WO2022097796A1 - Apparatus and method for notifying driving situation information about autonomous vehicle in real time - Google Patents

Apparatus and method for notifying driving situation information about autonomous vehicle in real time Download PDF

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Publication number
WO2022097796A1
WO2022097796A1 PCT/KR2020/015613 KR2020015613W WO2022097796A1 WO 2022097796 A1 WO2022097796 A1 WO 2022097796A1 KR 2020015613 W KR2020015613 W KR 2020015613W WO 2022097796 A1 WO2022097796 A1 WO 2022097796A1
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Prior art keywords
vehicle
driving
situation information
information
autonomous
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PCT/KR2020/015613
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French (fr)
Korean (ko)
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김봉섭
이명수
윤윤기
윤경수
임태호
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재단법인 지능형자동차부품진흥원
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Priority to PCT/KR2020/015613 priority Critical patent/WO2022097796A1/en
Publication of WO2022097796A1 publication Critical patent/WO2022097796A1/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
    • B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
    • B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
    • B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
    • 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
    • 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

Definitions

  • the present invention relates to an apparatus and method for guiding driving situation information of an autonomous vehicle, and more particularly, to a vehicle starting, stopping, lane change, and door
  • Various driving situation information of the vehicle such as open, is displayed outside in real time, and the video image indicating the direction of the vehicle in visible light is projected on the road to provide information on the current driving situation to other drivers or pedestrians in real time. It relates to a device and method for notifying driving situation information of an autonomous driving vehicle.
  • a vehicle including various sensors and electronic devices has been provided.
  • ADAS advanced driver assistance system
  • autonomous vehicles autonomous Vehicle
  • An autonomous vehicle is a vehicle in which driving, stopping, rotating, accelerating or decelerating, etc. is automatically performed by a computer without direct manipulation of the vehicle even if there is no driver or a driver.
  • the autonomous driving vehicle is equipped with a sensor that recognizes the surrounding environment including the surrounding topography or location of the vehicle, so that the driving lane maintenance, securing a safe distance from adjacent vehicles, detecting nearby obstacles and avoiding collisions, and controlling vehicle speed according to traffic conditions and road conditions are performed automatically.
  • the conventional autonomous driving vehicle displays driving environment information sensed by various sensors and the operating state of the autonomous driving vehicle so that users, such as drivers and passengers, can know.
  • the present invention enables other drivers or pedestrians around the vehicle to easily know the driving information of the autonomous vehicle, which only the driver or passengers can know, so that a safer and more predictable traffic environment around the autonomous vehicle can be built.
  • An object of the present invention is to provide a real-time driving situation information notification device and method of an autonomous vehicle.
  • the present invention is a device for notifying the outside in real-time of driving situation information of a vehicle that occurs during autonomous driving, and a sensor unit provided in the vehicle to detect an external situation;
  • a driving situation information display unit equipped with a screen for displaying information, and external situation data received from the sensor unit to determine the vehicle surrounding situation to control the driving of the vehicle, and to output the driving situation information to the driving situation information display unit and a vehicle running control notification unit.
  • the driving condition information display unit displays any one information of vehicle start, stop, lane change, and vehicle door open information.
  • it further includes a driving path projection unit mounted on the outside of the vehicle to project an image image informing the traveling direction of the vehicle by the vehicle driving control notification unit on the road in visible light.
  • the driving route projection unit projects a car door opening notice image image with visible light on the roadside or sidewalk in the direction of the car door before the car door is opened.
  • the present invention includes the steps of receiving destination information from an occupant of a vehicle and determining a driving route;
  • a method for notifying real-time driving situation information of an autonomous driving vehicle comprising the steps of outputting and displaying situation information to the outside of the vehicle, and projecting an image image indicating a vehicle traveling direction when the vehicle is driving on a road.
  • driving situation information of various vehicles such as starting, stopping, lane change, and opening of a vehicle door occurring during autonomous driving is displayed outside in real time, and a video image indicating the direction of the vehicle while driving is projected on the road.
  • a safer and more predictable traffic environment can be built around the autonomous vehicle driving by providing information on the current vehicle driving situation to other nearby drivers or pedestrians in real time.
  • FIG. 1 is a plan view of an autonomous vehicle equipped with a driving situation information notification device according to an embodiment of the present invention.
  • FIG. 2 is a diagram illustrating a functional configuration of a driving situation information notification device according to an embodiment of the present invention.
  • FIG 3 is a view showing an image image showing a vehicle traveling direction projected on a road by the driving path projection unit of the present invention.
  • FIG. 4 is a flowchart illustrating a method for guiding driving situation information according to an embodiment of the present invention.
  • FIG. 1 is a plan view of an autonomous driving vehicle 10 equipped with a driving situation information notification device according to an embodiment of the present invention
  • FIG. 2 is a functional view of the driving situation information notification device 100 according to an embodiment of the present invention It is a drawing showing the configuration.
  • an autonomous driving program is installed so that driving is performed without a driver's manipulation, and a driving situation information notification device 100 for guiding driving situation information of the vehicle is also installed.
  • a driving situation information display unit 160 and a driving path projection unit 170 are installed outside the vehicle 10 to display driving situation information to be described later.
  • the driving situation information display unit 160 is a display on which driving situation information is displayed, and is installed on the roof of the vehicle so that other vehicle drivers or nearby pedestrians can be easily recognized.
  • the driving condition information display unit 160 may be formed by connecting a plurality of displays to be recognized from the circumference of the vehicle, that is, from the front, rear, and side, or may be configured to rotate the double-sided display.
  • any display device having a screen capable of displaying information, as well as an LCD display, an LED display, an OLED display, and the like may be used.
  • the driving condition information display unit 160 may continuously display the driving situation of the vehicle without interruption, but may also be displayed discontinuously only in a changing situation while driving, and separate advertisement information between the discontinuously displayed driving situations. can also be displayed.
  • the driving path projection unit 170 is an image image projection device that projects visible light onto the road, and projects an image image to inform the driving direction of the vehicle with visible light that is distinct from external natural light on the road to see other vehicle drivers or nearby drivers. It is provided to easily recognize the driving direction of a pedestrian or vehicle 10 .
  • the driving path projection unit 170 may project an image image that can easily recognize the traveling direction of the vehicle on the road, for example, when going straight or reversing, as shown in FIG. : ⁇ ), left or right arrows (turn left: ⁇ , turn right: ⁇ ) can be used.
  • Such a video image is projected on the road according to the driving route calculated by the navigation unit 140 to be described later and the received GPS location information. When it approaches, it is projected by switching to the left turn arrow (left turn: ⁇ ).
  • laser light having excellent straightness may be used.
  • the driving situation information notification device 100 of the present invention includes a plurality of sensors, a sensor unit 110 for detecting external situation data, an input unit 120 for receiving a vehicle operation command from a passenger, and connection to an external communication network.
  • the communication unit 130, the navigation unit 140 that determines the driving route to the destination, and the external situation sensed by the sensor unit 110 control the driving of the vehicle 10, and the driving condition information display unit 160 ) and a vehicle driving control notification unit 150 for outputting driving situation information to the driving route projection unit 170 .
  • All or at least part of the configuration of the above driving situation information notification 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.
  • the software module may be understood as, for example, a command executed by a processor that performs an operation in the driving situation information notification device 100 , and these commands are mounted in a memory in the driving situation information notification device 100 .
  • driving situation information of the autonomous vehicle 10 can be provided in real time.
  • each configuration in the driving situation information notification device 100 will be described in more detail.
  • the sensor unit 110 is configured to acquire external situation data installed outside the vehicle 10 .
  • External situation data includes whether an object (person, external vehicle, etc.) exists within a critical distance of the autonomous vehicle 10 , the speed and direction of the external vehicle, lane or traffic signal detection, and location change of the vehicle 10 , etc. It is data that can determine the surrounding situation of the autonomous vehicle 10 .
  • the autonomous vehicle 10 may include at least one of a camera, a radar (Radio Detecting And Ranging; RADAR), a Light Detection And Ranging (LIDAR), an ultrasonic sensor, and a GPS sensor.
  • Radar is a device that emits electromagnetic waves (for example, a kind of microwave with a wavelength of 10 cm to 100 cm) to a target object and receives the reflected electromagnetic wave to detect the distance or direction from the target object.
  • 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.
  • the target object may be recognized by the vehicle driving control notification unit 150 trained to recognize the target object.
  • LiDAR is a device that measures the distance to an object by using laser reflected light, and can map the object to a stereo image.
  • the ultrasonic sensor is a device for detecting a distance from a target object and a direction of the target object by using the reflected ultrasonic wave after emitting an ultrasonic wave to the target object.
  • a global positioning system (GPS) sensor is a device capable of determining the current location of the vehicle 10 by receiving a signal transmitted from a GPS satellite.
  • the autonomous vehicle 10 may acquire external situation data by using at least one of these plurality of sensors or a combination thereof.
  • the input unit 120 is configured to receive a vehicle operation command from a passenger, and may include a voice recognition module for recognizing the passenger's voice or a touch panel for directly receiving a command from the passenger.
  • the communication unit 130 is a module for performing communication with another vehicle or an external server, and includes a transmitting antenna, a receiving antenna, and an RF circuit capable of implementing various communication protocols to perform communication.
  • the communication unit 150 may perform V2X communication supporting short-distance communication such as Bluetooth, RFID, infrared communication, UWB, NFC, and Wi-Fi, and wireless communication between the vehicle 10 and an external server, other vehicles or pedestrians. .
  • the navigation unit 140 receives the vehicle location or speed through the GPS of the sensor unit 110 , and searches for and determines the optimal route of the passenger's destination input through the input unit 120 .
  • Such a navigation unit 140 is not limited to a specific form and form as long as it can provide information on the relationship between the vehicle location and the destination.
  • the vehicle driving control notification unit 150 determines the surrounding situation with the external situation information received by the camera, radar, and lidar of the sensor unit 110 to control the departure, driving, stop, lane change, etc. of the vehicle 10 and , the driving situation information is output to the driving situation information display unit 160 and the driving route projection unit 170 .
  • the surrounding situation information is information such as whether a static or dynamic object exists around the critical distance of the vehicle 10, and the distance and speed with the dynamic object. It controls whether the vehicle 10 starts, runs, stops, and changes lanes in consideration of the direction and the like. Then, the vehicle driving control notification unit 150 outputs driving situation information such as starting, stopping, car door opening, and lane change of the vehicle 10 to the driving situation information display unit 160, and the navigation unit 140 retrieves According to the driving path, the driving path projection unit 170 projects a video image notifying the vehicle's moving direction on the road.
  • the driving condition information display unit A vehicle departure message is output to (160).
  • the vehicle departure message may be displayed as "The vehicle departs” or the departure time may also be displayed, such as "The vehicle will depart in 5 seconds”.
  • the vehicle driving control notification unit ( 150) outputs a vehicle stop message to the driving condition information display unit 160 saying "the vehicle stops” or “the vehicle stops after 3 seconds” by calculating the distance to the vehicle in front or an obstacle.
  • the vehicle stop message may also be displayed along with the recognized specific reason for stopping the vehicle (forward vehicle stop, stop signal lighting, road obstacle detection).
  • a lane change message is output to the driving situation information display unit 160 , and when the vehicle arrives at a destination, a driving end message is displayed and driving is terminated.
  • the vehicle driving control notification unit 150 displays driving information in real time with the driving condition information display unit 160 and displays an image image notifying the traveling direction of the vehicle 10 with the driving path projection unit 170 on the road. project it on
  • the video image is projected on the road according to the driving route and the location information confirmed by the GPS information of the sensor unit 110. For example, when going straight, a straight arrow ( ⁇ ) is projected on the road and close to an intersection turning left. If it does, it is projected by switching to the left turn arrow (left turn: ⁇ ).
  • the vehicle driving control notification unit 150 may output a vehicle door opening notice message to the driving condition information display unit 160 before the vehicle door is opened. That is, when the vehicle arrives at the destination and the occupant disembarks, the vehicle driving control notification unit 150 displays the vehicle door opening notice message, “The door will be opened after 5 seconds” on the driving condition information display unit 160, so that the vehicle 10 ), it is possible to prevent collision accidents caused by motorcycles or bicycles that proceed from the rear side of the vehicle.
  • the car door opening notice may be made by the driving path projection unit 170, and by projecting the car door opening notice image image with visible light on the roadside or sidewalk in the direction of the car door to be opened, the external attention to the car door opening situation increases safety Accidents can be prevented.
  • the car door is opened when a passenger gets off after arriving at the destination. Of course.
  • the vehicle driving control notification unit 150 displays various driving situation information generated during driving to the outside in real time using the driving situation information display unit 160 and the driving route projection unit 170 to display other drivers or pedestrians around the vehicle in real time.
  • a safer and more predictable traffic environment can be built around autonomous vehicles that drive by accurately recognizing the vehicle driving situation.
  • a route from the current location to the destination is calculated by recognizing the voice information of the destination from the occupant in the vehicle or receiving destination information from the touch panel (S110). Then, it is determined whether the vehicle can start from the external situation data detected by the sensor unit 110 , and a departure information message is displayed on the driving condition information display unit 160 and starts ( S120 ). After starting, the driving path projection unit 170 projects an image image such as an arrow indicating the traveling direction of the vehicle on the road according to the path information calculated in step S110 during driving ( S130 ). Due to the projected video image in this way, it is possible to easily recognize the driving route or direction of the vehicle from the outside.
  • a vehicle stop message is displayed on the driving condition information display unit 160 ( S140 ).
  • the vehicle departure information or vehicle driving information is provided to the outside through the driving condition information display unit 160, the current vehicle driving condition information is provided to other drivers or pedestrians around in real time, so that it is safe and comfortable, such as preventing a traffic accident. It can help with driving.
  • the destination arrival information for example, "the vehicle arrives at the destination in 2 minutes"
  • the driving end message “The vehicle has arrived at the destination” is displayed on the driving condition information display unit 160 and the driving is terminated (S160).
  • the vehicle door opening notice message is output to the driving condition information display unit 160 before the vehicle door is opened, or the vehicle door opening notice image image is projected by the driving route projection unit 170 to stop the vehicle.
  • a collision accident caused by a motorcycle or bicycle proceeding from the rear side of one vehicle 10 can be prevented.

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Lighting Device Outwards From Vehicle And Optical Signal (AREA)
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Abstract

The present invention provides an apparatus and method for notifying driving situation information, which display, to the outside, various pieces of driving situation information about a vehicle in real time according to surrounding situation information identified by a sensor mounted on an autonomous vehicle and project, onto a road, a video image indicating a traveling direction of the vehicle with visible light, so as to provide current driving situation information about the vehicle to other nearby drivers or pedestrians in real time.

Description

자율주행 차량의 실시간 주행 상황정보 알림장치 및 방법Real-time driving situation information notification device and method for autonomous vehicle
본 발명은 자율주행 차량의 주행 상황정보를 안내하는 장치와 방법에 관한 것으로, 보다 상세하게는 자율주행 차량에 장착된 센서에 의해 인지되는 주위상황 정보에 따라 차량의 출발, 정지, 차선변경 및 차문개방과 같은 차량의 다양한 주행 상황 정보를 실시간으로 외부로 표시하고, 가시광선으로 차량의 진행방향을 알리는 영상이미지를 도로에 투사함으로써 주위의 다른 운전자나 보행자에게 현재의 차량 주행상황 정보를 실시간으로 제공할 수 있는 자율주행 차량의 주행 상황 정보 알림장치 및 방법에 관한 것이다.The present invention relates to an apparatus and method for guiding driving situation information of an autonomous vehicle, and more particularly, to a vehicle starting, stopping, lane change, and door Various driving situation information of the vehicle, such as open, is displayed outside in real time, and the video image indicating the direction of the vehicle in visible light is projected on the road to provide information on the current driving situation to other drivers or pedestrians in real time. It relates to a device and method for notifying driving situation information of an autonomous driving vehicle.
차량을 이용하는 사용자의 편의를 위해, 각종 센서와 전자 장치를 포함하는 차량이 제공되고 있다. 특히, 사용자의 운전 편의를 위해 차량 운전자 보조 시스템(ADAS: Advanced Driver Assistance System)에 대한 연구가 활발하게 이루어지고 있다. 나아가, 자율 주행 차량(Autonomous Vehicle)에 대한 개발이 활발하게 이루어지고 있다.For the convenience of a user who uses a vehicle, a vehicle including various sensors and electronic devices has been provided. In particular, research on an advanced driver assistance system (ADAS) is being actively conducted for user's driving convenience. Furthermore, the development of autonomous vehicles (Autonomous Vehicle) is being actively made.
자율주행차량은 운전자가 없거나 운전자가 있더라도 차량을 직접 조작하지 않고 컴퓨터 등에 의해 주행, 정지, 회전, 가속 또는 감속 등의 운전이 자동으로 이루어지는 차량이다. An autonomous vehicle is a vehicle in which driving, stopping, rotating, accelerating or decelerating, etc. is automatically performed by a computer without direct manipulation of the vehicle even if there is no driver or a driver.
대한민국 공개특허 제10-2010-0005362호(발명의 명칭: 자율주행 제어시스템)에 개시되는 바와 같이, 자율주행차량은 차량의 주변지형이나 위치를 포함하는 주변 환경을 인식하는 센서가 설치되어 주행 차선의 유지, 인접차량과의 안전거리 확보와 근접 장애물의 검출과 충돌회피, 교통상황이나 도로 환경에 따른 차량속도 제어 등이 자동으로 수행된다.As disclosed in Korean Patent Laid-Open Patent No. 10-2010-0005362 (Title of the Invention: Autonomous Driving Control System), the autonomous driving vehicle is equipped with a sensor that recognizes the surrounding environment including the surrounding topography or location of the vehicle, so that the driving lane maintenance, securing a safe distance from adjacent vehicles, detecting nearby obstacles and avoiding collisions, and controlling vehicle speed according to traffic conditions and road conditions are performed automatically.
그리고, 종래 자율 주행 차량은 각종 센서들로부터 센싱되는 주행 환경 정보와 자율 주행 차량의 동작 상태 등을 운전자, 탑승자 등의 사용자가 알 수 있도록 표시하여 주고 있다. In addition, the conventional autonomous driving vehicle displays driving environment information sensed by various sensors and the operating state of the autonomous driving vehicle so that users, such as drivers and passengers, can know.
본 발명은 운전자나 탑승자만 알 수 있는 자율 주행차량의 주행 정보를 차량 주변의 다른 운전자나 보행자들도 쉽게 알 수 있도록 함으로써 주행하는 자율 주행차량 주변이 보다 안전하고 예측 가능한 교통 환경이 구축될 수 있는 자율 주행차량의 실시간 주행 상황정보 알림장치 및 방법을 제공하는데 목적이 있다.The present invention enables other drivers or pedestrians around the vehicle to easily know the driving information of the autonomous vehicle, which only the driver or passengers can know, so that a safer and more predictable traffic environment around the autonomous vehicle can be built. An object of the present invention is to provide a real-time driving situation information notification device and method of an autonomous vehicle.
상기와 같은 기술적 과제를 해결하기 위하여, 본 발명은 자율주행 중에 발생하는 차량의 주행 상황정보를 실시간으로 외부로 알림하는 장치로, 차량에 구비되어 외부상황을 감지하는 센서부와, 차량의 외부에 장착되어 정보를 표시하는 화면을 구비하는 주행상황 정보표시부와, 센서부로부터 수신되는 외부상황 데이터로 차량 주변상황을 판단하여 차량의 주행을 제어하고, 주행상황 정보표시부로 차량의 주행 상황정보를 출력하는 차량주행 제어알림부를 구비한다.In order to solve the above technical problem, the present invention is a device for notifying the outside in real-time of driving situation information of a vehicle that occurs during autonomous driving, and a sensor unit provided in the vehicle to detect an external situation; A driving situation information display unit equipped with a screen for displaying information, and external situation data received from the sensor unit to determine the vehicle surrounding situation to control the driving of the vehicle, and to output the driving situation information to the driving situation information display unit and a vehicle running control notification unit.
본 발명에 있어서, 상기 주행상황 정보표시부는 차량의 출발, 정지, 차선변경 및 차문 개방 정보중 어느 하나의 정보를 표시한다. In the present invention, the driving condition information display unit displays any one information of vehicle start, stop, lane change, and vehicle door open information.
본 발명에 있어서, 차량의 외부에 장착되어 차량주행 제어알림부에 의해 차량의 진행방향을 알리는 영상이미지를 가시광선으로 도로에 투사하는 주행경로 투사부를 더 구비한다.In the present invention, it further includes a driving path projection unit mounted on the outside of the vehicle to project an image image informing the traveling direction of the vehicle by the vehicle driving control notification unit on the road in visible light.
본 발명에 있어서, 상기 주행경로 투사부는 차문 개방 전에 차문 방향의 도로변이나 인도로 가시광선으로 차문 개방예고 영상이미지를 투사한다.In the present invention, the driving route projection unit projects a car door opening notice image image with visible light on the roadside or sidewalk in the direction of the car door before the car door is opened.
또한, 본 발명은 차량의 탑승자로부터 목적지 정보를 입력받고 주행경로를 결정하는 단계와, 차량에 구비된 센서로부터 수신되는 외부상황 데이터로부터 차량 주변상황을 판단하여 차량의 주행을 제어하고, 차량의 주행 상황정보를 차량의 외부로 출력하여 표시하는 단계 및, 차량의 주행 시 차량 진행방향을 알리는 영상이미지를 도로에 투사하는 단계를 구비하는 자율주행 차량의 실시간 주행 상황정보 알림방법을 제공한다.In addition, the present invention includes the steps of receiving destination information from an occupant of a vehicle and determining a driving route; Provided is a method for notifying real-time driving situation information of an autonomous driving vehicle, comprising the steps of outputting and displaying situation information to the outside of the vehicle, and projecting an image image indicating a vehicle traveling direction when the vehicle is driving on a road.
본 발명에 따르면, 자율주행 중에 발생하는 차량의 출발, 정지, 차선변경 및 차문 개방과 같은 다양한 차량의 주행 상황정보를 실시간으로 외부로 표시하고, 주행시 차량의 진행방향을 알리는 영상이미지를 도로에 투사하여 주위의 다른 운전자나 보행자에게 현재의 차량 주행상황 정보를 실시간으로 제공함으로써 주행하는 자율 주행차량 주변이 보다 안전하고 예측 가능한 교통 환경이 구축될 수 있다.According to the present invention, driving situation information of various vehicles such as starting, stopping, lane change, and opening of a vehicle door occurring during autonomous driving is displayed outside in real time, and a video image indicating the direction of the vehicle while driving is projected on the road. Thus, a safer and more predictable traffic environment can be built around the autonomous vehicle driving by providing information on the current vehicle driving situation to other nearby drivers or pedestrians in real time.
도 1은 본 발명의 일 실시예에 따른 주행 상황정보 알림장치가 구비된 자율주행차량의 평면도이다.1 is a plan view of an autonomous vehicle equipped with a driving situation information notification device according to an embodiment of the present invention.
도 2는 본 발명의 일 실시예에 따른 주행 상황정보 알림장치의 기능적 구성을 나타내는 도면이다.2 is a diagram illustrating a functional configuration of a driving situation information notification device according to an embodiment of the present invention.
도 3은 본 발명의 주행경로 투사부에 의해 도로에 투사되는 차량 진행방향을 나타내는 영상이미지를 도시한 도면이다. 3 is a view showing an image image showing a vehicle traveling direction projected on a road by the driving path projection unit of the present invention.
도 4는 본 발명의 일 실시예에 따른 주행 상황정보 안내방법을 도시한 순서도이다. 4 is a flowchart illustrating a method for guiding driving situation information according to an embodiment of 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 기술분야의 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 describing the embodiment, the detailed description thereof A description will be omitted.
도 1은 본 발명의 일 실시예에 따른 주행 상황정보 알림장치가 구비된 자율주행차량(10)의 평면도이고, 도 2는 본 발명의 일 실시예에 따른 주행 상황정보 알림장치(100)의 기능적 구성을 나타내는 도면이다.1 is a plan view of an autonomous driving vehicle 10 equipped with a driving situation information notification device according to an embodiment of the present invention, and FIG. 2 is a functional view of the driving situation information notification device 100 according to an embodiment of the present invention It is a drawing showing the configuration.
도 1에 도시되는 자율주행 차량(10)은 운전자의 조작 없이 운전이 이루어지도록 자율주행 프로그램이 설치되어 있으며, 차량의 주행 상황정보를 안내하는 주행상황정보 알림장치(100)도 함께 설치된다. 차량(10) 외부에는 후술하는 주행 상황정보를 표시하도록 주행상황 정보표시부(160)와 주행경로 투사부(170)가 설치된다.In the autonomous driving vehicle 10 shown in FIG. 1 , an autonomous driving program is installed so that driving is performed without a driver's manipulation, and a driving situation information notification device 100 for guiding driving situation information of the vehicle is also installed. A driving situation information display unit 160 and a driving path projection unit 170 are installed outside the vehicle 10 to display driving situation information to be described later.
주행상황 정보표시부(160)는 주행 상황정보가 표시되는 디스플레이로, 다른 차량 운전자나 인근의 보행자나 쉽게 인식할 수 있도록 차량의 지붕에 설치된다. 주행상황 정보표시부(160)는 차량의 둘레 즉, 전, 후방과 측면에서도 인식할 수 있도록 복수의 디스플레이가 연결되어 형성되거나, 양면 디스플레이가 회전되게 구성될 수도 있다. 디스플레이로는 LCD 디스플레이, LED 디스플레이, OLED 디스플레이 등은 물론, 정보를 표출할 수 있는 화면을 가진 어느 디스플레이 장치도 사용될 수 있다. 한편, 주행상황 정보표시부(160)는 차량의 주행상황을 끊김 없이 연속적으로 표시할 수도 있지만, 주행 중 변화상황에서만 불연속적으로 표시될 수도 있는데, 불연속적으로 표시되는 주행상황 사이에 별도의 광고정보를 표시할 수도 있다.The driving situation information display unit 160 is a display on which driving situation information is displayed, and is installed on the roof of the vehicle so that other vehicle drivers or nearby pedestrians can be easily recognized. The driving condition information display unit 160 may be formed by connecting a plurality of displays to be recognized from the circumference of the vehicle, that is, from the front, rear, and side, or may be configured to rotate the double-sided display. As the display, any display device having a screen capable of displaying information, as well as an LCD display, an LED display, an OLED display, and the like may be used. On the other hand, the driving condition information display unit 160 may continuously display the driving situation of the vehicle without interruption, but may also be displayed discontinuously only in a changing situation while driving, and separate advertisement information between the discontinuously displayed driving situations. can also be displayed.
주행경로 투사부(170)는 가시광(光)을 도로에 투사하는 영상이미지 투사장치로, 외부 자연광과 구별되는 가시광선으로 차량의 진행방향을 알리는 영상이미지를 도로에 투사하여 다른 차량 운전자나 인근의 보행자나 차량(10)의 주행방향을 쉽게 인식하도록 마련된다. 주행경로 투사부(170)는 차량의 진행방향을 쉽게 인지할 수 있는 영상 이미지를 도로에 투사할 수 있는데, 도 3에 도시되는 바와 같이 예를 들어 직진 또는 후진 시 단방향 화살표(직진:↑, 후진:↓), 좌회전 또는 우회전 화살표(좌회전:←, 우회전:→)가 사용될 수 있다. 이와 같은 영상 이미지는 후술하는 내비게이션부(140)에 의해 산출된 주행경로와 수신되는 GPS의 위치정보에 따라 도로에 투사되는데, 직진 시에 도로에 직진 화살표(↑)를 투사하다가, 좌회전하는 교차로에 근접하면 좌회전 화살표(좌회전:←)로 전환하여 투사한다. 한편, 주행경로 투사부(170)에서 투사되는 가시광선은 직진성이 우수한 레이저광이 사용될 수 있다. The driving path projection unit 170 is an image image projection device that projects visible light onto the road, and projects an image image to inform the driving direction of the vehicle with visible light that is distinct from external natural light on the road to see other vehicle drivers or nearby drivers. It is provided to easily recognize the driving direction of a pedestrian or vehicle 10 . The driving path projection unit 170 may project an image image that can easily recognize the traveling direction of the vehicle on the road, for example, when going straight or reversing, as shown in FIG. :↓), left or right arrows (turn left: ←, turn right: →) can be used. Such a video image is projected on the road according to the driving route calculated by the navigation unit 140 to be described later and the received GPS location information. When it approaches, it is projected by switching to the left turn arrow (left turn: ←). On the other hand, as the visible light projected from the driving path projection unit 170, laser light having excellent straightness may be used.
이와 같은 주행상황 정보표시부(160)와 주행경로 투사부(170)를 포함하는 본 발명의 주행 상황정보 알림장치(100)의 구성이 도 2에 도시되어 있다. 이를 참조하면, 본 발명의 주행 상황정보 알림장치(100)는 다수의 센서로 이루어져 외부상황 데이터를 감지하는 센서부(110), 탑승자의 차량 운행명령을 입력받는 입력부(120), 외부 통신망에 연결되는 통신부(130), 목적지까지의 주행경로를 결정하는 내비게이션부(140), 센서부(110)에 의해 감지되는 외부상황을 인지하여 차량(10)의 주행을 제어하고, 주행상황 정보표시부(160)와 주행경로 투사부(170)로 주행 상황정보를 출력하는차량주행 제어알림부(150)로 이루어진다.The configuration of the driving situation information notification device 100 of the present invention including the driving situation information display unit 160 and the driving route projection unit 170 as described above is shown in FIG. 2 . Referring to this, the driving situation information notification device 100 of the present invention includes a plurality of sensors, a sensor unit 110 for detecting external situation data, an input unit 120 for receiving a vehicle operation command from a passenger, and connection to an external communication network. The communication unit 130, the navigation unit 140 that determines the driving route to the destination, and the external situation sensed by the sensor unit 110 control the driving of the vehicle 10, and the driving condition information display unit 160 ) and a vehicle driving control notification unit 150 for outputting driving situation information to the driving route projection unit 170 .
이상의 주행 상황정보 알림장치(100)의 구성 전체 내지는 적어도 일부는, 하드웨어 모듈 또는 소프트웨어 모듈 형태로 구현되거나, 하드웨어 모듈과 소프트웨어 모듈이 조합된 형태로도 구현될 수 있다. 여기서, 소프트웨어 모듈이란, 예컨대 주행 상황정보 알림장치(100) 내에서 연산을 수행하는 프로세서에 의해 실행되는 명령어로 이해될 수 있으며, 이러한 명령어는 주행 상황정보 알림장치(100) 내 메모리에 탑재된 형태를 가질 수 있을 것이다. 이와 같은 구성을 통해서 자율주행 차량(10)의 주행상황 정보를 실시간으로 제공할 수 있는데, 이하에서는 주행 상황정보 알림장치(100)내 각 구성에 대해 보다 구체적으로 설명하기로 한다.All or at least part of the configuration of the above driving situation information notification 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 situation information notification device 100 , and these commands are mounted in a memory in the driving situation information notification device 100 . will be able to have Through such a configuration, driving situation information of the autonomous vehicle 10 can be provided in real time. Hereinafter, each configuration in the driving situation information notification device 100 will be described in more detail.
센서부(110)는 차량(10)의 외부에 설치되는 외부상황 데이터를 획득하는 구성이다. 외부상황 데이터는 자율주행 차량(10)의 임계 거리 이내에 물체(사람, 외부차량 등)이 존재하는지 여부, 외부차량의 속도 및 방향, 차선이나 교통신호 감지, 및 차량(10)의 위치변화 등과 같이 자율주행 차량(10)의 주변 상황을 판단할 수 있는 데이터이다. The sensor unit 110 is configured to acquire external situation data installed outside the vehicle 10 . External situation data includes whether an object (person, external vehicle, etc.) exists within a critical distance of the autonomous vehicle 10 , the speed and direction of the external vehicle, lane or traffic signal detection, and location change of the vehicle 10 , etc. It is data that can determine the surrounding situation of the autonomous vehicle 10 .
자율주행 차량(10)은 카메라, 레이더(Radio Detecting And Ranging; RADAR), 라이다(Light Detection And Ranging; LIDAR), 초음파 센서 및 GPS 센서 중 적어도 하나를 포함할 수 있다. 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 대상물체 검출에 이용된다. 카메라는 차량(10) 주변의 이미지를 촬영하여 영상정보를 취득하는 장치로, CMOS 센서를 이용한 가시광선 카메라 또는 TOD 센서를 이용한 열영상 카메라가 사용될 수 있다. 이와 같이 취득된 영상은 대상 객체를 인식하도록 학습된 차량주행 제어알림부(150)에 의해 대상 객체가 인식될 수 있다. 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 대상물체와의 거리 및 대상물체의 방향을 검출하는 장치로 근거리에 위치한 대상물체 검출에 이용된다. GPS(Global Positioning System) 센서는 GPS 위성에서 전송하는 신호를 수신하여 차량(10)의 현재위치를 파악할 수 있는 장치이다. 자율주행 차량(10)은 이들 복수의 센서들 중 적어도 하나 또는 그것들의 조합을 이용하여 외부상황 데이터를 획득할 수 있다.The autonomous vehicle 10 may include at least one of a camera, a radar (Radio Detecting And Ranging; RADAR), a Light Detection And Ranging (LIDAR), an ultrasonic sensor, and a GPS sensor. Radar is a device that emits electromagnetic waves (for example, a kind of microwave with a wavelength of 10 cm to 100 cm) to a target object and receives the reflected electromagnetic wave to detect the distance or direction from the target object. is used for 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. In the image obtained in this way, the target object may be recognized by the vehicle driving control notification unit 150 trained to recognize the target object. LiDAR is a device that measures the distance to an object by using laser reflected light, and can map the object to a stereo image. The ultrasonic sensor is a device for detecting a distance from a target object and a direction of the target object by using the reflected ultrasonic wave after emitting an ultrasonic wave to the target object. A global positioning system (GPS) sensor is a device capable of determining the current location of the vehicle 10 by receiving a signal transmitted from a GPS satellite. The autonomous vehicle 10 may acquire external situation data by using at least one of these plurality of sensors or a combination thereof.
입력부(120)는 탑승자의 차량 운행명령을 입력받는 구성으로, 탑승자의 음성을 인식하는 음성인식 모듈이나 탑승자로부터 명령을 직접 입력받는 터치패널로 구성될 수 있다. The input unit 120 is configured to receive a vehicle operation command from a passenger, and may include a voice recognition module for recognizing the passenger's voice or a touch panel for directly receiving a command from the passenger.
통신부(130)는 다른 차량이나 외부 서버와 통신을 수행하기 위한 모듈로, 통신을 수행하기 위해 송신 안테나, 수신 안테나, 각종 통신 프로토콜이 구현 가능한RF 회로를 포함하여 구성된다. 통신부(150)는 블루투스, RFID, 적외선 통신, UWB, NFC, Wi-Fi와 같은 근거리 통신, 차량(10)과 외부 서버, 다른 차량 또는 보행자와의 무선 통신을 지원하는 V2X 통신을 수행할 수 있다.The communication unit 130 is a module for performing communication with another vehicle or an external server, and includes a transmitting antenna, a receiving antenna, and an RF circuit capable of implementing various communication protocols to perform communication. The communication unit 150 may perform V2X communication supporting short-distance communication such as Bluetooth, RFID, infrared communication, UWB, NFC, and Wi-Fi, and wireless communication between the vehicle 10 and an external server, other vehicles or pedestrians. .
내비게이션부(140)는 센서부(110)의 GPS를 통해 차량위치나 속도 등을 수신받고, 입력부(120)로 입력되는 탑승자의 목적지의 최적경로를 탐색하여 결정한다. 이와 같은 내비게이션부(140)는 차량위치와 목적지의 관계에 대한 정보를 제공할 수 있다면 특정 형식 및 형태에 한정되지 않는다.The navigation unit 140 receives the vehicle location or speed through the GPS of the sensor unit 110 , and searches for and determines the optimal route of the passenger's destination input through the input unit 120 . Such a navigation unit 140 is not limited to a specific form and form as long as it can provide information on the relationship between the vehicle location and the destination.
차량주행 제어알림부(150)는 센서부(110)의 카메라, 레이더, 라이다로 수신되는 외부상황 정보로 주위상황을 판단하여 차량(10)의 출발, 주행, 정지, 차선변경 등을 제어하고, 주행상황 정보표시부(160)와 주행경로 투사부(170)로 주행 상황정보를 출력한다. The vehicle driving control notification unit 150 determines the surrounding situation with the external situation information received by the camera, radar, and lidar of the sensor unit 110 to control the departure, driving, stop, lane change, etc. of the vehicle 10 and , the driving situation information is output to the driving situation information display unit 160 and the driving route projection unit 170 .
주위 상황정보는 차량(10) 임계거리 주변의 정적 또는 동적 객체 존재여부, 동적 객체와의 거리 및 속도와 같은 정보로, 차량주행 제어알림부(130)는 이와 같은 주위상황 정보와 차량 속도 및 주행방향 등을 고려하여 차량(10)의 출발, 주행, 정지, 및 차선변경 여부를 제어한다. 그리고, 차량주행 제어알림부(150)는 차량(10)의 출발, 정지, 차문개방 및 차선변경과 같은 주행상황 정보를 주행상황 정보표시부(160)로 출력하고, 내비게이션부(140)에 의해 검색된 주행경로에 따라 주행경로 투사부(170)로 차량의 진행방을 알리는 영상 이미지를 도로에 투사시킨다. The surrounding situation information is information such as whether a static or dynamic object exists around the critical distance of the vehicle 10, and the distance and speed with the dynamic object. It controls whether the vehicle 10 starts, runs, stops, and changes lanes in consideration of the direction and the like. Then, the vehicle driving control notification unit 150 outputs driving situation information such as starting, stopping, car door opening, and lane change of the vehicle 10 to the driving situation information display unit 160, and the navigation unit 140 retrieves According to the driving path, the driving path projection unit 170 projects a video image notifying the vehicle's moving direction on the road.
예를 들어, 차량주행 제어알림부(150)가 정지된 상황에서 차량 출발 시 센서부(110)에 의해 임계거리 내에 주위 사람이나 차량이 감지되지 않아 출발하기 안전한 상황이라 판단하면, 주행상황 정보표시부(160)로 차량출발 메시지를 출력한다. 차량 출발 메시지는 "차량이 출발합니다"라고 표시될 수도 있고, "5초 후 차량이 출발합니다"와 같이 출발 시각이 함께 표시될 수도 있다. For example, when the vehicle driving control notification unit 150 is stopped and it is determined that it is a safe situation to start because no surrounding people or vehicles are detected within the critical distance by the sensor unit 110 when the vehicle starts, the driving condition information display unit A vehicle departure message is output to (160). The vehicle departure message may be displayed as "The vehicle departs" or the departure time may also be displayed, such as "The vehicle will depart in 5 seconds".
그리고, 출발하여 주행 중에 차량의 정지상황이 발생한 경우, 즉 센서부(110)에 의해 전방 차량의 정지, 신호등의 정지신호, 도로 상의 장애물 등과 같은 주행장애 상황이 감지되면, 차량주행 제어알림부(150)는 "차량이 정지합니다" 또는 전방차량이나 장애물과의 거리를 계산하여 "3초 후 차량이 정지합니다"라고 주행상황 정보표시부(160)로 차량정지 메시지를 출력한다. 이때, 차량정지 메시지는 인식된 구체적인 차량의 정지이유(전방차량 정지, 정지신호 점등, 도로 장애물 감지)도 함께 표시될 수 있다. 또한, 차선변경 상황이 발생하면 주행상황 정보표시부(160)로 차선변경 메시지를 출력하고, 차량이 목적지에 도착하면 주행종료 메시지를 표시하고 주행을 종료한다. And, when a vehicle stop situation occurs while driving, that is, when a driving disorder situation such as a stop of the vehicle in front, a stop signal of a traffic light, or an obstacle on the road is detected by the sensor unit 110, the vehicle driving control notification unit ( 150) outputs a vehicle stop message to the driving condition information display unit 160 saying "the vehicle stops" or "the vehicle stops after 3 seconds" by calculating the distance to the vehicle in front or an obstacle. In this case, the vehicle stop message may also be displayed along with the recognized specific reason for stopping the vehicle (forward vehicle stop, stop signal lighting, road obstacle detection). In addition, when a lane change situation occurs, a lane change message is output to the driving situation information display unit 160 , and when the vehicle arrives at a destination, a driving end message is displayed and driving is terminated.
또한, 차량주행 제어알림부(150)는 주행정보를 주행상황 정보표시부(160)로 실시간으로 표시하는 것과 함께, 주행경로 투사부(170)로 차량(10)의 진행방향을 알리는 영상이미지를 도로에 투사시킨다. 여기서, 영상 이미지는 주행경로와 센서부(110)의 GPS 정보로 확인되는 위치정보에 따라 도로에 투사되는데, 예를 들어 직진 시에 도로에 직진 화살표(↑)를 투사하다가, 좌회전하는 교차로에 근접하면 좌회전 화살표(좌회전:←)로 전환하여 투사한다. In addition, the vehicle driving control notification unit 150 displays driving information in real time with the driving condition information display unit 160 and displays an image image notifying the traveling direction of the vehicle 10 with the driving path projection unit 170 on the road. project it on Here, the video image is projected on the road according to the driving route and the location information confirmed by the GPS information of the sensor unit 110. For example, when going straight, a straight arrow (↑) is projected on the road and close to an intersection turning left. If it does, it is projected by switching to the left turn arrow (left turn: ←).
한편, 차량(10)이 목적지에 도착하여 탑승자가 하차하는 경우, 차량주행 제어알림부(150)는 차문을 개방하기 전에 차문 개방예고 메시지를 주행상황 정보표시부(160)로 출력할 수 있다. 즉, 차량이 목적지에 도착하여 탑승자가 내리는 경우, 차량주행 제어알림부(150)는 "5초 후 차문이 개방됩니다"라는 차문 개방예고 메시지를 주행상황 정보표시부(160)로 표시함으로써 차량(10)의 후방 측면에서 진행하는 오토바이나 자전거에 의한 충돌사고를 예방할 수 있다. 여기서, 차문 개방 예고는 주행경로 투사부(170)에 의해 이루어질 수도 있는데, 개방되는 차문 방향의 도로변이나 인도로 가시광선으로 차문 개방예고 영상이미지를 투사함으로써 차문 개방 상황에 대한 외부 주목성을 높여 안전사고를 예방할 수 있다. 이상에서는 목적지에 도착하여 탑승자가 내리는 경우에 차문이 개방되는 것으로 설명하였으나, 목적지 도착 전에 탑승자가 하차하는 경우에도 차문이 개방되는 경우에도 차문 개방예고 메시지와 차문 개방예고 영상이미지를 투사할 수 있음은 물론이다.Meanwhile, when the vehicle 10 arrives at the destination and the occupant disembarks, the vehicle driving control notification unit 150 may output a vehicle door opening notice message to the driving condition information display unit 160 before the vehicle door is opened. That is, when the vehicle arrives at the destination and the occupant disembarks, the vehicle driving control notification unit 150 displays the vehicle door opening notice message, “The door will be opened after 5 seconds” on the driving condition information display unit 160, so that the vehicle 10 ), it is possible to prevent collision accidents caused by motorcycles or bicycles that proceed from the rear side of the vehicle. Here, the car door opening notice may be made by the driving path projection unit 170, and by projecting the car door opening notice image image with visible light on the roadside or sidewalk in the direction of the car door to be opened, the external attention to the car door opening situation increases safety Accidents can be prevented. In the above, it has been explained that the car door is opened when a passenger gets off after arriving at the destination. Of course.
이와 같이 차량주행 제어알림부(150)는 주행 중에 발생하는 다양한 주행 상황정보를 주행상황 정보표시부(160)와 주행경로 투사부(170)를 이용하여 외부로 실시간으로 표시함으로써 주위의 다른 운전자나 보행자에게 차량 주행상황을 정확하게 인지시켜 주행하는 자율 주행차량 주변이 보다 안전하고 예측 가능한 교통 환경이 구축될 수 있다.As described above, the vehicle driving control notification unit 150 displays various driving situation information generated during driving to the outside in real time using the driving situation information display unit 160 and the driving route projection unit 170 to display other drivers or pedestrians around the vehicle in real time. A safer and more predictable traffic environment can be built around autonomous vehicles that drive by accurately recognizing the vehicle driving situation.
이와 같이 구성되는 본 발명의 자율 주행차 주행 상황정보 알림방법을 도 5를 참조하여 이하 설명한다. The self-driving vehicle driving situation information notification method of the present invention configured as described above will be described below with reference to FIG. 5 .
차량에 탑승한 탑승자로부터 가고자 하는 목적지의 음성정보를 인식하거나 터치패널로부터 목적지 정보를 입력받아 현재위치부터 목적지까지의 경로를 산출한다(S110). 그리고, 센서부(110)로 감지되는 외부 상황데이터로부터 차량이 출발할 수 있는지 여부를 판단하여, 주행상황 정보표시부(160)로 출발정보 메시지를 표시하고 출발한다(S120). 출발한 후, 주행 동안에 S110 단계에서 산출된 경로정보에 따라 주행경로 투사부(170)가 차량의 진행방향을 나타내는 화살표와 같은 영상 이미지를 도로에 투사한다(S130). 이와 같이 투사되는 영상 이미지로 인하여 외부에서 차량의 주행경로나 방향을 쉽게 인지할 수 있다. 또한, 차량의 주행 중에 센서부(110)로 감지되는 외부 상황데이터로부터 정지해야 할 상황이 인지되면, 주행상황 정보표시부(160)로 차량정지 메시지를 표시한다(S140). 이와 같이 주행상황 정보표시부(160)를 통하여 차량출발 정보나 차량주행 정보가 외부로 제공됨에 따라 주위의 다른 운전자나 보행자에게 현재의 차량 주행상황 정보를 실시간으로 제공함으로써 교통사고 방지와 같이 안전하고 편안한 운전에 도움을 줄 수 있다. A route from the current location to the destination is calculated by recognizing the voice information of the destination from the occupant in the vehicle or receiving destination information from the touch panel (S110). Then, it is determined whether the vehicle can start from the external situation data detected by the sensor unit 110 , and a departure information message is displayed on the driving condition information display unit 160 and starts ( S120 ). After starting, the driving path projection unit 170 projects an image image such as an arrow indicating the traveling direction of the vehicle on the road according to the path information calculated in step S110 during driving ( S130 ). Due to the projected video image in this way, it is possible to easily recognize the driving route or direction of the vehicle from the outside. In addition, when a situation to be stopped is recognized from the external situation data detected by the sensor unit 110 while the vehicle is being driven, a vehicle stop message is displayed on the driving condition information display unit 160 ( S140 ). As such, as the vehicle departure information or vehicle driving information is provided to the outside through the driving condition information display unit 160, the current vehicle driving condition information is provided to other drivers or pedestrians around in real time, so that it is safe and comfortable, such as preventing a traffic accident. It can help with driving.
그리고, 차량이 목적지에 가깝게 접근하면 목적지까지 남은거리와 주행속도를 산출하여 목적지 도착정보(예를 들어, "2분 후에 차량이 목적지에 도착합니다")가 주행상황 정보표시부(160)에 표시되며(S150), 이후 목적지에 도착하면 "목적지에 차량이 도착하였습니다"라는 주행종료 메시지를 주행상황 정보표시부(160)에 표시하고 주행이 종료된다(S160).And, when the vehicle approaches the destination close to the destination, the remaining distance to the destination and the driving speed are calculated, and the destination arrival information (for example, "the vehicle arrives at the destination in 2 minutes") is displayed on the driving condition information display unit 160, (S150), after arriving at the destination, the driving end message “The vehicle has arrived at the destination” is displayed on the driving condition information display unit 160 and the driving is terminated (S160).
한편, 목적지에 도착하거나 주행 중에 탑승자가 하차하는 경우, 차문 개방 전에 주행상황 정보표시부(160)로 차문 개방예고 메시지를 출력하거나, 주행경로 투사부(170)로 차문 개방예고 영상이미지를 투사하여 정차한 차량(10)의 후방 측면에서 진행하는 오토바이나 자전거에 의한 충돌사고를 예방할 수 있다.On the other hand, when arriving at a destination or when a passenger gets off while driving, the vehicle door opening notice message is output to the driving condition information display unit 160 before the vehicle door is opened, or the vehicle door opening notice image image is projected by the driving route projection unit 170 to stop the vehicle. A collision accident caused by a motorcycle or bicycle proceeding from the rear side of one vehicle 10 can be prevented.
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 변형예 또는 수정예들은 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.

Claims (5)

  1. 자율주행 중에 발생하는 차량의 주행 상황정보를 실시간으로 외부로 알림하는 장치에 있어서, In a device for notifying the outside in real time of driving situation information of a vehicle that occurs during autonomous driving,
    상기 차량에 구비되어 외부상황을 감지하는 센서부;a sensor unit provided in the vehicle to detect an external situation;
    상기 차량의 외부에 장착되어 정보를 표시하는 화면을 구비하는 주행상황 정보표시부;a driving condition information display unit mounted on the outside of the vehicle and having a screen for displaying information;
    상기 센서부로부터 수신되는 외부상황 데이터로 차량 주변상황을 판단하여 차량의 주행을 제어하고, 상기 주행상황 정보표시부로 차량의 주행 상황정보를 출력하는 차량주행 제어알림부;를 구비하는 것을 특징으로 하는 자율주행 차량의 실시간 주행 상황정보 알림장치.and a vehicle driving control notification unit configured to determine a vehicle surrounding situation based on the external situation data received from the sensor unit, control the driving of the vehicle, and output driving situation information of the vehicle to the driving condition information display unit; Real-time driving situation information notification device for autonomous vehicles.
  2. 제1항에 있어서,The method of claim 1,
    상기 주행상황 정보표시부는,The driving condition information display unit,
    상기 차량의 출발, 정지, 차선변경 및 차문 개방 정보 중 어느 하나를 표시하는 것을 특징으로 하는 자율주행 차량의 실시간 주행 상황정보 알림장치.A device for notifying real-time driving situation information of an autonomous vehicle, characterized in that it displays any one of start, stop, lane change, and door open information of the vehicle.
  3. 제1항에 있어서,The method of claim 1,
    차량의 외부에 장착되어 상기 차량주행 제어알림부에 의해 차량의 진행방향을 알리는 영상이미지를 가시광선으로 도로에 투사하는 주행경로 투사부를 더 구비하는 것을 특징으로 하는 자율주행 차량의 실시간 주행 상황정보 알림장치.Real-time driving situation information notification of an autonomous driving vehicle, characterized in that it further comprises a driving path projection unit mounted on the outside of the vehicle to project an image image informing the traveling direction of the vehicle by the vehicle driving control notification unit on the road in visible light Device.
  4. 제3항에 있어서,4. The method of claim 3,
    상기 주행경로 투사부는,The driving path projection unit,
    차문 개방 전에 차문 방향의 도로변이나 인도로 가시광선으로 차문 개방예고 영상이미지를 투사하는 것을 특징으로 하는 자율주행 차량의 실시간 주행 상황정보 알림장치.A real-time driving situation information notification device for an autonomous vehicle, characterized in that the video image of the car door opening notice is projected with visible light on the roadside or sidewalk in the direction of the car door before the car door is opened.
  5. 자율주행 중에 발생하는 차량의 주행 상황정보를 실시간으로 외부로 알림하는 방법에 있어서, In the method of notifying the outside in real time of the driving situation information of the vehicle that occurs during autonomous driving,
    상기 차량의 탑승자로부터 목적지 정보를 입력받고 주행경로를 결정하는 단계;receiving destination information from an occupant of the vehicle and determining a driving route;
    상기 차량에 구비된 센서로부터 수신되는 외부상황 데이터로부터 차량 주변상황을 판단하여 차량의 주행을 제어하고, 차량의 주행 상황정보를 차량의 외부로 출력하여 표시하는 단계; 및,determining a vehicle surrounding condition from external condition data received from a sensor provided in the vehicle to control driving of the vehicle, and outputting and displaying driving condition information of the vehicle to the outside of the vehicle; and,
    차량의 주행 시 차량 진행방향을 알리는 영상이미지를 도로에 투사하는 단계;를 구비하는 것을 특징으로 하는 자율주행 차량의 실시간 주행 상황정보 알림방법.A method of notifying real-time driving situation information of an autonomous driving vehicle, comprising: projecting an image image informing a vehicle traveling direction on a road when the vehicle is driving.
PCT/KR2020/015613 2020-11-09 2020-11-09 Apparatus and method for notifying driving situation information about autonomous vehicle in real time WO2022097796A1 (en)

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