KR100964931B1 - Priority traffic signal control system for automatic operation vehicle - Google Patents

Abstract

The present invention relates to a priority signal control system for a self-driving vehicle that gives priority to a traffic signal at an intersection so that priority can be given over other vehicles, and more specifically, wirelessly inputs a driving state of the auto-driving vehicle. The present invention relates to an automatic vehicle priority signal control system capable of continuously and precisely controlling a traffic signal according to the position of an automatic vehicle by assigning a priority to the traffic signal at an intersection.

To this end, the automatic driving vehicle priority signal control system according to the present invention, the vehicle is installed in the automatic driving vehicle, the operation detecting unit for detecting the driving state of the automatic driving vehicle, the vehicle receiving the information of the driving state and transmits wirelessly It is installed at the intersection with the automatic operation controller equipped with the wireless signal transmission and reception unit, and when the information of the driving state is wirelessly read and the automatic driving vehicle is read as being close to the intersection, the automatic driving vehicle is installed at the intersection so as to proceed first compared to other vehicles. And a wireless priority signal controller for controlling the traffic signals.

Automated Vehicles, Intersections, Traffic Signals, Priority Signals, Wireless Control

Description

Priority traffic signal control system for automatic operation vehicle

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a priority signal control system for autonomous vehicles that gives priority to a traffic signal at an intersection so that priority can be given over other vehicles. Particularly, the present invention relates to a vehicle that receives wirelessly a driving state of an automatic vehicle at an intersection. The present invention relates to an autonomous vehicle priority signal control system capable of continuously and precisely controlling a traffic signal in accordance with the position of an autonomous vehicle by assigning a traffic signal priority.

Recently, at home and abroad, the development of autonomous vehicles has been actively developed to reduce the burden on the driver and to use the existing roads more efficiently and solve road traffic problems by the road control system. Various methods such as optical, magnetic and forced steering are also used.

On the other hand, in order to actively use such autonomous vehicles as general public transportation, the autonomous vehicles can be operated automatically along the service route, as well as general roads for general vehicles and dedicated roads for autonomous vehicles. If they exist together, the traffic signal priority should be given to the autonomous vehicles at the intersection to improve the timeliness and operational efficiency of the autonomous vehicles.

Thus, in the related art, as shown in FIG. 1, a general vehicle traffic signal 11 and an autonomous vehicle traffic signal 21 are installed at an intersection where a general road 10 and a dedicated road 20 exist together. Thus, the general vehicle (not shown) and the automatic driving vehicle 30 are each capable of operating in accordance with the signals of the traffic signals 11 and 21.

In the case where the autonomous vehicle 30 is a magnetic autonomous driving type, a magnet marker 22 is embedded in the exclusive road 20 at regular intervals, whereby the autonomous vehicle 30 is a magnet marker 22. It is to enable automatic operation along.

Furthermore, in order to give priority to a traffic signal to the autonomous vehicle 30, the exclusive road 20 has two loops, and when the autonomous vehicle 30 passes through the loops, the autonomous vehicle 30 is passed. Whether the first loop 41 for detecting the position and speed of the vehicle and the second loop 42 and the automatic driving vehicle 30 for detecting whether the autonomous vehicle 30 is entering the intersection are advancing from the intersection. The third loop 43 to be detected is provided.

In addition, when the automatic driving vehicle 30 enters the intersection by reading the detection signal from the first loops 41 to the third loop 43 at the intersection, the automatic driving vehicle 30 entering the intersection. In addition, the priority signal controller 44 which controls the traffic signal 11 for general vehicles and the traffic signal 21 for automatic driving vehicles is provided so that an intersection may advance ahead of other general vehicles.

However, in the conventional automatic driving vehicle priority signal control system 40 as described above, the automatic driving vehicle 30 only at the point where the automatic driving vehicle 30 passes through the first loop 41 to the third loop 43. It is made of a discontinuous detection method that can check the operating state of the), between the first loop 41 and the second loop 42, between the second loop 42 and the third loop 43 and the first loop 41 At the point where the third loop 43 is not installed, there was a problem that the driving state of the autonomous vehicle 30 could not be confirmed.

In addition, it is difficult to precisely control while continuously checking the driving state of the autonomous driving vehicle 30, so that only a specific autonomous vehicle 30 among a plurality of autonomous driving vehicles (not shown) attempting to pass through an intersection is selected and traffic signal priority is given. Of course, the traffic signal (11, 21) is controlled while the driver of the general vehicle does not feel uncomfortable, such as providing a notice that the traffic signal priority will be given to the automatic driving vehicle 30 before a predetermined time. There was a problem that it was difficult to do.

The present invention has been proposed to solve the above problems, by receiving the driving state of the autonomous vehicle wirelessly to give priority to the traffic signal at the intersection by providing a traffic signal continuously and precisely according to the position of the autonomous vehicle. It is to provide a priority signal control system for autonomous vehicles that can be controlled.

In addition, it is possible to continuously control precisely as described above, but when the traffic signal is not controlled to give priority to the traffic signal, the automatic vehicle priority signal control system that allows the automatic driving vehicle to emergency braking To provide.

To this end, the automatic vehicle priority signal control system according to the present invention, in the automatic vehicle priority signal control system, is installed in the automatic vehicle, the driving detection unit for detecting the driving state of the automatic vehicle including the driving position and An automatic driving controller having a vehicle wireless signal transmitting / receiving unit configured to wirelessly receive the driving state information; And a wireless priority signal controller that wirelessly receives driving state information and controls traffic signals installed at the intersection so that the automatic driving vehicle proceeds first compared to other vehicles when the automatic driving vehicle is read as being close to the intersection. Characterized in that.

At this time, the driving detection unit of the automatic driving controller, the position detecting unit for detecting the position of the automatic driving vehicle; A speed detector for detecting a speed of the autonomous vehicle; And a steering detector configured to detect a driving direction of the autonomous vehicle. It is preferable to include any one or more of these.

The automatic driving controller may further include a driving route storage unit configured to provide driving route information of the automatic driving vehicle to the wireless priority signal controller through the vehicle wireless signal transceiver.

The wireless priority signal controller may further include: a signal operation confirmation unit confirming whether the traffic signal of the intersection is controlled so that the automatic driving vehicle proceeds first; And a controller wireless signal transmitting / receiving unit configured to transmit, to the autonomous vehicle, whether the traffic signal is controlled at the intersection identified through the signal operation confirmation unit.

The automatic driving controller may further include a braking control unit for emergency braking the automatic driving vehicle when a signal indicating that the traffic signal is not controlled is received from the signal operation check unit.

The apparatus may further include an arrival time display unit that displays an estimated time of arrival at the intersection of the autonomous vehicle under the control of the wireless priority signal controller.

The apparatus may further include at least one priority signal repeater installed along a lane to relay radio signals between the autonomous driving controller and the radio priority signal controller.

In addition, the location sensor is preferably made of GPS and tachometer.

In addition, the speed sensor is preferably made of a tachometer and a magnetic sensor.

In addition, the steering sensor is preferably made of a gyro sensor and the steering angle sensor.

In addition, the controller wireless signal transceiver is preferably made of a transmission and reception RF module and a transmission and reception antenna.

The automatic driving vehicle priority signal control system of the present invention as described above allows the traffic signal priority to be received by wirelessly receiving the driving state of the automatic driving vehicle, thereby improving traffic signal control accuracy according to the position of the automatic driving vehicle.

In addition, when the traffic signal is not controlled so that the traffic signal priority is given to the automatic driving vehicle, the automatic driving vehicle can be emergency braked, thereby improving driving stability.

Hereinafter, with reference to the accompanying drawings it will be described in detail with respect to the automatic driving vehicle priority signal control system according to a preferred embodiment of the present invention.

However, below, among the optical, magnetic, forced steering, and other various automatic driving control methods, a magnetic marker is installed on a dedicated road, and the magnetic automatic driving control in which the automatic driving vehicle is automatically operated along the installed magnetic marker. As an example, the present invention is not limited thereto, and it will be apparent that the present invention can be applied to various other automatic driving control methods.

Figure 2 is a schematic configuration diagram showing a priority signal control system for automatic driving according to the present invention, Figure 3 is a block diagram showing an automatic driving controller of the priority signal control system for automatic driving according to the present invention, Figure 4 is a present invention FIG. 5 is a block diagram illustrating a wireless priority signal controller of the priority driving signal control system according to the present invention, and FIG. 5 is a front view illustrating a display unit of the priority signal controlling system according to the present invention.

First, as can be seen through Figure 2, the automatic vehicle priority signal control system according to the present invention, a general vehicle traffic signal 111 and the intersection at the intersection of the road 110 and the exclusive road 120 and By installing the traffic signal 121 for the automatic driving vehicle, the general vehicle (not shown) and the automatic driving vehicle 130 are allowed to operate in accordance with the signals of the traffic signals (111, 121), respectively, the automatic driving vehicle 130 ) Is a magnetic automatic driving method by embedding a magnet marker (122) at a predetermined interval on the dedicated road 120, so that the automatic driving vehicle 130 can automatically drive along the magnetic marker (122) do.

In particular, the present invention is installed in the automatic driving vehicle 130, so as to give priority to the traffic signal to the automatic driving vehicle 130, and detects the driving state of the automatic driving vehicle 130, the detected driving state Is installed at the intersection with the autonomous driving controller 140 for transmitting the information of the radio wirelessly, and when the autonomous vehicle 130 is read as being close to the intersection through the transmission of the information of the transmitted driving state wirelessly, The automatic driving vehicle 130 includes a wireless priority signal controller 150 for controlling the traffic signals 111 and 121 installed at the intersection so that the vehicle 130 proceeds first compared to the general vehicle.

Therefore, it is possible to wirelessly transmit the driving information of the automatic driving vehicle 130 to the wireless priority signal controller 150, and thus the wireless vehicle continuously receiving the driving information on the entire route in which the automatic driving vehicle 130 is operating. The priority signal controller 150 can continuously control the traffic signals 111 and 121, as well as improve its control accuracy.

More specifically, the autonomous driving controller 140 controls the automatic operation of the autonomous vehicle 130, as well as the wireless priority signal controller 150 so that the autonomous vehicle 130 can be given priority to traffic signals. By providing driving information, the vehicle automatic driving control unit 141, the driving line storage unit 142, the driving detection unit 143, the braking control unit 144 and the vehicle wireless signal transmission and reception unit 145 as shown in FIG. ).

Here, the vehicle automatic driving control unit 141 controls the automatic driving of the automatic driving vehicle 130 as well as collects the driving information of the automatic driving vehicle 130 from the driving detecting unit 143, and thus is collected. The driving information is controlled to be transmitted to the wireless priority signal controller 150.

In addition, the driving line storage unit 142 stores the route information of the preset automatic driving vehicle 130, and the driving line storage unit 142 made of a semiconductor memory is capable of reading and writing to change the route. It is possible to update accordingly, and through the vehicle automatic driving control unit 141 and the vehicle wireless signal transmission and reception unit 145 to provide the stored route information to the wireless priority signal controller 150.

Accordingly, the wireless priority signal controller 150 may wirelessly receive the route information and control the traffic signals 111 and 121 according to the route information. That is, in FIG. 2, the autonomous vehicle 130 proceeds in a straight direction at the intersection, but the autonomous vehicle 130 may proceed in a left turn or right turn direction in addition to the straight line, and thus, the wireless priority signal controller 150. ) May control the traffic signals 111 and 121 by referring to such line information.

The driving detector 143 detects the driving state of the autonomous vehicle 130 so that the detected driving state can be used to control the traffic signals 111 and 121 of the wireless priority signal controller 150. It includes a position detecting unit for detecting the position of the automatic driving vehicle 130, a speed detecting unit for detecting the speed of the automatic driving vehicle 130 and a steering detecting unit for detecting the driving direction of the automatic driving vehicle 130. .

In FIG. 3, the gyro sensor 143a, the magnet sensor 143b, the GPS (Global Positioning System) 143c, the tachometer (143d), and the steering angle as the driving sensor 143. The sensor 143e is illustrated, wherein the position detecting unit may be a GPS 143c and a tachometer 143d, and the speed detecting unit may include a tachometer 143d and a magnetic sensor 143b (detected per second). Calculation of the number of the magnetic markers 122) may be used, and the steering sensor may include a gyro sensor 143a and a steering angle sensor 143e, but is not limited thereto.

Accordingly, when the driving information of the automatic driving vehicle 130 sensed by the driving sensor 143 is transmitted to the wireless priority signal controller 150 wirelessly, the wireless priority signal controller 150 receives the received automatic driving vehicle 130. By reading the current location, speed and direction of travel, it is possible to control the traffic signals (111, 121) in accordance with the time when the autonomous vehicle 130 enters the intersection.

That is, when the automatic driving controller 140 including the driving detecting unit 143 transmits the driving information data of the automatic driving vehicle 130 to the wireless priority signal controller 150 as described above, the wireless priority signal controller 150 Control the traffic signal 121 for the automatic driving vehicle (that is, the green light is turned on) of the traffic signals (111, 121) so that the automatic driving vehicle 130 may proceed to the intersection preferentially, the traffic signal for the general vehicle (111) Control (i.e. lit red light) to allow the general vehicle to wait at the intersection.

The braking control unit 144 controls a braking device (not shown) of the autonomous vehicle 130. As described in more detail below, the wireless priority signal controller 150 controls the traffic signals 111 and 121. When a signal indicating that the vehicle is not normally controlled is transmitted to the autonomous driving controller 140, the braking control unit 144 controls the braking device of the autonomous vehicle 130 so that the autonomous vehicle 130 is emergency braked, thereby providing traffic. It is possible to prevent the accident of collision between the automatic driving vehicle 130 and the general vehicle due to a signal abnormality of the signals 111 and 121.

In addition, the vehicle wireless signal transmission / reception unit 145 transmits driving information of the autonomous vehicle 130 to the wireless priority signal controller 150 or controls the traffic signal signals 111 and 121 from the wireless priority signal controller 150. For receiving, it is made of a variety of transmit and receive RF modules and antennas.

Therefore, conventionally, the priority signal controller (44 in FIG. 1) is discontinuously operated by the first loop (41 in FIG. 1) to the third loop (43 in FIG. 1) provided at a specific point (30 in FIG. 1). Compared to the driving state of the present invention, the wireless priority signal controller 150 automatically wirelessly and continuously in all sections in which the automatic driving vehicle 130 operates through the vehicle wireless signal transceiver 145. Allows the driving state of the driving vehicle 130 to be input.

However, the present invention is a dedicated road so as to relay the radio signal between the vehicle wireless signal transceiver 145 of the automatic driving controller 140 and the controller wireless signal transceiver 153 of the wireless priority signal controller 150. It is preferable to include at least one priority signal repeater 160 is installed along the side of the road 120 is installed.

This is because the distance between the autonomous vehicle 130 and the wireless priority signal controller 150 is too long or the radio wave environment is poor, making it difficult to transmit and receive radio waves between the autonomous vehicle 130 and the wireless priority signal controller 150. Even in this case, the priority signal repeater 160 amplifies and retransmits radio waves transmitted and received between them, thereby improving radio wave transmission and reception characteristics and improving control reliability of the traffic signals 111 and 121 or the autonomous vehicle 130. Make it even better.

The wireless priority signal controller 150 installed at the intersection is used to control the blinking of the traffic signal 111 for the autonomous vehicle as well as the traffic signal 111 for the general vehicle. The signal control unit 151, the signal operation check unit 152 and the controller wireless signal transmission and reception unit 153 as described above.

Here, the signal controller 151 controls the blinking of the traffic signals 111 and 121 including the traffic signal 111 for the general vehicle and the traffic signal 121 for the autonomous vehicle in a wired or wireless manner. By receiving and reading the driving information of the autonomous vehicle 130 from the 140, the traffic signals 111 and 121 are controlled as described above.

Then, the signal operation check unit 152 monitors whether the traffic signals 111 and 121 operate normally, and transmits a test signal test_flag to the traffic signals 111 and 121, and sends them from the traffic signals 111 and 121. It is configured to receive a response signal (ack_flag).

Therefore, when a malfunction occurs in the traffic signals 111 and 121 and the operation is impossible, the traffic signal 111 and 121 also detects an abnormal operation and transmits it to the automatic driving controller 140 and automatically operates. The controller 140 enables emergency braking of the autonomous vehicle 130.

In addition, the controller wireless signal transceiver 153 wirelessly receives the driving information of the autonomous vehicle 130 from the autonomous driving controller 140, or controls the traffic signal (111, 121) control information to the autonomous driving controller 140. To transmit a transmission, and consists of a variety of transmit and receive RF modules and transmit and receive antennas.

Accordingly, as described above, the driving state of the autonomous vehicle 130 is wirelessly and continuously inputted in all sections in which the autonomous vehicle 130 operates, and used to control the traffic signals 111 and 121. To be able.

Of course, if it is difficult to transmit and receive radio waves between the autonomous vehicle 130 and the wireless priority signal controller 150, it may be transmitted and received through the priority signal repeater 160, a detailed description thereof has already been made above.

On the other hand, the present invention is a means for controlling the operation of the general vehicle or the automatic driving vehicle 130 at the intersection, in addition to the traffic signal 111 for general vehicles and the traffic signal 121 for automatic driving vehicle, as shown in FIG. 170, the priority signal display unit 170 may notify in advance the arrival time of the autonomous vehicle 130 and the traveling direction at the intersection.

That is, by receiving and reading the current position and speed of the autonomous vehicle 130 detected through the position detecting unit and the speed detecting unit of the driving detecting unit 143, the time for the autonomous vehicle 130 to arrive at the intersection in advance is read. Not only can be predicted and displayed, but also by receiving and reading the route information of the autonomous vehicle 130 stored in the driving route storage unit 142, the autonomous vehicle 130 can display the direction to proceed at the intersection. .

However, the priority signal display unit 170 may be separately installed at an intersection, but may be installed in a general vehicle traffic signal 111 or an autonomous vehicle traffic signal 121, or a general vehicle traffic signal 111 and an autonomous vehicle. Each of the traffic signals 121 may be installed.

In the above, the specific Example of this invention was described above. However, the spirit and scope of the present invention is not limited to these specific embodiments, and various modifications and variations can be made without departing from the spirit of the present invention. Those who have it will understand.

Therefore, since the embodiments described above are provided to completely inform the scope of the invention to those skilled in the art, it should be understood that they are exemplary in all respects and not limited. The invention is only defined by the scope of the claims.

The automatic vehicle priority signal control system of the present invention not only continuously and precisely controls the priority signal for the automatic vehicle but also enables the automatic vehicle to emergency braking in an emergency, thereby improving driving stability. To contribute to the popularization of vehicles.

1 is a schematic configuration diagram showing a prior art automatic driving vehicle priority signal control system.

2 is a schematic block diagram showing a system for controlling the priority signal for autonomous driving according to the present invention.

3 is a block diagram illustrating an automatic driving controller of the priority driving signal control system for driving according to the present invention.

Figure 4 is a block diagram showing a wireless priority signal controller of the priority signal control system for automatic driving according to the present invention.

5 is a front view showing a display unit of the priority signal control system for automatic driving according to the present invention.

<Explanation of symbols for the main parts of the drawings>

110: general road 111: traffic signal for general vehicles

120: private road 121: traffic signal for self-driving vehicle

122: magnetic marker 130: autonomous vehicle

140: automatic driving controller 150: wireless priority signal controller

160: priority signal repeater 170: priority signal display unit

Claims (11)

In the automatic driving vehicle priority signal control system, An autonomous driving controller installed in the autonomous vehicle, the autonomous driving controller including a driving detecting unit detecting a driving state of the autonomous vehicle including a driving position, and a vehicle wireless signal transmitting / receiving unit wirelessly receiving the driving state information; And A signal control unit for controlling the traffic signals installed at the intersection so that the automatic driving vehicle is read as being close to the intersection and receiving the information of the driving state wirelessly, the automatic driving vehicle proceeds first with respect to other vehicles, and the automatic driving vehicle And a controller radio signal transmitting / receiving unit for transmitting, to the autonomous vehicle, whether the traffic signal is controlled at the intersection identified through the signal operation confirmation unit, and checking whether the traffic signal at the intersection has been controlled so as to proceed first. Auto priority vehicle control system comprising a; a priority signal controller. The method of claim 1, The driving detection unit of the automatic driving controller, A position detecting unit detecting a position of the autonomous vehicle; A speed detector for detecting a speed of the autonomous vehicle; And A steering detector detecting a driving direction of the autonomous vehicle; Autonomous vehicle priority signal control system comprising any one or more of. The method of claim 1, The automatic driving controller further includes a driving route storage unit configured to provide driving route information of the automatic driving vehicle to the wireless priority signal controller through the vehicle wireless signal transmitting and receiving unit. delete The method of claim 1, The automatic driving controller further includes a braking control unit for emergency braking the automatic driving vehicle when a signal from the controller wireless signal transmission / reception unit is received that the traffic signal is not controlled. . The method of claim 1, And a priority signal display unit for displaying the estimated time of arrival at the intersection of the autonomous vehicle under the control of the wireless priority signal controller. The method according to any one of claims 1 to 3, 5 and 6, And at least one priority signal repeater installed along a roadside to relay radio waves between the autonomous controller and the radio priority signal controller. The method of claim 2, The position detecting unit is a priority signal control system for automatic driving vehicle, characterized in that consisting of GPS and tachometer. The method of claim 2, The speed detection unit automatic driving vehicle priority signal control system, characterized in that consisting of a tachometer and a magnetic sensor. The method of claim 2, The steering detection unit autonomous vehicle priority signal control system comprising a gyro sensor and a steering angle sensor. The method of claim 1, The controller wireless signal transmission and reception unit is a priority signal control system for autonomous vehicle, characterized in that consisting of a transmission and reception RF module and a transmission and reception antenna.

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