KR20230127029A - Apparatus and method for warning access of autonomous vehicle - Google Patents

Abstract

The present invention relates to an approach notification device for an autonomous vehicle, comprising: an antenna for receiving a radar signal transmitted from an autonomous vehicle; A controller generating an approach notification signal for notifying that an autonomous vehicle has approached based on a radar signal transmitted from the antenna; and a communication unit for transmitting an approach notification signal generated by the controller to a user terminal, wherein the user terminal includes an approach display device displaying access notification information corresponding to the proximity notification signal. Provides a vehicle approach notification device and an approach notification method therefor.

Description

APPARATUS AND METHOD FOR WARNING ACCESS OF AUTONOMOUS VEHICLE}

The present invention relates to an apparatus and method for notifying the approach of an autonomous vehicle, and more particularly, to an apparatus and method for notifying a pedestrian of the approach of an autonomous vehicle based on a radar signal transmitted from the autonomous vehicle.

Recently, it is predicted that autonomous vehicles will rapidly spread according to the development of related technologies. Self-driving vehicles need to detect nearby pedestrians using various sensors so that they can safely operate without driver manipulation.

Patent Document 1 discloses a technique for detecting a pedestrian based on an image captured by a camera and notifying the detected pedestrian of whether or not a vehicle is approaching, and Patent Document 2 provides location and speed information of a vehicle using a short-range communication module. Disclosed is a method of periodically broadcasting a beacon signal including a beacon signal and detecting a pedestrian based on pedestrian information included in a corresponding response signal.

As described above, most of the conventional technologies are methods of detecting a pedestrian in an autonomous vehicle. In this case, the safety of the pedestrian depends on the perception situation of the autonomous vehicle. Autonomous vehicles can detect the location of a pedestrian, but there is a possibility of an accident due to an unexpected movement of a pedestrian who is unaware of the approach of the vehicle. In addition, it is possible to determine the location of a pedestrian only when the location information of the pedestrian is continuously exposed.

In addition, the prior art is a method of transmitting a signal according to whether the self-driving vehicle is a pedestrian or not, and the safety of the pedestrian is entirely dependent on the self-driving vehicle system, and the communication system of the autonomous vehicle is delayed or hacking causes the pedestrian's safety. There is a limitation that a situation in which real-time recognition of location information is impossible may occur.

Considering these points, it is desired to develop a technology in which a pedestrian can actively detect the approach of an autonomous vehicle.

Republic of Korea Patent Publication No. 10-2018-0051838 (2018.05.17) Republic of Korea Patent Publication No. 10-2017-0025179 (2017.03.08)

The present invention is to solve the above problems, and an object of the present invention is to provide a device and method for determining whether an autonomous vehicle is approaching from a pedestrian's point of view.

In order to solve the above problems, the present invention includes an antenna for receiving a radar signal transmitted from an autonomous vehicle; A controller generating an approach notification signal for notifying that an autonomous vehicle has approached based on a radar signal transmitted from the antenna; and a communication unit for transmitting an approach notification signal generated by the controller to a user terminal, wherein the user terminal includes an approach display device displaying access notification information corresponding to the proximity notification signal. A vehicle approach notification device is provided.

Here, the antennas may be spaced apart from each other and provided with a plurality of them.

In addition, the controller may include a vehicle recognizer for recognizing and discriminating an autonomous vehicle based on a radar signal transmitted from the antenna; a direction determining unit generating direction information of an autonomous vehicle based on a radar signal transmitted from the antenna; and a signal generator for generating an access notification signal and transmitting the generated access notification signal to the communication unit.

In addition, the vehicle recognition unit distinguishes and recognizes a plurality of self-driving vehicles based on a conversion value of a waveform of a radar signal transmitted from the antenna into a digital signal, and identifies an ID whenever a different self-driving vehicle is recognized. It is possible to create a recognition table for each vehicle by dividing and storing additional information corresponding to the corresponding ID.

In addition, the direction determination unit generates direction information indicating from which direction the autonomous vehicle is approaching based on an approach notification device based on radar signals received from a plurality of antennas, and generated by the vehicle recognition unit. It can be added to the additional information of the recognition table for each vehicle.

In addition, the direction determination unit generates direction information of the autonomous vehicle in the direction of the antenna receiving the radar signal among the plurality of antennas, and when the plurality of antennas receive the radar signal transmitted from the same autonomous vehicle, each antenna It is possible to calculate the difference in reception time of the radar signal at , and generate direction information in the direction of the first received antenna.

Also, the additional information may include a digital conversion value of a waveform of a radar signal received from an antenna.

In addition, the additional information may further include at least one of frequency band information and radar signal strength information.

In addition, the proximity display device of the user terminal may display proximity notification information by at least one of visual, auditory and tactile senses.

In addition, the approach notification information may include direction information of an autonomous vehicle.

According to another aspect of the present invention, a first step of receiving a radar signal transmitted from an autonomous vehicle by an approach notification device; A second step of generating, by an approach notification device, an approach notification signal for notifying that an autonomous vehicle has approached based on the radar signal; and a third step of transmitting, by an approach notification device, the approach notification signal to a user terminal, wherein the user terminal displays approach notification information corresponding to the approach notification signal. provides a way

According to the present invention, it is possible to provide an apparatus and method for determining whether an autonomous vehicle is approaching from a pedestrian's point of view.

In particular, according to the present invention, since a pedestrian can determine whether an autonomous vehicle is approaching by himself, safety from an autonomous vehicle can be secured from a pedestrian-centered point of view.

In addition, since a pedestrian or a user of a personal mobile device (bicycle, motorcycle, smart mobility, etc.) can recognize the approach of an autonomous vehicle in advance without disclosing personal location information, the possibility of an accident can be reduced.

1 is a diagram showing the overall configuration of an apparatus 100 for notifying the approach of an autonomous vehicle according to the present invention.
2 is a diagram showing the internal configuration of the controller 120.
3 shows an example of an identification table for each vehicle.
4 is a flowchart illustrating an embodiment of an access notification method performed by the access notification device 100 described with reference to FIGS. 1 to 3 .

Hereinafter, embodiments according to the present invention will be described in detail with reference to the accompanying drawings.

1 is a diagram showing the overall configuration of an apparatus 100 for notifying the approach of an autonomous vehicle according to the present invention.

Referring to FIG. 1, an autonomous vehicle approach notification device 100 (hereinafter simply referred to as "approach notification device 100") includes an antenna 110, a controller 120 and a communication unit 130, It performs a function of recognizing the approach of the autonomous vehicle 300 and transmitting an approach notification signal to the user terminal 200 .

Here, the self-driving vehicle 300 refers to a vehicle that drives itself without driver intervention, and generally uses radar to grasp surrounding objects and road conditions, and controls the vehicle based on the radar to drive the vehicle. will do To this end, the self-driving vehicle 300 transmits a radar signal and uses a sensor that detects the existence, distance, and movement of an object based on the radar signal reflected on the object.

A key feature of the approach notification device 100 of the present invention is to detect a radar signal transmitted from the self-driving vehicle 300 and thereby determine whether the self-driving vehicle 300 is approaching a pedestrian.

Hereinafter, the configuration of the access notification device 100 will be described.

As described above, the proximity notification device 100 includes an antenna 110, a controller 120 and a communication unit 130.

First, the antenna 110 performs a function of receiving a radar signal transmitted from the autonomous vehicle 300 . The radar signal received by the antenna 110 is transferred to the controller 120.

A plurality of antennas 110 may be provided to receive radar signals of various frequency bands transmitted from the autonomous vehicle 300 .

In addition, a plurality of antennas 110 may be provided at different locations to determine the direction of the self-driving vehicle 300, that is, on which side the self-driving vehicle 300 is located relative to the pedestrian.

The controller 120 performs a function of generating an approach notification signal for notifying that the self-driving vehicle 300 has approached based on the radar signal transmitted from the antenna 110 .

2 is a diagram showing the internal configuration of the controller 120.

Referring to FIG. 2 , the controller 120 includes a vehicle recognizing unit 121 , a direction determining unit 122 and a signal generating unit 123 .

The vehicle recognition unit 121 performs a function of recognizing and distinguishing the self-driving vehicle 300 based on a radar signal transmitted from the antenna 110 .

The vehicle recognizer 121 distinguishes between the previously recognized self-driving vehicle 300 and the newly recognized self-driving vehicle 300 based on the radar signal transmitted from the antenna 110, and then divides the plurality of self-driving vehicles 300. ) are recognized separately. For example, the vehicle recognizer 121 may distinguish and recognize the autonomous vehicles 300 by converting a wave form of a radar signal transmitted from the antenna 110 into a digital signal and comparing them.

The vehicle recognition unit 121 assigns an ID whenever a different self-driving vehicle 300 is recognized, and classifies and stores the digital conversion value of the waveform of the radar signal as additional information corresponding to the corresponding ID. Create a recognition table. Here, the additional information may additionally include, for example, information such as frequency band and radar signal strength.

The direction determination unit 122 is a means for generating direction information of the autonomous vehicle 300 based on a radar signal transmitted from the antenna 110 .

As described above, a plurality of antennas 110 may be provided to determine the direction of the autonomous vehicle 300. For example, two antennas 110 are placed on the left and right sides of the proximity notification device 100 and these antennas The direction of the self-driving vehicle 300 may be grasped based on the radar signal received from 110 .

For example, the direction determination unit 122 may generate direction information of the autonomous vehicle 300 in the direction of the antenna 110 from which the radar signal is received among the two antennas 110 .

In addition, when radar signals transmitted from the same self-driving vehicle 300 are received at two antennas 110, the difference in reception time of the radar signals at each antenna 110 is calculated, and the first received antenna 110 ) side can be generated as direction information.

As the number of antennas 110 increases, more sophisticated direction information can be grasped. However, when there are too many antennas 110, since the difference in radar signals received by each antenna 110 is not large, the number of antennas 10 is 2 to 5. It is desirable to have about one.

The direction determining unit 122 updates the vehicle-specific recognition table by adding the generated direction information of the self-driving vehicle 300 to the additional information of the vehicle-specific recognition table generated by the vehicle recognition unit 121, and updates this to the signal generator. Forward to (123).

3 illustrates an example of an identification table for each vehicle.

As shown in FIG. 3 , it can be seen that IDs are assigned to each of the three self-driving vehicles 300 , and additional information of the self-driving vehicle 300 is stored corresponding to the corresponding IDs.

The vehicle recognizer 121 and the direction determiner 122 track whether a radar signal is received from the self-driving vehicle 300 corresponding to each ID and manages a recognition table for each vehicle.

The signal generating unit 123 performs a function of generating an access notification signal and transmitting the generated access notification signal to the communication unit 130 .

The signal generating unit 123 may generate an approach notification signal based on the recognition table for each vehicle generated by the direction determining unit 122 .

The communication unit 130 is responsible for transmitting the access notification signal generated by the controller 120 to the user terminal 200 .

The communication unit 130 may be, for example, a short-range communication module such as Bluetooth.

Next, the user terminal 200 will be described.

The user terminal 200 includes an access display device 210 that displays access notification information corresponding to an access notification signal received from the access notification device 100 .

The user terminal 200 in the present invention is preferably a mobile communication terminal such as a smart phone capable of installing and executing applications, and the access display device 210 is preferably implemented as such an application.

The proximity display device 210 may visually display proximity notification information through the display unit.

Here, the approach notification information may include a message notifying that the self-driving vehicle 300 is approaching the pedestrian and direction information included in the approach notification signal. At this time, the access notification information may be displayed in text form.

Alternatively, the location of the pedestrian is displayed at the center of the display unit of the user terminal 200, and based on this, the self-driving vehicle 300 may be displayed as a preset icon at a location corresponding to the corresponding direction information. .

In addition, the approach notification information may be displayed aurally through sound or tactilely, such as by vibrating the user terminal 200 .

Meanwhile, although not shown, the proximity notification device 100 may include a battery for supplying power.

The approach notification device 100 maintains a sleep mode when a radar signal is not received from the autonomous vehicle 300, and switches to a wake up mode when a radar signal is detected, as described above. You can perform the same action.

4 is a flowchart illustrating an embodiment of an access notification method performed by the access notification device 100 described with reference to FIGS. 1 to 3 .

Referring to FIG. 4 , the antenna 110 of the priority approach notification device 100 receives the radar signal transmitted from the autonomous vehicle 300 (S100). The antenna 110 transfers the received radar signal to the controller 120 .

The vehicle recognition unit 121 of the controller 120 recognizes and distinguishes the autonomous vehicle 300 based on the radar signal transmitted from the antenna 110 (S110).

As described above, the vehicle recognition unit 121 distinguishes and recognizes a plurality of self-driving vehicles through operation of the radar signal transmitted from the antenna 110, and assigns an ID whenever a different self-driving vehicle is recognized. and additional information corresponding to the corresponding ID is classified and stored to generate a recognition table for each vehicle.

Then, the direction determination unit 122 of the controller 120 generates direction information of the autonomous vehicle 300 based on the radar signal transmitted from the antenna 110 (S120).

As described above, the direction determination unit 122, based on the approach notification device 100 through the calculation of the radar signals received from each of the plurality of antennas 110, from which direction the autonomous vehicle 300 approaches. Direction information indicating whether or not the vehicle is running is generated, and the direction information is added to the additional information of the recognition table for each vehicle generated by the vehicle recognizing unit 121 .

Next, the signal generation unit 123 of the controller 120 generates a recognition table approach notification signal for each vehicle (S130), and transfers the generated approach notification signal to the communication unit 130.

As described above, the signal generating unit 123 may generate an approach notification signal based on the recognition table for each vehicle generated by the direction determination unit 122 .

Next, the communication unit 130 of the access notification device 100 transmits the access notification signal generated by the controller 120 to the user terminal 200 using short-range communication such as, for example, Bluetooth (S140).

Upon receiving the access notification signal from the access notification device 100, the user terminal 200 displays access notification information corresponding to the access notification signal (S150).

As described above, the user terminal 200 may display the access notification information by at least one of visual, auditory, and tactile senses by the access display device 210 implemented as an application.

Although the present invention has been described with reference to preferred embodiments according to the present invention, the present invention is not limited to the above embodiments, and various modifications and variations can be implemented within the scope of the present invention as grasped by the appended claims and drawings. Of course it is possible.

100...approach notification device for autonomous vehicles
110 ... antenna
120 ... controller
130... Ministry of Communications
121 ... vehicle recognition unit
122 ... direction determination unit
123 ... signal generator
200 ... user terminal
300...autonomous vehicles

Claims (11)

an antenna for receiving a radar signal transmitted from an autonomous vehicle;
A controller generating an approach notification signal for notifying that an autonomous vehicle has approached based on a radar signal transmitted from the antenna; and
Communication unit for transmitting the access notification signal generated by the controller to the user terminal
including,
The user terminal includes an approach display device displaying proximity notification information corresponding to the approach notification signal.
The method of claim 1,
The approach notification device for an autonomous vehicle, characterized in that the antenna is provided with a plurality of spaced apart at different locations.
The method of claim 1,
The controller,
a vehicle recognizer for recognizing and discriminating an autonomous vehicle based on a radar signal transmitted from the antenna;
a direction determining unit generating direction information of an autonomous vehicle based on a radar signal transmitted from the antenna; and
A signal generating unit that generates an approach notification signal and transfers the generated access notification signal to the communication unit.
An approach notification device for an autonomous vehicle comprising a.
The method of claim 3,
The vehicle recognizer distinguishes and recognizes a plurality of self-driving vehicles based on a conversion value of a radar signal transmitted from the antenna into a digital signal, and assigns an ID whenever a different self-driving vehicle is recognized. An approach notification device for an autonomous vehicle, characterized in that by dividing and storing additional information corresponding to the corresponding ID to create a recognition table for each vehicle.
The method of claim 4,
The direction determination unit generates direction information indicating from which direction the autonomous vehicle is approaching based on an approach notification device based on radar signals received from a plurality of antennas, and the vehicle generated by the vehicle recognition unit Autonomous vehicle approach notification device, characterized in that added to the additional information of the star recognition table.
The method of claim 5,
The direction determiner generates direction information of the autonomous vehicle in the direction of the antenna receiving the radar signal among the plurality of antennas, and when the radar signal transmitted from the same autonomous vehicle is received by the plurality of antennas, each antenna Characterized in that the difference in reception time of the radar signal is calculated and direction information is generated in the direction of the first received antenna
The method of claim 5,
The additional information includes a digital conversion value of a waveform of a radar signal received from an antenna.
The method of claim 7,
The additional information further includes at least one of frequency band information and radar signal strength information.
The method of claim 1,
The approach notification device for an autonomous vehicle, characterized in that the proximity display device of the user terminal displays proximity notification information by at least one of visual, auditory and tactile sensations.
The method of claim 9,
Wherein the approach notification information includes direction information of the autonomous vehicle.
A first step of receiving a radar signal transmitted from an autonomous vehicle by an approach notification device;
A second step of generating, by an approach notification device, an approach notification signal for notifying that an autonomous vehicle has approached based on the radar signal; and
A third step in which the access notification device transmits the access notification signal to the user terminal
including,
Wherein the user terminal displays approach notification information corresponding to the approach notification signal.