KR102006157B1 - Method and apparatus for providing driving guide line of autonomous vehicle - Google Patents

Abstract

Provided are a method for providing a driving guide line of an autonomous vehicle and an apparatus thereof. According to one embodiment of the present invention, the apparatus comprises: a driving road information calculating unit calculating a width and curvature of a driving road corresponding to a path to a predetermined destination using sensing information obtained from sensors for autonomous driving; a light irradiating unit irradiating one or more pieces of light on the driving road based on the calculated width and curvature of the driving road; a driving guide line recognizing unit detecting the light irradiated on the driving road and recognizing a trajectory formed by the detected light as a driving guide line; and a control unit controlling a vehicle to allow the autonomous driving along the recognized driving guide line.

Description

TECHNICAL FIELD [0001] The present invention relates to a method and an apparatus for providing an induction line for an autonomous vehicle,

More particularly, the present invention relates to a technique of recognizing a trajectory formed by one or more lights irradiated on a driving lane, and controlling autonomous driving using the traction line will be.

An autonomous driving vehicle means a vehicle that runs on its own to a predetermined destination by recognizing the surrounding environment during driving without a driver intervention and controlling the vehicle by judging the driving situation. In recent years, such autonomous vehicles have attracted a great deal of attention as transportation means to reduce traffic accidents, improve the efficiency of transportation, and increase the convenience of passengers.

In order to drive such an autonomous vehicle, it is necessary to recognize the surrounding environment including surrounding objects such as a lane, a nearby vehicle, and a pedestrian, and to control the autonomous driving such as steering angle control, acceleration or deceleration based on the surrounding environment. The ultimate goal is to safely move the passenger to the desired destination.

As a result, it is necessary to provide a way to induce the driving of the autonomous driving vehicle on the driving lane for safer driving of the autonomous driving vehicle. However, the present autonomous driving is mainly based on the sensing information of the basic sensors, Steering, and vehicle speed.

1. Open Patent Publication No. 10-2016-0064230 (May 26, 2016), Autonomous Navigation System Based on Driving Learning and Method

SUMMARY OF THE INVENTION It is an object of the present invention to provide a method for driving an autonomous vehicle on a traveling lane for safer running of the autonomous vehicle.

In order to achieve the above-mentioned object, an apparatus for providing a traveling induction line of an autonomous vehicle according to an embodiment of the present invention includes a sensor for sensing a path to a predetermined destination using sensing information obtained from sensors for autonomous travel A traveling lane information calculation unit for calculating a width and a curvature of the corresponding traveling lane; A light irradiating unit for irradiating at least one light onto the traveling lane based on the calculated width and curvature of the traveling lane; A traveling inducing line recognizing unit for recognizing one or more lights to be irradiated on the driving lane and recognizing a locus formed by the detected one or more lights as a traveling inducing line; And a control unit for controlling the vehicle so as to perform an autonomous running along the recognized driving induction line.

According to another aspect of the present invention, there is provided a method for providing a driving induction line for an autonomous driving vehicle, the method including: (a) acquiring sensing information obtained from sensors for autonomous driving; Calculating a width and a curvature of a driving lane corresponding to a route to a predetermined destination by using the route; (b) irradiating at least one light onto the traveling lane based on the calculated width and curvature of the lane traveling; (c) detecting one or more lights irradiated on the driving lane, and recognizing a locus formed by the detected one or more lights as a traveling induction line; And (d) controlling the vehicle so that autonomous travel is performed along the recognized travel inducing line.

According to one embodiment of the present invention, it is possible to induce the autonomous vehicle to travel on the drive lane more safely using the drive induction line.

Further, when there is a running induction line irradiated from another vehicle, it is possible to induce a safe autonomous running of the vehicle using the running induction line of the other vehicle.

It should be understood that the effects of the present invention are not limited to the above effects and include all effects that can be deduced from the detailed description of the present invention or the configuration of the invention described in the claims.

FIG. 1 is a view showing the content of providing a running induction line of an autonomous vehicle according to an embodiment of the present invention.
2 is a block diagram showing a configuration of a travel guidance line providing apparatus according to an embodiment of the present invention.
FIG. 3 is a flowchart illustrating a driving guidance line providing process according to an embodiment of the present invention.
4 is a view showing a light irradiating unit of a traveling lead-wire providing apparatus according to an embodiment of the present invention.
5A to 5C are diagrams showing travel guide lines according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

For reference, 'autonomous driving vehicle' in the present invention means a fully autonomous driving vehicle having LEVEL 4 in the criterion of classifying the autonomous driving vehicle technology as LEVEL 4. However, the present invention is not limited to the case of the LEVEL 4, and according to the embodiment, a plurality of operations such as acceleration, steering and braking are performed by the system, and LEVEL 3 The present invention can be applied to the case of FIG.

FIG. 1 is a view showing the content of providing a running induction line of an autonomous vehicle according to an embodiment of the present invention.

An apparatus 100 for providing a running induction line of an autonomous vehicle according to an embodiment of the present invention (hereinafter referred to as a " running leadway providing apparatus ") is mounted on an autonomous driving vehicle 10, It is possible to irradiate one or more lights 30 to the corresponding traveling lane 20. The driving lead wire providing apparatus 100 detects at least one light 30 irradiated to the driving lane 20 and recognizes the locus formed by the at least one light 30 detected as the driving inducing line 40, The traveling vehicle 10 can be made to travel safely along the traveling inducing line 40. [

Here, the driving induction line 40 can be irradiated with an invisible light ray and can not be seen by the eyes of the driver or the pedestrian, but the driving induction line providing apparatus 100 can recognize the driving induction line 40 . The driving induction line 40 can be irradiated in the form of point, line, or surface, and the irradiation period and the irradiation period can be varied depending on the speed of the autonomous vehicle 10.

Hereinafter, the configuration and operation of the travel guide wire providing apparatus 100 will be described in detail with reference to FIG. 2 and FIG.

FIG. 2 is a block diagram showing a configuration of an apparatus 100 for providing a running lead wire according to an embodiment of the present invention.

The driving lead wire providing apparatus 100 according to an embodiment of the present invention includes a driving lane information calculation unit 110, a virtual center line generation unit 120, a light irradiation unit 130, a driving induction line recognition unit 140, (150) and a storage unit (160).

The driving lane information calculation unit 110 can calculate the width and the curvature of the driving lane using the sensing information received from the sensors of the lane. Here, 'sensors' may include, for example, an ultrasonic sensor, a radar / radar sensor, a camera sensor, a steering sensor, a GPS sensor, etc. In some embodiments, It is possible to recognize the position and the position of the driving lane accordingly.

The driving lane information calculation unit 110 recognizes a streetlight, a roadside tree, a lane, and the like arranged along a median block, a boundary between cars and a car, a lane based on sensing information obtained from a Lada / radar sensor and a camera sensor, It is possible to calculate the width of the driving lane, which is the lane on which the car is currently traveling. The driving lane information calculation unit 110 may calculate the curvature of the driving lane using a Lada / radar sensor, a camera sensor, a speed sensor, and a steering sensor. The method of calculating the width of the driving lane and the curvature of the lane of travel can utilize various well-known techniques, so a detailed description will be omitted.

For reference, when the change lane for avoiding the surrounding objects such as the preceding vehicle or the pedestrian is predicted by the component such as the change lane predictor (not shown), the lane departure information calculation unit 110 calculates the width of the change lane predicted Length and curvature can be calculated.

On the other hand, the virtual center line generation unit 120 can generate a virtual center line at the center of the driving lane based on the width and the curvature of the driving lane calculated by the driving lane information calculation unit 110. [ Here, when the change lane is predicted by the same component as the change lane predictor (not shown) and the width, length, and curvature of the change lane are calculated by the drive lane information calculation unit 110 It is possible to create a virtual center line at the center of the change lane. For reference, the virtual center line generating unit 120 may be included in the running lead-wire providing apparatus 100 or may be omitted according to the embodiment.

On the other hand, the light irradiating unit 130 can irradiate one or more lights on the traveling lane on the basis of the width and the curvature of the traveling lane calculated by the traveling lane information calculation unit 110. [ As shown in FIG. 4, the light irradiating unit 130 may include a plurality of light sources 131 as a single module, a plurality of light sources as a single module, It may be installed at a position h above a certain height such as a loop.

5A, the light irradiating unit 130 may irradiate at least one light onto the traveling lane along a path to a predetermined destination. In this case, a plurality of light sources may sequentially irradiate one light to indicate a path, or a plurality of light sources may simultaneously emit light to indicate a path. Here, the light irradiation unit 130 may irradiate light in the form of point, line, or surface, but may be irradiated with a non-visible light. Therefore, although the travel guidance line recognizing unit 140, which will not be visible to a person such as a driver or a pedestrian, can recognize one or more light sources irradiated on the road. If the imaginary center line generation unit 120 is included in the driving lead-line providing apparatus 100, the light irradiation unit 130 generates one or more lights along the imaginary center line generated by the imaginary center- .

In addition, the light irradiating unit 130 can adjust at least one of a period for irradiating one or more lights according to the speed of the vehicle and an irradiation time, and also can reflect various driving information of the vehicle through light color, have. Therefore, the travel guidance line providing apparatus 100 can grasp the traveling information of the surrounding vehicle by using the light irradiated from the nearby vehicle. Of course, the surrounding vehicle can also grasp the traveling information of the vehicle using the light irradiated from the vehicle.

Further, the light irradiating unit 130 can set a locus to which the light is irradiated in accordance with the speed of the own vehicle, the width of the traveling lane, and the curvature. Generally, when the vehicle travels on a curved road, a centrifugal force is applied, and the driver approaches and travels on the inside of the traveling lane corresponding to the curved road. The light irradiating unit 130 may irradiate at least one light to the inner side of the traveling lane at the time of irradiating the traveling lane depending on the speed of the vehicle, the width of the lane, and the curvature.

Also, the light irradiating unit 130 may reflect one or more of the obstacles existing on the traveling lane and the signals of the traffic signal, and irradiate at least one light onto the traveling lane. Here, the recognition of the obstacle or the traffic light signal existing on the driving lane can be recognized by using the sensing information obtained from various sensors of the self-driving lane, and the light irradiating unit 130 can recognize the obstacle or the traffic light signal To reflect one or more lights. In other words, it is possible to detect the presence or absence of an obstacle such as a preceding vehicle or a pedestrian, a distance to the obstacle, a signal of a traffic signal and a distance to a traffic signal when the signal indicates prohibition of proceeding, The position of the traffic lights can be prevented from being exceeded. This will be described later with reference to FIG. 4B.

On the other hand, the driving inducing line recognizing unit 140 can recognize one or more lights irradiated on the driving lane in the light irradiating unit 130 as driving inducing lines. For this, the driving-guidance-line recognizing unit 140 can detect one or more lights irradiated by the light irradiating unit 130 on the driving lane, and can recognize the locus formed by the detected one or more lights as the driving inducing line . The travel guide line recognition of the travel guide line recognizer 140 will be described later with reference to FIG. 5B.

The control unit 160 controls the components of the driving lead wire providing apparatus 100 such as the driving lane information calculation unit 110, the virtual center line generation unit 120, the light irradiation unit 130, The control unit 140 can control the above-described operation, and the storage unit 160 can also be controlled.

Also, the controller 160 may control the steering of the vehicle so that the self-driving of the vehicle is performed along the driving induction line recognized by the driving-inducing-line recognizing unit 140. In addition, It can be controlled to decelerate.

Meanwhile, the storage unit 170 may store various information required or derived from the operation of the control unit 160 by an algorithm and an algorithm for controlling the components of the driving-guidance-line providing apparatus 100.

FIG. 3 is a flowchart illustrating a driving guidance line providing process according to an embodiment of the present invention.

The process of FIG. 3 may be performed by the running lead-wire providing apparatus 100 shown in FIG.

The driving-guidance-line providing apparatus 100 calculates the width and the curvature of the driving lane corresponding to the predetermined path to the predetermined destination using the sensing information obtained from the sensors for self-running of the vehicle (S301).

For reference, when a change lane for avoiding a surrounding object such as a preceding vehicle or a pedestrian is predicted by a component such as a change lane predictor (not shown), the lane guidance line providing apparatus 100 determines Width, length, and curvature.

After S301, the travel guidance line providing apparatus 100 recognizes signals of an obstacle or a traffic signal existing on the driving lane by using the sensing information obtained from the sensors for self-running of the vehicle (S302).

Here, the obstacle may include a preceding vehicle, a pedestrian, and a falling object present on the driving lane.

After S302, the travel guidance line providing apparatus 100 determines whether an obstacle exists in the driving lane or whether a signal of a traffic light signal indicates prohibition of proceeding (S303).

Here, whether or not an obstacle exists in the driving lane and the recognition of the signal of the traffic signal can be judged within a range where sensing information can be obtained through various sensors of the car.

As a result of S303, when an obstacle exists in the driving lane or when the signal of the traffic signal indicates prohibition of proceeding, the driving-guidance-line providing apparatus 100 determines whether or not the driving lane providing apparatus 100 is on the basis of the width and curvature of the driving lane, (S304). ≪ / RTI >

In this case, the running guidance line recognized by the running lead-wire providing apparatus 100 may be formed up to a predetermined distance before or from the position of an obstacle or a traffic signal. That is, one or more lights may be irradiated onto the driving lane so that the driving induction line does not exceed an obstacle or a traffic light.

As a result of the step S303, when no obstacle exists in the driving lane or when the signal of the traffic signal indicates progress, the driving lead line providing apparatus 100 irradiates one or more lights on the driving lane based on the width and the curvature of the driving lane (S305).

In this case, the driving-inducing-line providing apparatus 100 can generate a virtual center line at the center of the driving lane based on the width and the curvature of the driving lane. In this case, One or more lights can be irradiated along the imaginary center line. At least one of the irradiation period and the irradiation time can be adjusted according to the speed of the car when irradiating more than one light. In addition, the travel guidance line providing apparatus 100 can reflect various driving information of the vehicle through the color of the light, the size of the light, and the like.

After S304 or S305, the travel guidance line providing apparatus 100 detects one or more lights in the driving lane and recognizes the locus formed by the detected one or more lights as a travel inducing line (S306).

After S306, the travel guidance line providing apparatus 100 controls at least one of steering, current speed maintenance, acceleration, and deceleration of the vehicle so that autonomous travel along the recognized travel induction line is performed (S307).

For reference, in the case of S304, since the induction line does not exceed an obstacle or a traffic signal, the induction line providing apparatus 100 can control the steering and the speed of the vehicle so as to stop in front of an obstacle or a traffic light while traveling along the induction line .

FIG. 4 is a view showing a light irradiating unit 130 of the running lead wire providing apparatus 100 according to an embodiment of the present invention.

As shown in FIG. 4, the light irradiation unit 130 may include a plurality of light sources 131 as one module, or a plurality of light sources 131 as one module. The light irradiating unit 130 may be installed at a position above a predetermined height, such as the top or loop of the windshield.

For reference, the light irradiating unit 130 can adjust the irradiation direction of each light within a range of a predetermined angle when the light is irradiated through the plurality of light sources 131.

5A and 5B are diagrams showing travel guide lines according to an embodiment of the present invention.

5A, a plurality of light beams 30 are incident on the traveling lane 20 having a predetermined curvature along the path to a predetermined destination, (3) and (4), or a plurality of light sources can simultaneously display the paths by irradiating light (30) - (1), (2), (3) and (4) -.

5B, when the driving-guidance-line providing apparatus 100 generates a virtual center line 50 in the driving lane, the driving-guidance-line providing apparatus 100 includes a plurality of The light 30 can be irradiated.

FIG. 5C is a view showing a travel guide line according to another embodiment of the present invention. FIG.

The driving-guidance-line providing apparatus 100 can recognize the obstacle of the driving lane and the signal of the traffic signal using the sensing information obtained through various sensors of the vehicle. 5C, when the obstacle 510 is present in the driving lane or when the signal of the traffic light 520 indicates prohibition of proceeding, the driving lead line providing apparatus 100 determines the width of the driving lane 20 The curvature, and the distance to the obstacle 510 or the traffic signal light 520, it is possible to irradiate at least one light onto the traveling lane and recognize the light as the driving lane.

The running lead wire 40 shown in FIG. 5C is not shown in the eyes of a person but is displayed for convenience of explanation, and it can be confirmed that the running lead wire 30 does not exceed an obstacle or a traffic signal. The travel guidance line providing apparatus 100 can control the steering and the speed of the vehicle so as to travel along the travel guide line 40 and stop in front of the obstacle 510 or the traffic signal light 520. [

It will be understood by those skilled in the art that the foregoing description of the present invention is for illustrative purposes only and that those of ordinary skill in the art can readily understand that various changes and modifications may be made without departing from the spirit or essential characteristics of the present invention. will be.

It is therefore to be understood that the above-described embodiments are illustrative in all aspects and not restrictive.

For example, each component described as a single entity may be distributed and implemented, and components described as being distributed may also be implemented in a combined form.

The scope of the present invention is defined by the appended claims, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included within the scope of the present invention.

100: Running lead wire providing device
110: Driving lane information calculation unit
120: virtual center line creation unit
130:
140: running induction line recognizing unit
150:
160:

Claims (10)

An apparatus for providing a running induction line of an autonomous driving vehicle,
A driving lane information calculation unit for calculating a width and a curvature of a driving lane corresponding to a path to a predetermined destination by using sensing information obtained from sensors for autonomous driving;
A light irradiating unit for irradiating the light with one or more lights on the traveling lane based on the calculated width and curvature of the running lane, and adjusting a period or time for irradiating the light according to the speed of the vehicle;
A traveling inducing line recognizing unit for recognizing one or more lights to be irradiated on the driving lane and recognizing a locus formed by the detected one or more lights as a traveling inducing line; And
And a control unit for controlling the vehicle such that autonomous travel is performed along the recognized travel inducing line.
The method according to claim 1,
And a virtual center line generation unit for generating a virtual center line at the center of the traveling lane based on the calculated width and curvature of the traveling lane.
3. The method of claim 2,
Wherein the light irradiating unit irradiates the at least one light onto the generated virtual center line.
The method according to claim 1,
Wherein the light irradiating unit irradiates the at least one light reflecting at least one of signals of an obstacle and a traffic signal present on the traveling lane recognized using the sensing information Device.
5. The method of claim 4,
Wherein the light irradiating unit irradiates the at least one light so as not to exceed the position of the traffic signal lamp for outputting the obstacle or the stop signal.
The method according to claim 1,
Wherein the light irradiating unit irradiates the at least one light beam with an invisible light beam (invisible light beam).
A method of providing a running lead wire of an autonomous running vehicle,
(a) calculating a width and a curvature of a driving lane corresponding to a path to a predetermined destination by using sensing information obtained from sensors for autonomous driving;
(b) irradiating at least one light onto the traveling lane based on the calculated width and curvature of the running lane, and adjusting at least one of a period and an irradiation time for irradiating the light according to the speed of the vehicle, ;
(c) detecting one or more lights irradiated on the driving lane, and recognizing a locus formed by the detected one or more lights as a traveling induction line; And
(d) controlling the vehicle so that autonomous travel is performed along the recognized travel inducing line.
8. The method of claim 7,
Wherein the step (b) irradiates the at least one light reflecting at least one of an obstacle present on the driving lane recognized by using the sensing information and a signal of a traffic signal or the like, Line method.
9. The method of claim 8,
Wherein the step (b) irradiates the at least one light so as not to exceed the position of the traffic signal lamp outputting the obstacle or the stop signal.
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