment.

Furthermore, the sensor unit 500 may further include a biosensor for detecting the occupant's vital signs (eg, heart rate, electrocardiogram, respiration, blood pressure, body temperature, brain wave, blood flow (pulse wave), blood sugar, etc.) of the occupant to determine the condition of the occupant in the vehicle. The biosensors include a heart rate sensor, an electrocardiogram sensor, a respiration sensor, a blood pressure sensor, a body temperature sensor, an electroencephalogram sensor, a photoplethysmography sensor, and a blood sugar sensor. There may be.

Finally, the sensor unit 500 additionally adds a microphone 550, and the internal microphone 551 and the external microphone 552 are used for different purposes.

The internal microphone 551 may be used, for example, to analyze the voice of a passenger in the autonomous vehicle 1000 based on AI or to immediately respond to a direct voice command.

On the other hand, the external microphone 552 can be used, for example, to respond appropriately to safe driving by analyzing various sounds generated from the outside of the autonomous vehicle 1000 with various analysis tools such as deep learning.

For reference, the symbols shown in FIG. 2 may perform the same or similar functions as those shown in FIG. 1, and FIG. 2 illustrates the relative positional relationship of each component (with respect to the inside of the autonomous vehicle 1000) in more detail compared to FIG.

3 illustrates a scenario in which an autonomous vehicle according to one of the embodiments of the present invention recognizes a specific type of vehicle.

The self-vehicle 300 shown in FIG. 3 means an autonomous vehicle to which the present invention is applied, and includes some or all of the previously described components shown in FIG. 1 or FIG. 2 .

The vehicle 300 to which the present invention is applied recognizes a specific type of bus 310 running in front, and continuously tracks and monitors the recognized specific type of bus 310.

Furthermore, the vehicle 300 determines in advance whether a specific type of bus 310 traveling ahead will stop at the stop 320, and automatically determines whether to overtake the bus 310 based on the result.

More specifically, it is as follows.

The vehicle 300 according to an embodiment of the present invention recognizes only a specific type of bus 310 as an overtaking target vehicle.

It is designed to recognize a bus to be overtaken only when it is recognized as a bus 310 through the front camera of the vehicle 300, the bus 310 is driving ahead in the same lane as the vehicle 300, and the driving lane of the vehicle 300 is driving in the rightmost lane.

Furthermore, the vehicle 300 according to an embodiment of the present invention is designed to continuously monitor and track whether the initially recognized bus 310 is in the same lane as the vehicle 300, taking into account the situation in which the bus 310 in front is not recognized by a vehicle intervening between the bus 310 and the vehicle 300 and the situation in which the bus 310 changes lanes to the driving lane of the vehicle 300.

If the probabilistic distance between the bus recognized through the front camera and the object information recognized by the front radar is within a certain value, it is determined as the same object.

Alternatively, as another embodiment, when another vehicle intervenes between the vehicle 300 and the bus 310 and the bus 310 cannot be recognized through the camera of the vehicle 300, the vehicle 300 does not directly determine the stop of the front bus 300, but receives and processes the camera information of the other vehicle caught in the middle, or delegates the process of determining the stop of the front bus 310 to the other vehicle, and the vehicle 300 only determines the result Designing to receive is also within the scope of other rights of the present invention.

Meanwhile, a more specific process of determining whether the vehicle 300 will stop at the stop of the front bus 310 and overtake the front bus 310 according to an embodiment of the present invention will be described later with reference to FIGS. 4 and 5.

4 is a flowchart illustrating a control method of an autonomous vehicle according to one of the embodiments of the present invention.

According to one embodiment of the present invention, a vehicle overtaking a specific type of bus is designed to recognize a specific type of bus located ahead (S410).

In particular, to describe step S410 in more detail, as a method for recognizing a city bus that repeatedly parks and stops at a stop, it is determined whether a plurality of number information is recognized on the back of another vehicle located in front using a camera attached to the vehicle.

As a result of the determination, when a plurality of number information is recognized on the back of another vehicle located in front, the other vehicle is recognized as a bus.

And, among a plurality of number information, it is designed to match number information at a relatively high position with a specific type of bus.

However, in spite of the same bus number, there may be a case where the route (stop) on which the bus travels is different. In order to solve this problem, designing to more accurately recognize the stop information of the corresponding bus using GPS information currently driving is also within the scope of another right of the present invention.

On the other hand, according to another embodiment of the present invention, as described above, it is designed to be applicable even if it is not a city bus having a number plate (eg, number 320, number 4317, etc.). For example, a vehicle according to another embodiment of the present invention may recognize whether a rear image of a preceding vehicle is a shuttle bus or a mobile minibus through communication with a memory/processor inside the vehicle or a server. Even in this case, since frequent stops can be made similar to normal city buses, it is considered to correspond to a specific type of bus and designed to automatically overtake.

Furthermore, the vehicle according to one embodiment of the present invention continuously monitors/tracks whether the specific type of bus recognized in step S410 is driving in the same lane as the vehicle of the present invention (S420).

In addition, the vehicle according to an embodiment of the present invention first determines whether the recognized specific type of bus will stop at the bus stop (S430). This is because there is a need to reduce unnecessary overtaking when the bus is unlikely to stop at a stop.

Although not shown in FIG. 4, step S430 will be described in more detail as follows.

It is estimated that a bus traveling ahead will stop at a stop only when the first condition that the driving speed of the specific type of bus decelerates below the preset first speed (eg, 50 km/h) is satisfied, and only when either the second condition that a specific type of bus stop exists within a second distance (eg, 200m) in front or the third condition that the specific type of bus turns on its emergency light is satisfied using current GPS information of the vehicle and bus number information. do

As a result of the first determination (S430), when it is determined that the recognized specific type of bus will stop at a stop, the vehicle according to an embodiment of the present invention secondly determines whether to overtake the recognized specific type of bus (S440). It is expected that the bus will stop at the stop, but it can be dangerous to attempt overtaking immediately. As an embodiment considered, a more detailed method will be described later with reference to FIG. 5 .

Then, as a result of the second determination (S440), only when it is determined that the recognized specific type of bus is to be overtaken, control is performed to overtake the specific type of bus (S450).

And, FIG. 5 is a flow chart showing step S440 shown in FIG. 4 in more detail.

Another feature of the present invention is that whether or not to overtake a specific type of bus is set differently according to the number of lanes in the current driving lane of the vehicle in the secondary determination step S440 shown in FIG. 4 .

As shown in FIG. 5 , the vehicle according to an embodiment of the present invention determines the number of lanes of the current driving lane (S441).

As a result of the determination (S441), it is assumed that the current driving lane of the vehicle is recognized by the camera as a one-way one-lane road.

At this time, the vehicle according to an embodiment of the present invention is allowed to overtake the recognized specific type of bus only when the first condition that the central yellow lane is a dotted line, the second condition that the value of curvature of the road being driven is equal to or less than a preset threshold, and the third condition that there is no oncoming vehicle in the opposite lane are all satisfied (S442).

Here, the predetermined threshold value is included in the curvature radius of 2000R to 3000R, which means that the current lane is almost straight, and additional technical effects that can prevent other accidents in advance by allowing overtaking only at this time are expected.

As a result of the determination (S441), it is assumed that the current driving lane of the vehicle is recognized as a two-lane one-way road by the camera.

At this time, the vehicle according to an embodiment of the present invention is a first condition that the value of curvature of the road being driven is equal to or less than a preset threshold, a second condition that the one-lane road is not a left turn lane, a third condition that the one-lane road is a left turn lane and no other vehicle is recognized in the first lane, or a one-lane road is a left turn lane and there is another vehicle in the first lane, and the other vehicle is located farther than the specific type of bus based on the vehicle, Overtaking of the recognized specific type of bus is limitedly permitted only when the other vehicle satisfies any one of the fourth conditions of traveling at or above the driving speed of the specific type of bus (S443).

Here, the predetermined threshold value is included in the curvature radius of 2000R to 3000R, which means that the current lane is almost straight, and additional technical effects that can prevent other accidents in advance by allowing overtaking only at this time are expected.

As a result of the determination (S441), it is assumed that the current driving lane of the vehicle is recognized by the camera as a one-way road with three or more lanes.

At this time, the vehicle according to an embodiment of the present invention is a recognized specific type of bus only when any one of the first condition that the value of the curvature of the road being driven is equal to or less than a predetermined threshold value, the second condition that another vehicle traveling in the left lane adjacent to the vehicle is not recognized, or the third condition that another vehicle traveling in the left lane adjacent to the vehicle is recognized, the other vehicle is located farther than the specific type of bus based on the vehicle, and the other vehicle travels at a speed equal to or higher than the specific type of bus Overtaking is limitedly allowed (S444).

Here, the predetermined threshold value is included in the curvature radius of 2000R to 3000R, which means that the current lane is almost straight, and additional technical effects that can prevent other accidents in advance by allowing overtaking only at this time are expected.

As another aspect of the present invention, the above-described proposal or operation of the invention may be provided as a code that can be implemented, implemented, or executed by a “computer” (a comprehensive concept including a system on chip (SoC) or microprocessor), or an application that stores or includes the code, a computer-readable storage medium, or a computer program product, which also falls within the scope of the present invention.

Detailed descriptions of the preferred embodiments of the present invention disclosed as described above are provided to enable those skilled in the art to implement and practice the present invention. Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will understand that the present invention can be variously modified and changed without departing from the scope of the present invention. For example, those skilled in the art can use each configuration described in the above-described embodiments in a manner of combining with each other.

Accordingly, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

100: user input unit
101: driving information input interface
200: driving information detection unit
201 Driving information input interface
300: output unit
301: occupant output interface
400: sub-control system
401: vehicle control output interface
500: sensor unit
600: autonomous driving integrated control unit
700: server
1000: autonomous vehicles

Claims (19)

In the control method of a vehicle overtaking a specific type of bus,
Recognizing a specific type of bus located ahead;
tracking whether the recognized specific type of bus travels in the same lane as the vehicle;
firstly determining whether the recognized specific type of bus will stop at a stop;
If it is determined that the recognized specific type of bus will stop at a stop as a result of the first determination, secondly determining whether to overtake the recognized specific type of bus; and
Controlling to overtake the specific type of bus only when it is determined that the recognized specific type of bus is to be overtaken as a result of the second determination
A method of controlling a vehicle overtaking a specific type of bus, comprising: According to claim 1,
The step of recognizing is
determining whether a plurality of number information is recognized on the rear of another vehicle located in front by using a camera attached to the vehicle;
As a result of the determination, if a plurality of number information is recognized on the back of another vehicle located in front, recognizing the other vehicle as a bus; and
Matching number information at a relatively high position among a plurality of number information with a specific type of bus
A method of controlling a vehicle overtaking a specific type of bus, further comprising: According to claim 2,
In the first judgment step,
Satisfying a first condition that the driving speed of the specific type of bus decelerates to a predetermined first speed or less,
Only when either the second condition that the specific type of bus stop exists within the second distance ahead or the third condition that the specific type of bus turns on the emergency light using the current GPS information and the number information of the vehicle is satisfied,
A control method of a vehicle overtaking a specific type of bus, characterized in that estimating that the specific type of bus stops at a stop. According to claim 3,
The preset first speed corresponds to 50 km/h,
The control method of a vehicle overtaking a specific type of bus, characterized in that the second distance corresponds to 200 m. According to claim 4,
In the second judgment step,
Setting whether to overtake the specific type of bus differently according to the number of lanes of the current driving lane of the vehicle
A method of controlling a vehicle overtaking a specific type of bus, further comprising: According to claim 5,
In the setting step,
When the camera recognizes that the current driving lane of the vehicle is a one-way one-lane road,
The first condition in which the central yellow lane is a dotted line;
A second condition in which the value of the curvature of the road being driven is less than or equal to a preset threshold value; and
A method of controlling a vehicle overtaking a specific type of bus, characterized in that overtaking of the recognized specific type of bus is permitted only when the third condition that there is no opposing vehicle in the opposite lane is satisfied. According to claim 5,
In the setting step,
When the camera recognizes that the current driving lane of the vehicle is a two-lane one-way road,
A first condition in which the value of the curvature of the road being driven is less than or equal to a preset threshold value, and
The recognized specific type of bus only when one of the second condition that the one-lane road is not a left turn lane, the third condition that the one-lane road is a left turn lane and other vehicles are not recognized in the first lane, or the fourth condition that the one-lane road is a left turn lane and another vehicle exists in the first lane, the other vehicle is located farther than the specific type of bus based on the vehicle, and the other vehicle travels at a speed equal to or faster than the specific type of bus A method of controlling a vehicle overtaking a specific type of bus, characterized in that overtaking is allowed. According to claim 5,
In the setting step,
When the camera recognizes that the current driving lane of the vehicle is a one-way road with three or more lanes,
A first condition in which the value of the curvature of the road being driven is less than or equal to a preset threshold value, and
A method for controlling a vehicle overtaking a specific type of bus, characterized in that overtaking is allowed for the recognized specific type of bus only when either of a second condition in which another vehicle traveling in the left lane adjacent to the vehicle is not recognized or a third condition in which another vehicle traveling in the left lane adjacent to the vehicle is recognized, the other vehicle is located farther than the specific type of bus based on the vehicle, and the other vehicle travels at a speed equal to or higher than the traveling speed of the specific type of bus. According to claim 8,
The predetermined threshold value is included in the curvature radius of 2000R to 3000R. A recording medium in which a program for controlling a vehicle overtaking a specific type of bus is stored,
a command to recognize a particular type of bus located in front;
a command for tracking whether the recognized specific type of bus travels in the same lane as the vehicle;
a command for firstly determining whether the recognized specific type of bus will stop at a stop;
a command for secondarily determining whether to overtake the recognized specific type of bus when it is determined that the recognized specific type of bus will stop at a stop as a result of the primary determination; and
As a result of the second determination, only when it is determined that the recognized specific type of bus is overtaken, a command for controlling the specific type of bus to be overtaken
A recording medium containing a. For vehicles overtaking a specific type of bus,
a camera that recognizes a specific type of bus located in front; and
including the controller;
The controller,
Tracking whether the recognized specific type of bus is driving in the same lane as the vehicle,
First determining whether the recognized specific type of bus will stop at a stop;
As a result of the first determination, when it is determined that the recognized specific type of bus will stop at a stop, a second determination is made as to whether to overtake the recognized specific type of bus, and
A vehicle overtaking a specific type of bus, characterized in that the vehicle overtaking the specific type of bus is controlled only when it is determined that the recognized specific type of bus is to be overtaken as a result of the second determination. According to claim 11,
The controller,
Using the camera, it is determined whether a plurality of number information is recognized on the back of another vehicle located in front,
As a result of the determination, when a plurality of number information is recognized on the back of another vehicle located in front, the other vehicle is recognized as a bus, and
A vehicle overtaking a specific type of bus, characterized in that number information at a relatively high position among a plurality of number information is matched with a specific type of bus. According to claim 12,
The controller,
Satisfying a first condition that the driving speed of the specific type of bus decelerates to a predetermined first speed or less,
Only when either the second condition that the specific type of bus stop exists within the second distance ahead or the third condition that the specific type of bus turns on the emergency light using the current GPS information and the number information of the vehicle is satisfied,
A vehicle overtaking a specific type of bus, characterized in that it is estimated that the specific type of bus stops at a stop. According to claim 13,
The preset first speed corresponds to 50 km/h,
The vehicle overtaking a specific type of bus, characterized in that the second distance corresponds to 200 m. According to claim 14,
The controller,
A vehicle overtaking a specific type of bus, characterized in that setting whether or not to overtake the specific type of bus differently according to the number of lanes of the current driving lane of the vehicle. According to claim 15,
The controller,
When the camera recognizes that the current driving lane of the vehicle is a one-way one-lane road,
The first condition in which the central yellow lane is a dotted line;
A second condition in which the value of the curvature of the road being driven is less than or equal to a preset threshold value; and
A vehicle overtaking a specific type of bus characterized in that overtaking of the recognized specific type of bus is allowed only when the third condition that there is no opposing vehicle in the opposite lane is satisfied. According to claim 15,
The controller,
When the camera recognizes that the current driving lane of the vehicle is a two-lane one-way road,
A first condition in which the value of the curvature of the road being driven is less than or equal to a preset threshold value, and
The recognized specific type of bus only when one of the second condition that the one-lane road is not a left turn lane, the third condition that the one-lane road is a left turn lane and other vehicles are not recognized in the first lane, or the fourth condition that the one-lane road is a left turn lane and another vehicle exists in the first lane, the other vehicle is located farther than the specific type of bus based on the vehicle, and the other vehicle travels at a speed equal to or faster than the specific type of bus A vehicle that overtakes a specific type of bus, characterized in that it allows overtaking for. According to claim 15,
The controller,
When the camera recognizes that the current driving lane of the vehicle is a one-way road with three or more lanes,
A first condition in which the value of the curvature of the road being driven is less than or equal to a preset threshold value, and
A vehicle overtaking a specific type of bus, characterized in that overtaking of the recognized specific type of bus is permitted only when either of a second condition in which another vehicle traveling in the left lane adjacent to the vehicle is not recognized or a third condition in which another vehicle traveling in the left lane adjacent to the vehicle is recognized, the other vehicle is located farther than the specific type of bus based on the vehicle, and the other vehicle travels at a speed equal to or higher than the traveling speed of the specific type of bus. According to claim 18,
The vehicle overtaking a specific type of bus, characterized in that the predetermined threshold value is included in the radius of curvature of 2000R to 3000R.