KR100324557B1 - Automatic driving apparatus and method thereof using device indicating how cars navigate - Google Patents

Abstract

An automatic driving method and a driving device of the disclosed vehicle are to automatically drive a vehicle to a set destination using a vehicle navigation device.

Calculates the current location of the vehicle, sets the destination to which the vehicle will arrive, searches and guides the route from the calculated current position of the vehicle to the destination of the set vehicle, and drives the vehicle along the searched route. Detect traffic congestion or deviation of a vehicle's driving route by processing images and receiving traffic information, and re-search and guide new routes to the set destination when the traffic is congested and the route is deviated. If a new route to the destination set by traffic congestion and route departure is not found again, the vehicle is driven according to the road ahead of the route, and the vehicle is moved to the destination while judging whether the vehicle has been reached. Run automatically.

Description

Automatic driving apparatus and method using using vehicle indicating how cars navigate}

The present invention relates to an automatic driving method and a driving apparatus of a vehicle using the vehicle navigation apparatus for automatically driving the vehicle to a destination using the vehicle navigation apparatus.

More specifically, when the current position of the vehicle is detected by the vehicle navigation system, and the route to the destination is obtained, the measurement of the terrain in front of the vehicle, the driving speed and the state of the vehicle ahead, and the traffic flow are checked. The present invention relates to an automatic driving method and a driving device of a vehicle using a vehicle navigation system that automatically operates a vehicle to a destination by controlling the operation of the electronic parts of the vehicle including a steering device, a throttle device, a brake device, and a transmission device.

Korean Patent Application No. 95-58643 (Patent Publication No. 97-49183) is known as a conventional technology for automatically driving a vehicle.

According to the conventional technique, the first camera for fixing the view angle and converting the view within the radius into an analog video signal and outputting the image is installed on the rotatable shaft, and the view angle can be controlled according to the rotation angle. A second camera for converting and outputting an analog video signal, a motor system for controlling the rotation of the second camera, and a position sensor unit mounted on a rotation axis of the second camera to detect a projection direction of the second camera. An image processor which receives an analog image signal from one of the first and second cameras, converts the input analog image signal into a digital image signal, and outputs the digital image signal; Scan the signal to detect road boundaries and the presence of obstacles. And a steering control angle according to the control unit. The control unit generates and outputs a second camera driving command and a target angle when the information detection fails from the image signal of the first camera, and a driving command from the central control unit. Generating a driving command to allow the image processing unit to select a signal of the second camera and to rotate the second camera at the target angle based on the second camera direction detected by the position sensor. It has a camera control unit for.

However, according to the conventional technique described above, the use of two cameras has caused an additional cost and an inadequate mounting position.

In addition, only a normal road can be automatically driven, and there is a problem in that it is not possible to automatically drive to a desired destination because there is no means for checking the current location of the road and the vehicle to the destination.

Accordingly, an object of the present invention is to provide an automatic driving method and a driving apparatus of a vehicle using a vehicle navigation apparatus capable of automatically driving a vehicle to a desired destination.

According to an automatic driving method of a vehicle using the vehicle navigation apparatus of the present invention for achieving this object, a first process of calculating the current position of the vehicle; A second step of setting a destination for the vehicle to arrive; A third step of searching for and guiding a route from a current position of the vehicle calculated in the first step to a destination of the vehicle set in the second step; A fourth process of processing the image in front of the vehicle while driving the vehicle along the path searched in the third process and receiving traffic information to detect traffic congestion or deviation of the driving route of the vehicle; A fifth process of searching for and guiding a new route to a destination set in the second process again when the traffic is congested and the route is deviated in the fourth process; A sixth process of driving the vehicle according to a road condition ahead of the route when the new route to the destination set in the fifth process is searched again without traffic congestion and route departure in the fourth process; And judging whether the vehicle reaches the destination while driving the vehicle in the sixth step, and when the destination is not reached, the seventh step is repeated from the first step.

And according to the automatic driving device of the vehicle using the vehicle navigation apparatus of the present invention, the central processing unit for controlling the automatic operation of the vehicle to the destination; Memory means connected to the central processing unit to store and output operation programs and job data of the central processing unit; An interface unit for interfacing data with the CPU; A map storage device for storing map data in advance and inputting the map data to the central processing unit through the interface unit; A GPS receiver for receiving coordinate data and time data of the GPS satellites transmitted by the GPS satellites and inputting them to the CPU through the interface unit; A vehicle speed sensor detecting a driving speed of the vehicle; A gyroscope sensor detecting a traveling direction of the vehicle; Photographing means for inputting an image photographed by photographing a driving front of a vehicle to the central processing unit through the interface unit; Image display means for displaying the map data read from the map storage device and the current location of the vehicle; A high frequency receiver receiving data and traffic information transmitted from another vehicle and inputting the same to the central processing unit through the interface unit; A high frequency transmitter for transmitting data and traffic information to be transmitted to another vehicle; A command input unit for inputting a user's operation command to the central processing unit through the interface unit; Audio output means for outputting a predetermined audio signal according to the control of the CPU; And vehicle driving means for controlling the driving of the vehicle according to the control of the central processing unit.

1 is a block diagram showing the configuration of a vehicle according to the automatic driving device of the present invention,

2 to 7 are signal flow charts showing an automatic driving method of a vehicle of the present invention.

2 is a signal flow diagram showing the overall operation of the automatic driving method of the vehicle,

3 is a signal flow diagram illustrating an embodiment of a current position calculation routine of FIG. 2;

4 is a signal flow diagram illustrating another embodiment of the current position calculation routine of FIG. 2;

5 is a signal flow diagram illustrating a destination input routine of FIG. 2;

6 is a signal flow diagram illustrating the driving routine of FIG. 2;

7 is a signal flow diagram illustrating the vehicle control routine of FIG. 6.

<Description of the code | symbol about the principal part of drawing>

10: central processing unit 20: memory unit

21: Flash ROM 22, 92: DRAM

23: SRAM 30: interface unit

40: map storage device 50: GPS receiver

60: vehicle speed sensor 70: gyroscope sensor

80: recording means 81: camera

82: digital signal processor 90: image display means

91: graphics processing unit 93: display unit

100: high frequency receiver 110: high frequency transmitter

120: command input unit 121: microphone

122: voice recognition device 123: key input device

130: audio output means 131: audio output device

132 speaker 140 vehicle driving means

141: vehicle control interface unit 142: throttle device

143: brake device 144: steering device

145: transmission device 142a to 145a: drive device

142b to 145b: sensor

Hereinafter, with reference to the accompanying drawings will be described in detail an automatic driving method and a driving apparatus of a vehicle using the vehicle navigation apparatus of the present invention.

1 is a block diagram showing the configuration of a vehicle according to the automatic driving device of the present invention.

Here, reference numeral 10 denotes a central processing unit that controls automatic driving of a vehicle to a destination, and reference numeral 20 denotes a memory connected to the central processing unit 10 to store and output operation programs and work data of the central processing unit 10. Means.

The memory means 20 stores, in advance, a DRAM 21 for storing and outputting job data of the central processing unit 10 and an operation program of the central processing unit 10, and upgrades the operation program. a flash ROM 22 capable of (version up) and an SRAM 23 for storing user information and setting data when the power is turned off and outputting the stored user information and setting data when the power is turned on. Equipped.

Reference numeral 30 denotes an interface unit for interfacing data with the central processing unit 10, and reference numeral 40 denotes a map for storing map data in advance in a CD ROM or the like and inputting the central processing unit 10 through the interface unit 30. Storage.

Reference numeral 50 denotes a GPS receiver that receives coordinate data and time data of the GPS satellites transmitted by a GPS (Global Positioning System) satellite and inputs the same to the CPU 10 through the interface unit 30. Is a vehicle speed sensor for detecting a traveling speed, and reference numeral 70 is a gyroscope sensor for detecting a traveling direction of the vehicle.

Reference numeral 80 denotes photographing means for inputting an image photographed by photographing a driving front of the vehicle to the CPU 10 through the interface unit 30.

The photographing means 80 processes a camera 81 for photographing the driving front of the vehicle and an image of the driving front of the vehicle photographed by the camera 81 as a digital signal, and then through the interface unit 30. And a digital signal processor 82 for inputting to the central processing unit 10.

Reference numeral 90 denotes image display means for displaying the map data read from the map storage device 40 and the current location of the vehicle.

The image display means 90 stores a graphic processor 91 which processes the map data read from the map storage device 40 and the current position of the vehicle, and stores and outputs an image processed by the graphic processor 91. And a display unit 93 for displaying the map data processed by the graphic processor 91 and an image of the current position of the vehicle.

Reference numeral 100 is a high frequency receiver for receiving data and traffic information transmitted from another vehicle and inputting the central processing unit 10 through the interface unit 30, and reference numeral 110 transmits data and traffic information to be transmitted to another vehicle. It is a high frequency transmitter.

Reference numeral 120 is a command input unit for inputting a user's operation command to the CPU 10 through the interface unit 30.

The command input unit 120 recognizes the microphone 121 for inputting a user's voice signal and the voice signal input through the microphone 121 to recognize the voice signal input through the interface unit 30 through the interface unit 30. And a key input device 123 for inputting a key signal according to a user's operation to the central processing unit 10 through the interface unit 30.

Reference numeral 130 denotes voice output means for outputting a predetermined voice signal according to the control of the CPU 10.

The voice output means 130 is configured such that the voice output device 131 outputs a voice signal to be output to the speaker 132 under the control of the central processing unit 10.

Reference numeral 140 denotes a vehicle driving means for controlling the driving of the vehicle.

The vehicle driving unit 140 may include a vehicle control interface unit 141 for interfacing the control of the vehicle through the interface unit 30 in the central processing unit 10, and a driving device for driving the throttle device 142. 142a and sensor 142b, drive device 143a and sensor 143b for driving brake device 143, drive device 144a and sensor 144b for driving steering device 143, and transmission A drive 145a and a sensor 145b for driving the device 145.

The vehicle driving apparatus of the present invention having such a configuration is to automatically drive the vehicle to the destination under the control of the central processing unit 10, and the operation data of the central processing unit 10 is stored in the DRAM 21 of the memory means 20. And the flash ROM 22 stores and outputs the operating program of the CPU 10 in advance, and the version of the operating program can be upgraded, and the user is provided to the SRAM 23 when the power is turned off. Information and setting data of the stored user and the stored user information and setting data are output when the power is turned on.

In addition, the map storage device 40 reads map information stored in advance in a CD ROM, etc., and inputs the same to the central processing unit 10 through the interface unit 30, and the vehicle speed sensor 60 and the gyroscope sensor 70 are vehicles. The driving speed and the direction of travel are respectively detected and the detection signal is input to the central processing unit 10 through the interface unit 30.

The photographing means 80 photographs the driving front of the vehicle with the camera 81, and the digital signal processor 82 processes the image of the driving front of the vehicle photographed by the camera 81 as a digital signal, and then the interface unit ( Input to the central processing unit 10 through 30).

The image display means 90 may be configured by the graphic processor 91 to graphically process the map data read by the central processing unit 10 from the map storage device 40 and the current position of the vehicle. The current position of the vehicle is stored in the DRAM 92 and output to the display unit 93 to be displayed and confirmed on the screen.

The high frequency receiver 100 receives data and traffic information transmitted from another vehicle and inputs the data to the central processing apparatus 10 through the interface unit 30, and the high frequency transmitter 110 transmits data to another vehicle. Transmit traffic information by high frequency signal.

The command input unit 120 inputs a voice signal of a destination spoken by the user through the microphone 121, and recognizes the input voice signal by the voice recognition device 122 and then through the interface unit 30 through the central processing unit. A key input device 123 inputs a key signal of a destination according to a user's operation to the central processing unit 10 through the interface unit 30.

The voice output unit 130 outputs a predetermined voice signal according to the control of the central processing unit 10, that is, a voice signal related to the guidance of the destination, to the speaker 132 by listening to the voice output device 132. do.

The vehicle driving unit 140 controls the driving of the vehicle according to a signal input through the interface unit 30 and the vehicle control interface unit 141 from the central processing unit 10. The throttle device 142 is driven and the throttle sensor 142b detects the driving of the throttle device 142 and inputs the central processing unit 10 through the vehicle control interface unit 141 and the interface unit 30. In response to the driving of the driving device 143a, the brake device 143 is driven, and the brake sensor 143b detects the driving of the brake device 143 and is centered through the vehicle control interface 141 and the interface 30. Input to the processing device 10.

In addition, the steering device 144 is driven according to the driving of the driving device 144a, and the steering sensor 144b detects the driving of the steering device 144 to be centered through the vehicle control interface 141 and the interface 30. The transmission device 145 is driven by the driving device 145a, and the transmission sensor 145b detects the driving of the transmission device 145 so that the vehicle control interface 141 and Input to the central processing unit 10 through the interface unit 30.

2 is a signal flow diagram illustrating a vehicle driving method of the present invention applied to the driving control apparatus described above.

As shown therein, the CPU 10 calculates the current position of the vehicle in step S10.

As shown in FIG. 3, the current position calculation of the vehicle is performed by receiving GPS data through the GPS receiver 50 in step S20 and calculating the current position of the vehicle using the received GPS data, and calculating in step S21. The map information on the current location of a vehicle is read from the map storage device 40 through the interface unit 30, and then output to the image display unit 90 by the graphic processor 91 to process the graphic, and the DRAM 92. After the map is displayed on the screen of the storage and display unit 93, the process returns.

In the next step (S22) to calculate the moving angle and the moving distance of the vehicle by the detection signal of the vehicle speed sensor 60 and the gyroscope sensor 70, the GPS coordinates and the step ( The map by tracking the vehicle's moving position in S22 is matched and displayed on the screen of the display unit 93.

4 is a signal flow diagram illustrating another embodiment of the current position calculation routine of FIG. 2.

As shown therein, the CPU 10 receives GPS data through the GPS receiver 50 in step S30 to calculate coordinates for the current position of the vehicle and calculates the coordinates of the vehicle in step S31. The current position of the vehicle is corrected by the coordinates of the current position, the map information on the current position of the vehicle corrected in step S32 is read from the map storage device 40, and then output to the image display means 90 by the graphic processor. 91 processes the graphic, causes the DRAM 92 to display the current position of the vehicle together with the map on the screen of the storage and display unit 93, and then returns.

In this way, when the current position of the vehicle is displayed on the screen of the calculation and display unit 93, the central processing unit 10 sets the destination for the vehicle to automatically drive in step S11.

As shown in FIG. 5, the setting of the destination to which the vehicle automatically operates is determined in step S40 whether a voice signal for the destination is input through the microphone 121 of the command input unit 120, and in step S41. It is determined whether a predetermined key signal is input through the key input device 123.

As a result of the determination, when the voice signal of the destination is input in step S40, the voice recognition apparatus 122 recognizes the voice signal in step S42 and generates a code of the destination according to the recognized voice signal. Process the menu according to the generated input code.

When the key signal is input in step S41 as a result of the determination, the menu according to the code of the input key signal is processed.

In the next step S44, it is determined whether the setting of the destination on which the vehicle is to be driven is completed, and when the setting of the destination is not completed, the process returns to step S40 to repeat the operation of inputting a voice signal and a key signal. It returns to when the destination setting is completed.

In this way, when the current location and the destination of the vehicle are determined, the central processing unit 10 searches for a route to be driven by the vehicle in step S12 and guides it with a voice signal, that is, a guide voice for the driving route to the destination. The signal is output to the speaker 82 through the voice output device 131 of the voice output means 130, and guided. In step S13, the camera 81 of the photographing means 80 captures the digital signal processor 82. Image is processed in front of the driving front of the vehicle, which is inputted after the processing, and the object in front of the image signal is processed.

In the next step (S14), after requesting the traffic data of the road and the speed of the vehicle ahead of the road currently driving the vehicle through the high-frequency transmitter 110, and receives the traffic information through the high-frequency receiver 100, step (S15) In step S16, it is determined whether the traffic of the road ahead is congested based on the received traffic information, and whether the vehicle has left the calculated route.

When the traffic on the road ahead is congested in step S15 or when the vehicle deviates from the calculated path in step S16, the central processing unit 10 determines the driving path of the vehicle in step S17. After re-searching and guiding to a new route, the vehicle is driven according to the road conditions in step S18, and in step S15, traffic on the road ahead where the vehicle travels is not congested or step S16. If the vehicle does not deviate from the calculated route in the central processing unit 10 drives the vehicle in accordance with the road condition in front of the vehicle in step (S18).

As shown in FIG. 6, the driving according to the road situation in front of the vehicle determines whether there is another vehicle in front of the driving of the vehicle in step S50, and when there is a vehicle ahead, in step S51 a high frequency receiver ( 100 and communicate with the vehicle in front of the high-frequency transmitter 110, and in step S52 to calculate the relative speed of the vehicle and the vehicle in front of the vehicle in step S53 to control the running of the vehicle.

As shown in FIG. 7, the vehicle control compares the distance between the vehicle in front of the vehicle in front of the vehicle, that is, the safety distance with respect to the vehicle speed, in step S60. The driving speed of the vehicle is reduced by driving the brake device 143 in step S61, and the driving of the brake device 143 is confirmed by the value of the brake sensor 143b in step S62.

When the distance to the vehicle ahead is greater than the safety distance relative to the vehicle speed in step S60, the throttle device 142 is driven in step S63 to increase the traveling speed of the vehicle, and in step S64 the throttle sensor The drive of the throttle device 142 is confirmed by the value of 142b.

In the next step (S65) to determine whether the gear position of the transmission relative to the vehicle speed is suitable, if not suitable to drive the transmission device 145 in step (S66) to adjust the gear position of the transmission to the running speed of the vehicle, In step S67, the driving of the transmission device 145 is confirmed by the signal of the transmission sensor 145b.

In the next step S68, it is determined whether the road in the traveling direction of the vehicle is linear, and if the determination result is not linear, the driving device 144a of the steering apparatus 144 is driven in step S69 so that the vehicle can drive the road ahead. The vehicle may be driven along the vehicle, and the driving state of the steering apparatus 144 is checked by the signal of the steering sensor 144b in step S70, and the distance between the vehicle in front of the vehicle and the safety distance relative to the vehicle speed in step S71 again. In comparison, when the distance between the vehicle in front of the vehicle and the safety distance to the vehicle speed is not the same, the process is repeated from the step S65. When the distance between the vehicle in front of the vehicle and the safety distance to the vehicle speed is the same, the process returns.

When the execution of the vehicle control routine is completed in this way, the central processing unit 10 returns to the driving routine of FIG. 6 to receive the traffic signal data in step S54, and the traffic signal received in step S55. After driving the vehicle according to the data, the control returns to the main routine.

When the execution of the driving routine is completed as described above, the central processing unit 10 determines whether the vehicle has reached the set destination in step S19, and returns to step S10 when the determination result has not been reached.

As described above, according to the present invention, by calculating the amount of change in the image over time to detect the relative speed and the presence of obstacles, it is possible to drive the driving of the vehicle with one camera while photographing the front, the vehicle using the vehicle navigation system Obtains the route to the current location and destination of the vehicle, acquires traffic conditions and the state of the vehicle ahead, by wireless communication, and then re-navigates the route to the uncongested area of the vehicle to respond to sudden movement of the vehicle in front of the vehicle. There are effects such as enabling driving safety and traffic flow.

Claims (12)

A first process of calculating a current position of the vehicle; A second step of inputting and setting a destination to which the vehicle arrives as a voice signal or a key signal; A third step of searching for and guiding a route from a current position of the vehicle calculated in the first step to a destination of the vehicle set in the second step; A fourth process of processing the image in front of the vehicle while driving the vehicle along the path searched in the third process and receiving traffic information to detect traffic congestion or deviation of the driving route of the vehicle; A fifth process of searching for and guiding a new route to a destination set in the second process again when the traffic is congested and the route is deviated in the fourth process; In the fourth process, if a traffic is not congested and the route is not off, or if a new route to the destination set in the fifth process is searched again, there may be another vehicle in front of the vehicle depending on the road ahead of the route. In case of communication with the vehicle ahead (step 21), calculate the relative speed of vehicle travel and control the running of the vehicle according to the data communicated in step 21 (step 22), and in step 22 A sixth step of receiving a traffic signal while controlling the driving of the vehicle and driving the vehicle according to the received traffic signal (step 23); And Determining whether the vehicle reaches the destination while driving the vehicle in the sixth process, and if the destination does not reach the destination, performing a seventh process repeatedly performed from the first process. Claim 2 has been deleted. Claim 3 has been deleted. Claim 4 has been deleted. Claim 5 has been deleted. According to claim 1, Driving control of the vehicle of the twenty-second step of the sixth process; A thirty-first step of comparing the distance between the vehicle ahead and the safety distance relative to the vehicle speed and selectively driving the brake device and the throttle device according to the comparison result and controlling the distance between the vehicle ahead and the safety distance relative to the vehicle speed to be the same; A thirty-second step of determining a transmission gear position of the transmission according to the traveling speed of the vehicle and positioning the transmission gear position according to the traveling speed of the vehicle; And And a thirty-seventh step of controlling the rotation of the steering apparatus in accordance with the determined condition of the road ahead according to the traveling direction of the vehicle. A central processing unit for controlling the automatic operation of the vehicle to the destination; A DRAM connected to the central processing unit to store and output operation programs and job data of the central processing unit, and to store and output job data of the central processing unit; And an SRAM for storing and outputting an operation program of the central processing unit in advance, storing information and setting data of a version vendor of the operation program, and outputting the stored user information and setting data when the power is turned on. ; An interface unit for interfacing data with the CPU; A map storage device for storing map data in advance and inputting the map data to the central processing unit through the interface unit; A GPS receiver for receiving coordinate data and time data of the GPS satellites transmitted by the GPS satellites and inputting them to the CPU through the interface unit; A vehicle speed sensor detecting a driving speed of the vehicle; A gyroscope sensor detecting a traveling direction of the vehicle; Photographing means for inputting an image photographed by photographing a driving front of a vehicle to the central processing unit through the interface unit; A graphic processor configured to display the map data read from the map storage device and the current location of the vehicle and to graphically process the map data read from the map storage device and the current location of the vehicle; A DRAM for storing and outputting an image processed by the graphic processor; And a display unit configured to display map data processed by the graphic processor and an image of a current position of the vehicle. A high frequency receiver receiving data and traffic information transmitted from another vehicle and inputting the same to the central processing unit through the interface unit; A high frequency transmitter for transmitting data and traffic information to be transmitted to another vehicle; A command input unit for inputting a user's operation command to the central processing unit through the interface unit and setting a destination using a voice signal or a key signal; Audio output means for outputting a predetermined audio signal according to the control of the CPU; And And a vehicle driving means for controlling the driving of the vehicle according to the control of the central processing unit. Claim 8 has been deleted. Claim 9 has been deleted. Claim 10 has been deleted. Claim 11 has been deleted. Claim 12 has been deleted.