KR100946525B1 - Automatic Driving System for a Vehicle - Google Patents

Abstract

Peripheral information detection unit; A navigation unit for searching a driving route; A manual driving data unit for storing reference data obtained by processing the peripheral information and the driving information acquired during the manual driving of a specific route; And controlling the driving of the vehicle by using the information provided from the peripheral information detector and the navigation unit, and controlling the driving of the vehicle on the basis of the reference data when automatically operating a section in the route stored in the manual driving data unit. An automatic vehicle driving system including an automatic driving control unit is introduced. According to such a system, there are fewer control variables according to the autonomous vehicle driving and a lower probability of an accident.

Auto driving, navigation, GPS

Description

Automatic Driving System for a Vehicle

The present invention relates to a vehicle autonomous driving system that automatically controls the driving of a vehicle by using the GPS information of the navigation and the surrounding information detected through a sensor or a camera.

Recently, with the rapid development of image processing technology, sensor and hardware performance, research on driverless vehicles is being conducted competitively.

In fact, navigation using GPS has already been popularized as a road guide service for beginners, and the accuracy of the data is gradually improved in GPS, and the reliability of the error is small. In such a trend, driverless cars are recently driving or parking automatically by using front and rear cameras, front-side radar sensors, and GPS.

However, as a result of the development of a large range of vehicles called driverless cars, the size of the system has increased and development costs have increased considerably. In addition, the complexity of the algorithm increases exponentially from the developer's point of view because it must be able to cope with various scenarios that may occur while driving.

Patent 2006-0084289 (Title: Unmanned driving system using telematics and its control method) is a description of an unmanned driving system for automatically driving along a shortest route to a desired location using GPS geographic information. Since this technology only travels with vague GPS information, the number of cases that need to be considered increases, and since it is not driving the path optimized for the surrounding environment, there are many variables generated in the control vehicle during driving, and it is more likely that an accident will occur. It will increase.

The present invention has been proposed to solve such a problem, and an object thereof is to provide a vehicle autonomous driving system having a low control variable for autonomous driving and a low probability of an accident.

In order to achieve the above object, the vehicle automatic driving system according to the present invention includes a peripheral information detection unit; A navigation unit collecting GPS data and searching a driving route; A manual driving data unit for storing reference data obtained by processing the peripheral information and the driving information acquired during the manual driving of a specific route; And controlling the driving of the vehicle by using the information provided from the peripheral information detector and the navigation unit, and controlling the driving of the vehicle on the basis of the reference data when automatically operating a section in the route stored in the manual driving data unit. It includes an automatic operation control unit.

The surrounding information may include GPS coordinates of a traffic light, an intersection, or a crosswalk, and the driving information may include GPS route information and vehicle signal information.

The reference data may include GPS coordinates for signal waiting, lane change, or intersection entry point during the specific route manual driving process. Here, the lane change point may be set based on the GPS coordinates of the time when the turn signal manipulation signal is generated.

According to the vehicle autonomous driving system as described above, it is not based solely on sensor or GPS geographic information, but automatically controls the driving of the vehicle based on previously experienced standard driving information. Therefore, the probability of an accident is also lowered.

Hereinafter, with reference to the accompanying drawings looks at with respect to the vehicle automatic driving system according to a preferred embodiment of the present invention.

With reference to Figure 1 looks at the basic configuration of the automatic vehicle driving system.

As shown in FIG. 1, the system is configured such that the automatic driving control unit automatically controls the chassis based on the information from the peripheral information detection unit and the navigation unit. In particular, the data stored in the manual driving data unit is referred to. The necessary information during the autonomous driving process is provided to the driver through a HMI (Human Machine Interface) including a monitor or a speaker.

The surrounding information detection unit includes various distance sensors such as a radar sensor and an ultrasonic sensor, and a camera. Whether the vehicle is stopped at a pedestrian crossing or a traffic light depends mainly on the result of the detection and reading of the camera signal. However, when the signal state of the pedestrian crossing or the traffic light is transmitted by radio waves, a wireless communication unit necessary for reception of the radio wave will be required. The wireless communication unit is also included in the peripheral information detection unit.

The navigation unit collects GPS data to search for a driving route and displays the search result on the HMI unit. The navigation unit may be a conventional navigation device having a GPS module and an electronic map. In addition, the chassis includes a system required for normal vehicle operation such as a transmission gear, a brake, and a steering system.

The manual driving data unit processes the peripheral information and the driving information acquired during the manual driving of a specific route so that the automatic driving control unit may control the chassis along the driving route experienced instead of driving down the transit road during the automatic driving of the vehicle. Save the reference data. If the autonomous controller controls the vehicle using only the surrounding information detection unit and the navigation unit, the parameters to be considered increase exponentially.However, the vehicle's operation is automatically controlled while recognizing the surrounding environment based on the reference data. This reduces the control variable significantly.

A method of generating reference data stored in a manual operation data unit will be described with reference to FIG. 2.

As shown in FIG. 2, the driver travels standard from the specific starting point A to the arrival point B, and stores the surrounding information and the driving information during the standard driving process. Here, the standard driving means to drive in the center lane rather than shoulder, change the lane to the outside lane which is rotated in advance when turning left / right at the intersection, and to reflect the safe steering and braking characteristics rather than the extreme driving type. The route is adopted considering safety, convenience, etc. rather than the shortest route. The surrounding information includes GPS coordinates of traffic lights, intersections or pedestrian crossings, and the driving information includes GPS route information and vehicle signal information. In order to collect GPS route information, DGPS (Differential Global Positioning System) is used.

Referring to FIG. 2, a manual driving vehicle departing from the starting point A is turned right and enters a driving road, passes three intersections, and is parked after driving to the arrival point B. In the process, a traffic light, an intersection, or a crosswalk is GPS coordinates are stored. If the traffic light, intersection, or pedestrian crossing detected during the driving process is not registered in the navigation unit, the GPS coordinates of the location must be updated in the manual driving data unit (of course, the manual driving data unit may be integrated into the navigation unit). Need to be.

Vehicle signal information is collected and stored during the standard driving process. The vehicle signal information refers to operation information such as an Excel pedal, a brake pedal, a direction of the driver, and the like, and by recording the GPS coordinates at the time when the corresponding operation signal is generated, reference data may be used in the subsequent automatic driving process. In particular, the lane change point during the standard driving process is set based on the GPS coordinates at the time of operating the turn signal of the manual driver. In addition, the information on the intersection entry point or the signal surrogate point may be appropriately set from the GPS coordinates of the intersection, the crosswalk and the traffic light.

Meanwhile, the processing of the surrounding information and the driving information obtained in the standard driving process as described above may be performed by the driver directly using a program or in a separate service center. It is effective for a driver to repeatedly travel to and from a specific route by using the manual driving reference data for the specific route during automatic driving. In particular, when the driver is disabled, if the normal person stores the reference data of the result of the standard driving after the standard driving on the standard driving section in the manual driving data unit, the disabled can make the round trip by the automatic driving more safely. . In addition, when the use of a specific lane is limited due to road construction or the like, when such information is stored in reference data, it is effective to avoid road congestion during automatic driving.

Referring to FIGS. 3A and 6, a vehicle automatic driving control process using manual driving data will be described.

3A and 3B, when the vehicle enters the right turn point, the automatic driving controller determines whether there is an obstacle in the lateral direction by operating the lateral ultrasonic sensor, and if there is an obstacle, stops and waits, and proceeds to the right turn. . Here, the coordinate data of the right turn entry point is stored in the reference data, and the autonomous driving control unit is set to decelerate the vehicle and react more sensitively to the lateral ultrasonic sensor when it approaches the corresponding point.

As shown in FIG. 4, the traffic light position information is stored in the manual driving data unit, and when the vehicle enters the signal waiting point, the automatic driving control unit reacts more sensitively to the signal from the front camera. Stop the vehicle and make the vehicle run at a constant speed if it passes. Of course, when a signal state transmitting apparatus is provided near a traffic light or a crosswalk, the autonomous vehicle controls the stopping and starting of the vehicle based on the signal.

FIG. 5 is a diagram for describing a vehicle autonomous driving method using reference data at a lane change point indicated by 6-h in FIG. 2. As shown in FIG. 5, when the vehicle enters a lane change point that requires a lane change from an outside lane to an inside lane, the autonomous driving controller reacts sensitively to a signal from a left rear sensor. If an obstacle emerges from the rear, decelerate the vehicle and allow the obstacle to move forward, then change the lane to the left.

6 is a view for explaining a vehicle control method when there is an obstacle in front of the self-driving vehicle. As shown in FIG. 6, in spite of the situation in which the vehicle is to be driven in a state in which the lane is maintained, when there is an obstacle in front of the vehicle and the vehicle cannot be driven straight, the automatic driving controller decelerates the vehicle to drive at a low speed or stops the vehicle. In the rear left rear sensor to determine whether or not the rear obstacle appears, and then avoid the front obstacle. After the forward obstacle has been avoided, lane changes are made to return to the original lane.

As can be seen from the above description, when the vehicle is automatically driven using the manual driving reference data, the vehicle travels along a preset pattern, and then the sensor according to the predetermined plan at a specific point such as waiting for a signal, changing lanes, or entering an intersection. After determining the obstacle or the signal state by using the camera, it is necessary to determine whether to continue driving on the predetermined path, and thus the sudden parameter to be considered according to the automatic driving is significantly reduced.

While specific embodiments of the present invention have been shown and described, those of ordinary skill in the art will appreciate that the present invention may be made without departing from the spirit and scope of the invention as set forth in the claims below. It is to be understood that various modifications and changes can be made.

1 is a block diagram of an automatic driving system according to an embodiment of the present invention,

2 is a view for explaining a reference data generation process according to an embodiment;

3A and 3B are diagrams for describing vehicle automatic control at an intersection entry point according to an embodiment;

4 is a view for explaining automatic vehicle control at a signal waiting point according to an embodiment;

FIG. 5 is a view for explaining vehicle automatic control in a lane change ground according to an embodiment; FIG.

6 is a view for explaining the automatic vehicle control when the front obstacle appears in accordance with an embodiment.

Claims (5)

Peripheral information detection unit; A navigation unit collecting GPS data and searching a driving route; A manual driving data unit for storing reference data obtained by processing the peripheral information and the driving information acquired during the manual driving of a specific route; And Controlling the operation of the vehicle by using the information provided from the peripheral information detection unit and the navigation unit, and controlling the operation of the vehicle based on the reference data when automatically operating a section in the route stored in the manual driving data unit. It includes an automatic operation control unit, The driving information includes a GPS route information and vehicle signal information. The vehicle autonomous driving system of claim 1, wherein the surrounding information includes GPS coordinates of a traffic light, an intersection, or a crosswalk. delete The vehicle autonomous driving system according to claim 1 or 2, wherein the reference data includes GPS coordinates of a signal waiting, lane change, or intersection entry point during the specific route manual driving process. The vehicle autonomous driving system according to claim 4, wherein the lane change point is set based on GPS coordinates of a time point at which a turn signal operation signal is generated.

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