KR101991067B1 - Apparatus and method for controlling autonomous vehicle - Google Patents

Abstract

The present technology discloses an apparatus and method for controlling an autonomous vehicle. According to a specific example of the present invention, based on at least one of the traveling state information and the traffic light state information of the preceding vehicle derived from at least one of the image obtained through the camera, the braking data received through the antenna, It is possible to control the autonomous vehicle which can secure the stability basically compared with the existing autonomous vehicle control system by controlling the braking of the autonomous vehicle, and the braking data received through the camera and the signal state data The control unit controls the control of the autonomous vehicle based on at least one of the running state information and the signal lamp state information of the preceding vehicle derived from at least one of the preceding vehicle and the preceding vehicle so that the response time of the autonomous vehicle with respect to the running state of the preceding vehicle is fundamentally . ≪ / RTI >

Description

[0001] APPARATUS AND METHOD FOR CONTROLLING AUTOMOTIVE VEHICLE [0002]

The present invention relates to an apparatus and method for controlling an autonomous vehicle, and more particularly, to a system and method for controlling an autonomous vehicle by detecting at least one of the running state information and the signal lamp state information of the preceding vehicle Technology.

In general, autonomous navigation systems are applied to vehicles to provide safety for traffic accident reduction, traffic efficiency on the road, environment friendliness and convenience through fuel saving.

Recently, the autonomous navigation system is a technology that recognizes lanes and performs automatic steering by using cameras. It is based on the image processing of the camera, and is based on the lane width, the lateral position of the vehicle on the lane, the distance to both lanes and the shape of the lane, Measure the radius of curvature. The system also provides a Smart Cruise Control function that estimates the driving trajectory of the vehicle using the measured vehicle position and road information and changes the lane along the estimated driving trajectory.

In order to provide the active smart cruise control function, it is very important to distinguish the preceding vehicles traveling in the same direction from the front of the detected front objects, and to accurately recognize the present traveling lane.

However, image information obtained from a camera has a limitation in recognizing correct lane information. For example, when the reliability of the image information obtained through the camera is poor, it is difficult to extract the accurate lane information, which degrades the stability of the entire autonomous driving system.

The applicant of the present invention controls the autonomous vehicle on the basis of at least one of the traveling state information and the traffic light state information of the preceding vehicle on the traveling road received through the plurality of cameras or antennas provided on the autonomous vehicle, We propose a method to control autonomous vehicle that can secure stability compared to vehicle control system.

SUMMARY OF THE INVENTION The present invention has been conceived to solve all the problems of the prior art, and it is an object of the present invention to provide a vehicle control apparatus and a control method thereof which are capable of detecting driving state information of a preceding vehicle derived from at least one of an image obtained through a camera, The present invention provides a control apparatus and method for an autonomous vehicle that controls the autonomous vehicle so that the stability of the autonomous vehicle can be basically secured as compared with an existing autonomous vehicle control system by controlling the braking of the autonomous vehicle .

It is another object of the present invention to provide a control system for controlling an autonomous driving vehicle based on driving state information and signal light state information of a preceding vehicle derived from at least one of an image obtained through a camera and braking data received via an antenna, The present invention provides a control apparatus and method for an autonomous vehicle that can fundamentally shorten the response time of the autonomous vehicle with respect to the running state of the preceding vehicle.

Technical Solution In order to achieve the above object,

An image collecting unit for receiving image information of an object of a road on the road through a plurality of cameras provided at predetermined positions of the autonomous vehicle at predetermined intervals;

And a processor for generating a control signal for controlling the autonomous vehicle on the basis of the image information of the object of the image collecting unit and transmitting the control signal to the autonomous drive control unit.

Preferably, the image capturing unit may set the predetermined positions and intervals of the plurality of cameras based on the position of an object to be collected, and may determine at least one of traveling state information and traffic light state information necessary for controlling the autonomous vehicle from the image of the preceding vehicle And the processor can be provided to generate a control signal for braking the autonomous vehicle according to at least one of the running state information of the preceding vehicle and the signal lamp state information.

Preferably, the image collecting unit includes one of a color of a tail lamp for confirming whether a preceding vehicle is braked, a turn indicator for changing a lane of a preceding vehicle, and a emergency lamp for emergency stop .

Preferably, the image collecting unit may include a first camera arranged vertically to each other and collecting driving state information of a preceding vehicle, and a second camera collecting signal light state information, The second camera may include a lens that is adjusted to have a wider angle of view than the predetermined angle of view that is predetermined for collecting the color of the tail lamp of the vehicle, And may include an adjustable lens having an angle of view.

Preferably, the autonomous vehicle further includes a state extracting means for extracting, from the braking data and the signal light state data of the preceding vehicle provided from the tail lamp of the preceding vehicle through the antenna, the signal state information of the preceding vehicle and the signal of the driving lane, And may further include an information collecting unit.

Preferably, the state information collecting module includes a traveling state collecting module that receives braking data of a preceding vehicle provided from a tail lamp of a preceding vehicle traveling in the same lane, which is received via an antenna, and extracts traveling state information of the preceding vehicle, And a traffic light status collecting module for receiving the traffic light status data supplied from the traffic light of the lane traveling through the network and extracting the vehicle status information.

Preferably, the traveling state collecting module receives and decodes the braking data supplied from each preceding vehicle when the tail lamps of the plurality of preceding vehicles on the traveling road are lit, decodes the vehicle identification code included in each braking data, And extracting braking data of a preceding vehicle located in the same driving lane using the extracted vehicle identification code, wherein the braking data includes a lighting code of a tail lamp different for each vehicle and an identification code of each preceding vehicle Can be propagated.

Preferably, the traffic light status collecting module receives the traffic light status data from the respective traffic lights at the intersections and the plurality of traffic lights installed on the crosswalk through the antenna, extracts the color code and the traffic light identification code included in the received traffic light status data The traffic light color code corresponding to the road on the road can be extracted based on the extracted traffic light identification code and the color code, and the traffic light status data can be obtained. The traffic light status data includes the traffic light identification code and the traffic light color Can be propagated to individual predetermined frequency bands including codes

Preferably, the processor may be configured to generate a control signal for braking the autonomous vehicle based on driving state information supplied from the driving state collection module to determine whether the preceding vehicle is braked, Based on the traffic light state information of the traffic lights of the autonomous vehicle, and generates a control signal for braking the autonomous vehicle.

Preferably, the processor is configured to generate an announcement message for braking according to the lighting color of the announcement message or the traffic light for braking according to the headway distance derived based on the predetermined algorithm due to the braking of the preceding vehicle, and to transmit the generated announcement message to the driver .

Preferably, the autonomous vehicle further comprises: a control unit for generating a control signal based on driving state information and signal light state information of the preceding vehicle obtained from the image of the image collecting unit and the received image, and driving state information and signal light state information of the preceding vehicle A database module for matching the signal with a reception date and recording the signal in a predetermined area of the memory; a navigation module for searching the database module for navigation state information and signal light state information extracted from the image, driving state information, road state information, And a learning module for performing learning about braking of the autonomous vehicle on the basis of the learning module.

Preferably, the database module may include a database for driving state information, road state information, traffic state information, and vehicle state information, respectively, and the learning module may be configured such that the driving state information collected from the first camera And a control unit for performing learning based on the running state information and the running state information, the road state information, the traffic state information, and the vehicle state information of the database module when the tail lamp of the preceding vehicle is in an on state and for braking the autonomous running vehicle The traffic condition information, the road condition information, the traffic condition information, and the vehicle condition information of the database module when the traffic light condition information collected from the second camera is yellow or red, Based on the learning outcome, Rate driving vehicle to generate a control signal for braking the rate-driving vehicle.

According to the present invention, it is possible to control the braking of the autonomous vehicle based on at least one of the traveling state information and the traffic light state information of the preceding vehicle derived from at least one of the image obtained through the camera, the braking data received through the antenna, It is possible to control the autonomous driving vehicle which can secure the stability basically compared with the existing autonomous driving vehicle control system.

According to the present invention, at least one of the driving state information and the traffic light state information of the preceding vehicle derived from at least one of the image obtained through the camera, the braking data received through the antenna, and the signal light state data, It is possible to fundamentally shorten the response time of the autonomous vehicle with respect to the running state of the preceding vehicle.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate preferred embodiments of the invention and, together with the description of the invention given below, serve to further understand the technical idea of the invention. And should not be construed as limiting.
1 is a diagram showing a configuration of a control apparatus for an autonomous vehicle according to an embodiment of the present invention.
FIG. 2 is a detailed view illustrating the configuration of an image collecting unit of a control apparatus for an autonomous vehicle according to an embodiment of the present invention. FIG.
3 is an exemplary diagram showing an image of an image collecting unit of a control apparatus for an autonomous vehicle according to an embodiment of the present invention.
4 is a detailed diagram illustrating the configuration of a status information collecting unit of a control apparatus for an autonomous vehicle according to an embodiment of the present invention.
5 is a diagram showing in detail the configuration of a learning unit of a control apparatus for an autonomous vehicle according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, the present invention will be described in detail with reference to the drawings.

Like reference numerals are used for like elements in describing each drawing. In the accompanying drawings, the dimensions of the structures are enlarged to illustrate the present invention in order to clarify the present invention.

The terms first, second, etc. may be used to describe various components, but the components should not be limited by the terms. The terms are used only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, the first component may be referred to as a second component, and similarly, the second component may also be referred to as a first component.

The terminology used in this application is used only to describe a specific embodiment and is not intended to limit the invention. The singular expressions include plural expressions unless the context clearly dictates otherwise. In this application, the terms "comprises", "having", and the like are used to specify that a feature, a number, a step, an operation, an element, a part or a combination thereof is described in the specification, But do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof. Also, the terms " part, "" module," and " module ", etc. in the specification mean a unit for processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software have.

According to a hardware implementation, the embodiments described herein may be implemented as application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays May be implemented using at least one of a processor, controllers, microcontrollers, microprocessors, and other electronic units for performing other functions. In some cases, Embodiments may be implemented by the processor 50 and the autonomous vehicle control 70 itself.

According to a software implementation, embodiments such as the procedures and functions described herein may be implemented with separate software modules. Each of the software modules may perform one or more of the functions and operations described herein. Software code can be implemented in a software application written in an appropriate programming language.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries are to be interpreted as having a meaning consistent with the contextual meaning of the related art and are to be interpreted as either ideal or overly formal in the sense of the present application Do not.

Hereinafter, an apparatus and method for controlling an autonomous vehicle according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a view showing a control apparatus for an autonomous vehicle according to an embodiment of the present invention. FIG. 2 is a diagram showing a detailed configuration of the image collecting unit 10 shown in FIG. 1, FIG. 4 is a diagram illustrating a detailed configuration of the state information collecting unit 30 shown in FIG. 1. FIG. 5 is a block diagram of the autonomic drive controlling unit 70 shown in FIG. 1, FIG.

1 to 5, an autonomous vehicle S according to an exemplary embodiment of the present invention includes an image and an antenna provided through a plurality of cameras, a driving state of the preceding vehicle based on at least one of braking data and signal light state data The autonomous driving vehicle S may be provided to acquire the traffic light condition information of the information and running road and to control the autonomous driving vehicle on the basis of the obtained driving condition information and the signal light condition information of the preceding vehicle, A status information collecting unit 30, a processor 50, and an autonomous drive controller 70. The image collecting unit 10, the status information collecting unit 30, the processor 50,

Here, the plurality of image collecting units 10 may be provided to acquire object information of the road on the road through a plurality of cameras separately provided at predetermined positions of the vehicle S at predetermined intervals, And the interval may be set based on the position of the object to be collected. At this time, a plurality of cameras can acquire images in various directions of a forward image, a backward image, and a lateral image of a road on which the vehicle is traveling. However, the present invention is not limited thereto. For example, A single camera, a stereoscopic camera, a panoramic camera, a monocular camera, or the like.

Here, the term " object " refers to a running state of a preceding vehicle located on a running road, for example, a color of a tail lamp capable of confirming whether a preceding vehicle is braked, a turn indicator for turning a lane of a preceding vehicle, Or an emergency lighting for the vehicle.

The traffic light status information may be color information of a traffic light located ahead of the road.

The image collecting unit 10 may include a first camera 11 arranged vertically and collecting driving state information of the preceding vehicle and a second camera 13 collecting the signal lamp state information, And the second camera 13 may include a lens that is adjusted to have a wider angle of view than the predetermined angle of view for collecting the color of the tail lamp of the preceding vehicle located in the close range, And may include a lens adjustable to have a narrower angle of view than the predetermined angle of view to collect status information.

An image including the driving state information and the traffic light state information of the preceding vehicle collected through the first camera and the second camera may be transmitted to the processor 50.

A series of processes for judging the braking of the preceding vehicle and the signal lamp lighting color based on the image of the preceding vehicle and the signal lamp provided through the first camera 11 and the second camera 13 are performed by the applicant A detailed description thereof will be omitted.

The processor 50 extracts at least one of the traveling state information and the traffic light state information necessary for the control of the autonomous vehicle S from the image of the preceding vehicle collected through the first camera 11 and the second camera 13, The control signal for braking the autonomous vehicle S according to at least one of the running state information of the vehicle and the signal lamp state information may be generated and transmitted to the autonomous drive control unit 70. [

For example, the processor 50 extracts the color of the tail lamp of the preceding vehicle from the image collected through the first camera 11, and calculates the color of the tail lamp of the preceding vehicle when the color of the tail lamp of the extracted preceding vehicle is red. It is possible to generate a control signal for braking or rapid braking.

The processor 50 extracts the traffic light status information from the image collected through the second camera 13 and generates a control signal for braking or running the autonomous vehicle S based on the lighting color of the traffic light, (70). For example, the processor 50 may generate a control signal for braking the autonomous driving vehicle S and transmit the control signal to the autonomous driving control unit 70 when the extracted signal lighting color is red.

On the other hand, the autonomous vehicle S according to the embodiment of the present invention extracts the running state information and the signal lamp state information of the preceding vehicle from at least one of the braking data and the signal lamp state data supplied from the preceding vehicle and the signal lamp through the antenna, And generate a control signal for controlling the traveling vehicle. Accordingly, the autonomous vehicle S according to the embodiment of the present invention may further include a status information collection unit 30. [

The state information collecting unit 30 collects traffic state information of the preceding vehicle and traffic light state information supplied from the traffic light of the driving lane from the braking data and the traffic light state data of the preceding vehicle provided from the tail lamp of the preceding vehicle through the antenna ANT Can be extracted.

Herein, the communication of the braking data and the traffic light status data between the object of the traveling road of the preceding vehicle and the traffic light and the autonomous vehicle S is a short-range communication module, and the short-range communication module is infrared communication, radio frequency (RF) And a home network including a home PNA, a PLC (Power Line Communication), an IEEE 1394, and a home RF network. The signal transmission method can accommodate an improved transmission method according to the development of a signal transmission method in the future.

The state information collecting unit 30 receives the braking data of the preceding vehicle provided from the tail lamp of the preceding vehicle traveling in the same lane on the same lane received through the antenna and extracts the traveling state information of the preceding vehicle And a traffic light condition collecting module 33 for receiving traffic light condition data supplied from a traffic light of a lane traveling through the antenna and extracting vehicle condition information.

The traveling state collecting module 31 receives and decodes the braking data supplied from each preceding vehicle through the antenna when the tail lamps of the plurality of preceding vehicles on the traveling road are lit and extracts the vehicle identification code included in each braking data And extracting the braking data of the preceding vehicle located in the same driving lane using the extracted vehicle identification code. Here, the braking data may be propagated including a lighting code of a tail lamp different for each vehicle and an identification code of each preceding vehicle.

On the other hand, the traffic light condition collecting module 33 receives the traffic light status data from each traffic light at the intersections and a plurality of traffic lights installed on the crosswalk, through the antenna, and transmits the color code and the traffic light identification code included in the received traffic light status data The traffic light color code corresponding to the driving road can be extracted based on the extracted traffic light identification code and the color code to obtain the traffic light status information. Here, the traffic light status data can be propagated to individual predetermined frequency bands including a signal light color code indicating each traffic light identification code and a lighting color of the corresponding traffic lights.

On the other hand, the processor 50 can determine whether the preceding vehicle is braked based on the running state information supplied from the running state collecting module 31, and based on the signal lamp state information supplied from the signal lamp state collecting module 33 The lighting color of the traffic light can be judged. For example, the processor 50 may generate a control signal for braking the autonomous vehicle S when the tail lamp of the preceding vehicle is illuminated with a braking color or when the lighting colors of the traffic lights are yellow and red.

In other words, the processor 50 can determine whether or not the preceding vehicle in the driving lane is braked based on at least one of the received signal state data and the braking data of the preceding vehicle.

The processor 50 can generate a notification message for braking according to the lighting color of the warning light or the traffic light for rapid braking and braking in accordance with the vehicle distance derived based on the predetermined algorithm due to the predetermined braking of the preceding vehicle, have.

The processor 50 transmits a control signal for rapid braking and braking of the autonomous vehicle S to the autonomous-travel controller 70 according to the inter-vehicle distance, and the autonomous- It is possible to perform one of rapid braking and braking.

As described above, the processor 50 determines whether braking of the preceding vehicle based on at least one of the image of the preceding vehicle and the signal lamp of the image collecting unit 10, the braking data of the state information collecting unit 30, And a traffic light color state, and as a result of the analysis, it is possible to generate a control signal for braking the autonomous driving vehicle S when the braking of the preceding vehicle or the signal light is turned on in either yellow or red.

Based on the control signal, the autonomous driving control unit 70 causes the autonomous driving vehicle S to brak.

On the other hand, the autonomous driving vehicle S is configured to determine the autonomous driving vehicle S based on the driving state information and the signal light state information of the preceding vehicle according to the analysis results of the images of the first camera 11 and the second camera 13, (S), and the control device can further include a database module 71 and a learning module (73).

The database module 71 receives the driving state information and the traffic light state information of the preceding vehicle obtained from the images of the first camera 11 and the second camera 13 provided from the processor 50 and the received image, The control signal of the autonomous-travel control unit 70 based on the traveling state information and the traffic-light state information can be recorded in a predetermined area of the memory by matching the reception date.

The database module 71 extracts the running state information, the road state information, and the traffic state information from the image of the traveling road collected from the first camera 11 and the second camera 13, DB, and a traffic condition information DB, respectively.

The database module 71 can further construct a vehicle state information DB based on the vehicle state information provided through CAN communication or LAN communication with the electronic control unit (ECU) in the vehicle.

The learning module 73 also receives the images provided from the first camera 11 and the second camera 13 of the image capturing unit 10 and the driving status information and the traffic light status information extracted corresponding thereto, 71, the road state information, the traffic state information, and the vehicle state information on the autonomous vehicle S, as shown in FIG.

For example, when the traveling state information collected from the first camera 11 is in the tail lamp on state of the preceding vehicle, the learning module 73 compares the traveling state information of the image collecting unit 10 with the traveling state information of the previously stored database module 71 It is possible to generate a control signal for performing learning based on state information, road state information, traffic state information and vehicle state information, and for braking the autonomous driving vehicle S according to the learning results.

The autonomous vehicle S is braked based on the control signal of the autonomous control vehicle S derived in accordance with the learning result of the learning module 73. [

When the traffic light condition information collected from the second camera 13 is yellow or red, the learning module 73 compares the traffic light status information of the image collecting unit 10 with the traffic condition information of the previously stored database module 71, It is possible to generate a control signal for performing learning based on information, traffic state information and vehicle state information and for braking the autonomous driving vehicle S according to the learning result. The autonomous vehicle S can be braked based on the control signal of the autonomous control vehicle S derived in accordance with the learning result of the learning module 73. [

According to an embodiment of the present invention, there is provided an autonomous vehicle control system for a self-driving vehicle, comprising at least one of a driving state information of a preceding vehicle derived from at least one of an image obtained through a camera and braking data received via an antenna, It is possible to control the autonomous driving vehicle which can secure the stability of the autonomous driving vehicle as compared with the existing autonomous driving vehicle control method.

According to the present invention, at least one of the driving state information and the traffic light state information of the preceding vehicle derived from at least one of the image obtained through the camera, the braking data received through the antenna, and the signal light state data, The response time of the autonomous vehicle with respect to the running state of the preceding vehicle can be fundamentally shortened.

According to another aspect of the present invention, there is provided a method for controlling an autonomous vehicle, comprising the steps of: acquiring image information of an object of a road on a road through a plurality of cameras provided at predetermined intervals in a self- An image collecting step of receiving the image; And an autonomous driving vehicle control step of generating a control signal for controlling the autonomous driving vehicle based on the image information of the object of the image collecting part and transmitting the control signal to the autonomous driving control part.

Here, the image collecting step may include calculating driving state information necessary for controlling the autonomous vehicle from the images of the preceding vehicle from the images of the plurality of cameras, the predetermined positions and intervals being set based on the position of the object to be collected, The autonomous vehicle control step may generate a control signal for braking the autonomous vehicle according to at least one of the running state information and the signal lamp state information of the preceding vehicle.

On the other hand, the control method of the autonomous vehicle includes extracting, from the braking data and the signal light state data of the preceding vehicle provided from the tail lamp of the preceding vehicle through the antenna, the state information of the preceding vehicle and the signal state information supplied from the signal of the driving lane Wherein the autonomous-traveling-vehicle control step includes a step of determining whether or not the preceding vehicle is braked based on the running state information supplied from the running state collecting module, and outputting a control signal for braking the autonomous- And may generate a control signal for braking the autonomous vehicle based on signal light condition information supplied from the signal light condition collecting module by judging the lighting color of the traffic light.

Here, in the step of controlling the autonomous vehicle, an announcement item for braking is generated according to the lighting color of the warning light or the traffic light for braking according to the inter-vehicle distance derived based on the predetermined algorithm due to the braking of the preceding vehicle, .

The control method of the autonomous vehicle may further include driving state information and signal light state information extracted from the image of the image collecting unit, driving state information of the database module, road state information, The learning step may include learning the braking of the autonomous vehicle based on the traffic state information and the vehicle state information, and the learning step may include a step of calculating a running state information collected from at least one of the image collecting unit and the state information collecting unit, Performs a learning based on the running state information and the running state information, the road state information, the traffic state information, and the vehicle state information of the database module when the tail lamp of the preceding vehicle is turned on and brakes the autonomous driving vehicle according to the learning result Can be generated.

Each step of the autonomous vehicle control method is performed by the image collecting unit 10, the state information collecting unit 30, the processor 50, and the autonomous vehicle control unit 70, .

Although the control device of the autonomous vehicle in the embodiment of the present invention is provided as a separate terminal at a predetermined position in the vehicle interior, it can be installed in a vehicle black box.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments. will be. Therefore, the scope of the present invention should not be limited to the above-described embodiments, but should be determined by all changes or modifications derived from the scope of the appended claims and equivalents of the following claims.

The braking of the autonomous vehicle is controlled based on at least one of the traveling state information and the traffic light state information of the preceding vehicle derived from at least one of the image obtained through the camera, the braking data received through the antenna, and the signal light state data, The control unit can control an autonomous vehicle that can basically secure stability compared to an autonomous vehicle control system, and can control the autonomous vehicle, which is derived from at least one of the image obtained through the camera, the braking data received via the antenna, Which is capable of fundamentally shortening the response time of the autonomous driving vehicle with respect to the driving state of the preceding vehicle, by controlling the control of the autonomous driving vehicle based on at least one of the driving state information and the traffic light state information of the preceding vehicle Accuracy and reliability of operation of the control unit Surface, can lead to further very big improvement in efficiency and performance, since the degree to which, as well as there is sufficient potential for commercial or marketing of the vehicle black box can be explicitly carried in reality the invention there is industrial applicability.

Claims (29)

An image collecting unit for receiving image information of an object of a road on the road through a plurality of cameras provided at predetermined positions of the autonomous vehicle at predetermined intervals; And
And a processor for generating a control signal for controlling the autonomous vehicle based on the image information of the object of the image collecting unit and delivering the control signal to the autonomous drive controller,
A state information collecting unit for extracting the driving state information of the preceding vehicle and the traffic light state information of the lane from the traffic light data of the plurality of traffic lights provided at the intersections and the crosswalk collected from the preceding vehicle collected through the antenna, Including,
The state information collecting unit,
When the tail lamp of at least one of the plurality of preceding vehicles is lit, decoding the braking data received through the antenna, extracting a lighting code and a vehicle identification code of a tail lamp different for each vehicle included in the braking data, The braking data including the vehicle identification code and the lighting code extracted in the frequency band determined by the identification code are propagated using the short distance communication module,
The traffic light status data provided from the plurality of traffic lights provided at the intersections and the pedestrian crossings are received by the antenna and the traffic light identification code and color code included in the traffic light status data are extracted, And the color code, using the short distance communication module. ≪ Desc / Clms Page number 19 >
The image processing apparatus according to claim 1,
Wherein the controller is configured to set predetermined positions and intervals of the plurality of cameras based on positions of objects to be collected.
The image processing apparatus according to claim 2,
At least one of the traveling state information and the traffic light state information necessary for controlling the autonomous vehicle from the image of the preceding vehicle can be extracted
The processor
And generates a control signal for braking the autonomous vehicle according to at least one of the running state information of the preceding vehicle and the signal lamp state information.
The image processing apparatus according to claim 3,
A color of a tail lamp capable of checking whether a preceding vehicle is braked on a road being driven, lighting of a turn indicator for changing a lane of a preceding vehicle, and emergency lighting for emergency stop. Device.
The image processing apparatus according to claim 3,
A first camera for vertically arranging and collecting driving state information of the preceding vehicle, and a second camera for collecting the signal state information of the preceding vehicle.
6. The apparatus of claim 5, wherein the first camera
And a lens that is adjusted so as to have a wider angle of view than the predetermined angle of view predetermined for collecting the color of the tail lamp of the preceding vehicle located in the close range.
The apparatus of claim 5, wherein the second camera
And a lens adjustable so as to have a narrower angle of view than a predetermined angle of view for collecting status information of a traffic light located at an original distance.
delete The apparatus of claim 1, wherein the status information collecting unit
A traveling state collecting module for receiving braking data of a preceding vehicle provided from a tail lamp of a preceding vehicle traveling in the same lane through an antenna and extracting traveling state information of the preceding vehicle;
And a signal light condition collecting module for receiving the signal light condition data supplied from the traffic light of the lane traveling through the antenna and extracting the vehicle condition information.
10. The apparatus of claim 9, wherein the driving condition acquisition module
When the tail lamps of a plurality of preceding vehicles on the running road are lit, the braking data supplied from each preceding vehicle is received and decoded through the antenna, and then the vehicle identification code included in each braking data is extracted and the extracted vehicle identification code is used And to extract braking data of the preceding vehicle located in the same driving lane.
11. The method as claimed in claim 10, wherein the braking data
Wherein the control unit is configured to propagate the vehicle including the lighting code of another tail lamp and the identification code of each preceding vehicle for each vehicle.
10. The traffic light status collecting module according to claim 9,
A plurality of traffic lights installed at intersections and pedestrian crossings are lighted, the traffic light status data is received from each traffic light through an antenna, a color code and a traffic light identification code included in the received traffic light status data are extracted and the extracted traffic light identification code and color code Wherein the control unit is configured to extract a traffic light color code corresponding to the road on which the vehicle is traveling, and to obtain the traffic light status information.
delete 10. The apparatus of claim 9, wherein the processor
Wherein the control unit is configured to generate a control signal for braking the autonomous traveling vehicle by determining whether the preceding vehicle is braked based on the traveling state information supplied from the traveling state collecting module.
10. The apparatus of claim 9,
Wherein the control unit is configured to generate a control signal for braking the autonomous vehicle based on signal light condition information supplied from the signal light condition collecting module.
16. The system according to claim 14 or 15,
Characterized in that it is provided to generate a notification item for braking according to a lighting color of a warning light or a signal lamp for braking in accordance with an inter-vehicle distance derived on the basis of a predetermined algorithm due to the braking of the preceding vehicle, A control device of a vehicle.
The control apparatus for an autonomous vehicle according to claim 1,
And a control unit for controlling the autonomous vehicle based on the driving state information and the traffic light state information extracted from the image of the image collecting unit and the driving state information, road state information, traffic state information and vehicle state information of the database module, Further comprising: a learning unit that performs learning about braking of the vehicle.
18. The apparatus according to claim 17,
A control signal generated based on the driving state information and the signal light state information of the preceding vehicle and the driving state information and the signal light state information of the preceding vehicle obtained from the image of the image collecting unit and the received image, A database module for recording in a predetermined area,
And a learning module for learning the braking of the autonomous vehicle based on the running state information and the traffic light state information extracted from the image and the running condition information, the road condition information, the traffic condition information, and the vehicle condition information of the database module And a control unit for controlling the autonomous traveling vehicle.
19. The system of claim 18, wherein the database module comprises:
And a database for each of the running state information, the road state information, the traffic state information, and the vehicle state information.
The learning module according to claim 19,
When the traveling state information collected from the first camera of the image collecting unit is in the tail lamp on state of the preceding vehicle, learning based on the traveling state information and the traveling state information, road state information, traffic state information, and vehicle state information of the database module And generates a control signal for braking the autonomous vehicle according to the learning result.
The learning module according to claim 19,
When the traffic light condition information collected from the second camera of the image collecting unit is yellow or red, learning is performed based on the traffic light condition information and the driving condition information, road condition information, traffic condition information and vehicle condition information of the database module, And generates a control signal for braking the autonomous vehicle according to a result of the determination.
An image collecting step of receiving image information of an object of a road on the road through a plurality of cameras provided at predetermined intervals in a predetermined position of the autonomous vehicle in the image collecting unit; And
And a controller for generating a control signal for controlling the autonomous vehicle on the basis of the image information of the object of the image collecting unit and transmitting the generated control signal to the autonomous drive controller,
A state in which the driving state information of the preceding vehicle and the signal light state information of the lane are extracted from the signal light state data of the plurality of signals provided at the intersections and the crosswalk collected from the preceding vehicle collected through the antenna and transmitted to the autonomous vehicle control step Further comprising an information collecting step,
The state information collecting step includes:
When the tail lamp of at least one of the plurality of preceding vehicles is lit, decoding the braking data received through the antenna, extracting a lighting code and a vehicle identification code of a tail lamp different for each vehicle included in the braking data, The braking data including the vehicle identification code and the lighting code extracted in the frequency band determined by the identification code are propagated using the short distance communication module,
The traffic light status data provided from the plurality of traffic lights provided at the intersections and the pedestrian crossings are received by the antenna and the traffic light identification code and color code included in the traffic light status data are extracted, And the traffic light status data including the color code is transmitted using the short distance communication module.
23. The method according to claim 22,
Extracting at least one of traveling state information and traffic light state information necessary for controlling an autonomous vehicle from an image of the preceding vehicle from the images of the plurality of cameras set at predetermined positions and intervals based on the position of the object to be collected,
Wherein the autonomous vehicle control step generates a control signal for braking the autonomous vehicle according to at least one of the running state information and the signal light state information of the preceding vehicle.
delete 23. The method according to claim 22, wherein the step of controlling the autonomous-
And generating a control signal for braking the autonomous traveling vehicle by determining whether the preceding vehicle is braked based on the traveling state information.
26. The method of claim 25, wherein the step of controlling the autonomous-
Wherein the controller is configured to generate a control signal for braking the autonomous vehicle by determining the lighting color of the signal lamp based on the signal light status information.
The method of claim 26, wherein the step of controlling the autonomous vehicle
Characterized in that it is provided to generate a notification item for braking according to a lighting color of a warning light or a signal lamp for braking in accordance with an inter-vehicle distance derived on the basis of a predetermined algorithm due to the braking of the preceding vehicle, A method of controlling a vehicle.
24. The control method of an autonomous vehicle according to claim 22 or 23,
And a control unit for controlling the autonomous vehicle based on the driving state information and the traffic light state information extracted from the image of the image collecting unit and the driving state information, road state information, traffic state information and vehicle state information of the database module, Further comprising a learning step of performing learning on braking of the vehicle.
30. The method of claim 28, wherein the learning step comprises:
The vehicle state information, the road state information, the traffic state information, and the vehicle state information of the database module when the traveling state information collected from the image collecting unit is in the tail lamp on state of the preceding vehicle, And generates a control signal for braking the autonomous vehicle according to a result of the determination.

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