KR102038511B1 - Apparatus for collecting road environment information, system for managing road environment information using the apparatus - Google Patents

Abstract

An apparatus for collecting road environment information is disclosed. The device includes a location information collection unit for receiving location information, a road surface temperature sensor for measuring the road surface temperature, an acceleration sensor and a gyro sensor for measuring the balance of the vehicle, an illumination sensor for measuring the illuminance outside the vehicle, and a vehicle A sound measuring unit for measuring the external or internal sound and a control module for collecting the position of the vehicle at a predetermined cycle through the location information collection unit, the control module controls the road surface temperature sensor to measure the temperature of the road surface every cycle The acceleration sensor and the gyro sensor may be controlled to measure a balance state of the vehicle. Accordingly, road environmental information can be smoothly collected.

Description

Road environment information collection device and road environment information management system using the same {APPARATUS FOR COLLECTING ROAD ENVIRONMENT INFORMATION, SYSTEM FOR MANAGING ROAD ENVIRONMENT INFORMATION USING THE APPARATUS}

The present invention relates to a road environment information collection device and a road environment information management system using the same.

Typically, road freezing can be a major cause of winter traffic accidents, and if a road freezes, not only human injury due to traffic accidents, but also time and ultimately economic losses due to traffic delays, congestion and traffic control . In addition, a sudden increase in road surface temperature may be a major cause of traffic accidents in summer, and road pavement or tire puncture may occur when the road temperature is 50 degrees Celsius or more.

Road surface temperature measurements were generally performed manually by humans, resulting in inefficiency. In addition, road damage inspection, illuminance inspection of the lighting facility and road noise measurement were all performed manually.

Accordingly, there is a demand for a method of collecting and managing road environment information that is conveniently, accurately and quickly mounted on a vehicle.

On the other hand, the above information is only presented as background information to help the understanding of the present invention. No determination is made as to whether any of the above is applicable as the prior art concerning the present invention, and no claims are made.

Published Patent Publication No. 10-2015-0059023 (Published: 2015.5.29)

The present invention has been made to solve the above-described problem, an embodiment of the present invention proposes a road environment information collection device mounted on a vehicle to automatically collect various road information.

The technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned above will be clearly understood by those skilled in the art from the following description. Could be.

Road environment information collection device according to an embodiment of the present invention for realizing the above object is a location information collection unit for receiving location information; A road surface temperature sensor for measuring a road surface temperature; An acceleration sensor and a gyro sensor for measuring a balance state of the vehicle; An illumination detection sensor for measuring illumination outside the vehicle; A sound measuring unit measuring a sound outside or inside the vehicle; And a control module configured to collect the location of the vehicle through the location information collection unit at predetermined intervals, wherein the control module controls the road surface temperature sensor to measure the temperature of the road surface at each cycle, and balances the vehicle. The acceleration sensor and the gyro sensor may be controlled to measure a state.

More specifically, the apparatus further includes a communication unit, wherein the control module, at a specific time or point, the measured road surface temperature does not meet the preset criteria or the balance state of the vehicle does not meet the preset criteria In this case, the location information on the specific point may be transmitted to the traffic management server through the communication unit.

More specifically, the control module may complementarily combine measurement information detected from the acceleration sensor and the gyro sensor.

More specifically, the apparatus further includes a storage unit, and the control module collects location information about the tunnel, and enters into the tunnel to measure the illumination information for each section through the illumination detection sensor and measure the measured illumination If the information does not meet the preset criteria, the location information of the corresponding point may be stored in the storage unit.

More specifically, the device comprises a wind speed sensor; And a voice output unit, wherein the control module collects position information on the bridge, and when the detected information exceeds a reference value based on the information collected by the wind speed sensor when the bridge is adjacent to the predetermined range. The notification may be output through the voice output unit.

According to various embodiments of the present invention, the following effects may be derived.

First, a variety of information on the road can be automatically collected continuously to improve the collection efficiency.

Second, the collection of various information on the road can ensure the safety of the measurement personnel, and can reduce the cost of the measurement personnel.

Effects obtained in the present invention are not limited to the above-mentioned effects, and other effects not mentioned above may be clearly understood by those skilled in the art from the following description. will be.

1 (a) and 1 (b) are diagrams for describing a situation in which a vehicle on which a road environment information collection device is mounted runs on a road according to an embodiment of the present invention.
2 is a block diagram illustrating a configuration of an apparatus for collecting road environment information according to an exemplary embodiment.
3 (a) to 5 (b) illustrate a specific driving method of the apparatus for collecting road environment information according to an embodiment of the present invention.

Hereinafter, various embodiments of the present disclosure will be described in detail with reference to the accompanying drawings. However, in describing the present invention, when it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted.

1 (a) and 1 (b) are diagrams for describing a situation in which a vehicle 10 equipped with a road environment information collecting device (reference numeral 100 of FIG. 2) runs on a road according to an embodiment of the present invention. to be.

According to FIGS. 1A and 1B, a road environment information collection device (100 in FIG. 2) may be mounted on the vehicle 10. The vehicle 10 shown in FIG. 1 travels in one direction of a highway. The road environment information collection device 100 mounted on the vehicle 10 may collect various information that can be collected on the road while driving on the road. For example, the road environment information collecting device 100 may collect the current position of the vehicle 10 in units of 1 second, and the road surface temperature, the roughness information of the outside of the vehicle 10, the wind speed information, and the noise every 1 second. Size information can be collected at the same time.

Hereinafter, the configuration of the above-described road environment information collecting device 100 will be described with reference to FIG. 2.

According to FIG. 2, the road environment information collecting device 100 may include the location information collecting unit 110, the road surface temperature sensor 120, the acceleration sensor 130A, the gyro sensor 130B, the illuminance detecting sensor 140, and the wind speed. The detection sensor 150, the sound measuring unit 160, the communication unit 170, the storage unit 180, and the control module 190 are included. The components shown in FIG. 2 are not essential to implementing the road information collecting device 100, so that the road environment information collecting device 100 described herein is more or less than the components listed above. You can have

The location information collecting unit 110 may include a global positioning system (GPS) receiving unit to collect location and absolute time information of the current road information collecting device 100. In addition, when the road information collecting device 100 is mounted on a vehicle, the copper wire of the vehicle may be easily collected.

The location information collecting unit 110 may collect location information at longitude and latitude, and collect location information in units of 1 second, but the collection cycle is not limited thereto.

However, the above-described location information is not always accurate, and an error may occur due to signal interference or the like. The location information collecting unit 110 1) GBAS (Ground Based) for transmitting the correction value to the ground GPS receiver from the base station on the ground to monitor the broadcast GPS measurement error, etc. from the ground-based reference station to the Internet, modem, FM broadcast, etc. Augmentation), 2) SBAS (Satellite Based Augmentation System), which sends corrections from geostationary satellites to geostationary satellites (at 35,800 km above the equator) and receives them back to the ground GPS receiver, 3) carrier phase ( Real Time Kinematics (RTK), which is based on Carrie Phase (Measurement) measurements, can be used to collect location information more accurately.

The road surface temperature sensor 120 may detect the temperature of the road surface. In particular, the road surface temperature sensor 120 is configured to be non-contact to measure the temperature of the target object and the ambient air temperature. The measurement distance to the target size ratio may be 8: 1, but embodiments are not limited thereto.

The road surface temperature sensor 120 detects infrared rays (radiation energy) emitted from the surface of the object by using the point that the wavelength of light emitted by the object is shorter as the temperature is higher and becomes longer as the temperature is lower, thereby detecting the surface temperature. It can be measured.

The road surface temperature sensor 120 may measure minus 30 degrees Celsius to 200 degrees Celsius, the resolution is 0.1 degrees Celsius, the response time is 0.5 seconds, the communication method may support Modbus 485 RTU method, 95% emissivity. However, according to an embodiment, the above-described numerical value may be changed.

In addition, the road surface temperature sensor 120 may detect the temperature of the road surface according to the cycle of receiving the location information.

The acceleration sensor 130A and the gyro sensor 130B are modules for measuring the behavior of the vehicle. The acceleration sensor 130A may measure the inclination of the vehicle based on the direction of gravity, and the gyro sensor 130B may measure the speed of rotation.

Information about the balance of the vehicle may be measured using the acceleration sensor 130A and the gyro sensor 130B. For example, the acceleration sensor 130A and the gyro sensor 130B may measure data for quantitatively measuring road pavement state information, vehicle vibration intensity information, driving acceleration / deceleration information, and the like.

The acceleration sensor 130A and the gyro sensor 130B may be measured based on a period for collecting location information. For example, when the location information collection cycle is 1 second, information may be measured 200 times per second by measuring information in units of 5 msec. In addition, the measurement information measured by the acceleration sensor 130A and the gyro sensor 130B may be represented by a roll, pitch, yaw, composite information, or the like.

Illuminance detection sensor 140 is a sensor for detecting the amount of light per unit area. The illuminance detection sensor 140 may measure illuminance when too strong light is irradiated or appropriately irradiated to a driver who drives a vehicle.

The wind speed sensor 150 is a sensor that detects wind speed, and when a strong wind is applied to a vehicle running a bridge, the wind speed sensor 150 may detect a corresponding wind speed.

The sound measuring unit 160 is a module for measuring sound inside and outside the vehicle. As you drive the vehicle, you can measure the sound inside and outside the vehicle to compare the amount of noise in the specified section with your reference. The sound measurement unit 160 may check this when a sound louder than a reference noise of a specific region is measured.

The communicator 170 may include a short range communication module capable of communicating with an AVN system in a vehicle and may communicate with an external smart device through a telematics center, a traffic management server, or a telecommunication network outside the vehicle.

In addition, the communication unit 170 may transmit necessary information to an external Internet of Things (IoT) cloud.

The storage unit 180 may store measurement information collected from various sensors, and store information on a point where a problem occurs. The storage unit 180 may store various information according to the control of the control module 190, and the storage unit 180 may include a flash memory type, a hard disk type, and an SSD type ( Solid State Disk type, Silicon Disk Drive type, multimedia card micro type, memory of card type (e.g. SD or XD memory), random access memory (RAM), At least one type of static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, magnetic disk, and optical disk It may include a storage medium of. The road environment information management apparatus 100 may be operated in connection with a web storage that performs a storage function of the storage unit 170 on the Internet.

The control module 190 corresponds to a module for controlling all the above-described components.

In addition to the above-described configuration, a barometric pressure sensor, a hygrometer and the like may be further included, so that barometric pressure and humidity may be measured.

3 (a) to 5 (b) illustrate a specific driving method of the apparatus for collecting road environment information according to an embodiment of the present invention. 3 (a) and 3 (b) show that the road environment information collecting device 100 collects location information over time according to an embodiment of the present invention.

The first position of the vehicle 10A is shown in FIG. 3 (a), and the second position of the vehicle 10A is shown in FIG. 3 (b). The road environment information collecting device 100 may store the location information in the storage unit 180 to measure a moving line of the vehicle 10A.

In addition, the road environment information collection device 100 stores a route with a lot of vehicle driving history, and runs a route in which the vehicle 10A is stored, and when a dangerous situation occurs on the driving route, the communication unit 170 stores the route. It can be shared with vehicle AVN, road management server, and the like. In addition, the road environment information collection device 100 may output a warning message so that the vehicle driver knows.

4 (a) shows a specific measurement method of the road surface temperature sensor 120, Figure 4 (b) shows a situation of measuring the road surface temperature at the rear of the vehicle 10.

According to FIG. 4A, the road surface temperature sensor 120 may set a target size ratio to a measurement distance of 8: 1. In this case, when the measurement distance DIA is 25 cm, the diameter DIB of the object size may be 3.1 cm. However, the target size compared to the measurement distance may be implemented differently.

On the other hand, the bridge section passes through rivers and valleys, and because of the lower air flow, the road surface temperature is 2 to 3 ℃ lower than that of general earthworks, so it is vulnerable to freezing in winter, so special road management may be required. The collection device 100 can be usefully used.

FIG. 5A illustrates the structure of the acceleration sensor 130A, and FIG. 5B illustrates the structure of the gyro sensor 130B.

According to FIG. 5A, the acceleration sensor 130A may be implemented by a MEMS method, and may include a fixed plate 510 and a spring 520.

According to FIG. 5B, the gyro sensor 130B may also be implemented in a MEMS method, and may be mounted together with the acceleration sensor 130A in the same MEMS. The gyro sensor 130B may be provided with a plurality of arms 540 around the stator, and may measure the degree of rotation according to the rotation direction.

Meanwhile, in the case of the acceleration sensor 130A and the gyro sensor 130B, a measurement error may occur for each sensor. Accordingly, it is necessary to set the zero point of the sensors for a predetermined time.

In addition, since the measurement values of the sensors are different depending on the vehicle, it is also necessary to set the zero point of the sensors for each vehicle.

It is also necessary to complementarily filter the measured values of the acceleration sensor 130A and the gyro sensor 130B. In the sensor, the filter can detect the fluctuation of the data for a very short time due to electrical characteristics.

Although the gyro sensor 130B exhibits an instantaneous movement characteristic, it may become more and more inaccurate due to error accumulation (Draft phenomenon) as it continuously measures data. On the other hand, the acceleration sensor 130A is somewhat inaccurate, but cumulative error does not occur due to the passage of data measurement time. Therefore, by complementing the two sensor measurements with each other, it is possible to obtain measurements that reflect the movement characteristics well and do not generate cumulative errors.

Accordingly, by using the following formula, a measurement error between the acceleration sensor 130A and the gyro sensor 130B may be compensated.

[Measurement Compensation Formula]

angle = 0.98 * ( anlge + gyrData * dt) + 0.02 * (accData)

Where 0.98 and 0.02 are user-specified parameter values, angle is the degree to output (deg), anlge is the angle previously obtained (deg), gyrData is the gyro sensor measurement (deg / sec), and accData is the accelerometer sensor measurement (deg). And dt represents the division time increment (sec).

The meaning of the compensation equation is to place a relatively high weight (0.98) on the obtained angular position and the sensor measurement obtained through the gyro sensor 130B, and give a relatively low weight (0.02) to the measurement obtained through the acceleration sensor 130A. In addition, even though the value measured by the acceleration sensor 130A is small, it may be expressed that it continuously affects repeatedly.

On the other hand, the illumination sensor 140 may detect when the light is too strong than the reference value during the day or the light is too weak than the reference value at night, especially when the illuminance in the tunnel does not meet the reference value, it can be used well have.

In the case of tunnels, the lighting unit is divided into five types according to function.

domain Feature 1 Feature 2 Basic part Road luminance x roughness conversion factor Road brightness weekly 9.0 and night 2.0nt at 100Km / h design speed Entrance Diminish road surface brightness by classifying boundary, transition, and relaxation part
Outdoor brightness (2,000 ~ 6,000cd / ㎡) x coefficient x road brightness reduction rate x roughness conversion factor Transitional lighting is designed to eliminate black holes (suddenly unfamiliar). Exit Outdoor brightness of exit (3,000 ~ 6,000cd / ㎡) x 10% or more (applicable before exit 70m) Exit lighting is used to eliminate white hole phenomenon (outlet appears too bright) Connection road Installation of street lights for smooth brightness at night 180m extension when design speed 100Km / h, road brightness 2cd / ㎡ Emergency lighting Emergency lighting by backup power during tunnel blackout

If the illuminance sensor 140 does not measure a specific illuminance intensity in a specific region, the illuminance sensor 140 may store the corresponding position in the storage unit 180 and share the corresponding position later.

In addition, it is possible to identify the point or the section of the sudden changes in illumination that may occur during road driving.

Meanwhile, the functional operations and implementations of the subject matter described in this specification may be implemented in digital electronic circuitry, computer software, firmware or hardware including the structures and structural equivalents disclosed herein, or one or more of them. It can be implemented in combination. Implementations of the subject matter described herein may be embodied as one or more modules related to computer program instructions encoded on a program storage medium of tangible type for controlling or by the operation of one or more computer program products, ie control systems. Can be implemented.

The computer readable medium may be a machine readable storage device, a machine readable storage substrate, a memory device, a composition of materials affecting a machine readable propagated signal, or a combination of one or more thereof.

As used herein, the term " device " encompasses all devices, devices, and machines for controlling data, including, for example, programmable processors, computers, or multiple processors or computers. The control system may include, in addition to hardware, code that forms an execution environment for a computer program on demand, such as code constituting processor firmware, a protocol stack, a database management system, an operating system, or a combination of one or more thereof. .

Computer programs (also known as programs, software, software applications, scripts, or code) may be written in any form of programming language, including compiled or interpreted languages, or a priori or procedural languages. It can be deployed in any form, including components, subroutines, or other units suitable for use in a computer environment. Computer programs do not necessarily correspond to files in the file system. A program may be in a single file provided to the requested program, in multiple interactive files (eg, a file that stores one or more modules, subprograms, or parts of code), or part of a file that holds other programs or data. (Eg, one or more scripts stored in a markup language document). The computer program may be deployed to run on a single computer or on multiple computers located at one site or distributed across multiple sites and interconnected by a communication network.

Computer-readable media suitable for storing computer program instructions and data, on the other hand, include, for example, semiconductor memory devices such as EPROM, EEPROM, and flash memory devices, such as magnetic disks such as internal hard disks or external disks, magneto-optical disks, and CDs. It may include all types of nonvolatile memory, media and memory devices, including -ROM and DVD-ROM disks. The processor and memory can be supplemented by or integrated with special purpose logic circuitry.

Implementations of the subject matter described herein may include, for example, a backend component such as a data server, or include a middleware component such as, for example, an application server, or a web browser or graphical user, for example, where a user may interact with the implementation of the subject matter described herein. It may be implemented in a computing system that includes a front end component, such as a client computer with an interface, or any combination of one or more of such back end, middleware or front end components. The components of the system may be interconnected by any form or medium of digital data communication such as, for example, a communication network.

Although the specification includes numerous specific implementation details, these should not be construed as limited to any invention or the scope of the claims, but rather as a description of features that may be specific to a particular embodiment of a particular invention. It must be understood. Likewise, certain features described herein in the context of separate embodiments may be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable subcombination. Furthermore, while the features may operate in a particular combination and may be initially depicted as so claimed, one or more features from the claimed combination may in some cases be excluded from the combination, the claimed combination being a subcombination Or a combination of subcombinations.

In addition, although the drawings depict operations in a particular order, it is to be understood that such operations must be performed in the specific order or sequential order shown in order to obtain desirable results or that all illustrated acts must be performed. Can not be done. In certain cases, multitasking and parallel processing may be advantageous. Moreover, the separation of the various system components of the above-described embodiments should not be understood as requiring such separation in all embodiments, and the described program components and systems will generally be integrated together into a single software product or packaged into multiple software products. Should understand that

As such, this specification is not intended to limit the invention to the specific terms presented. Thus, while the present invention has been described in detail with reference to the above examples, those skilled in the art can make modifications, changes, and variations to the examples without departing from the scope of the invention. The scope of the present invention is shown by the following claims rather than the detailed description, and all changes or modifications derived from the meaning and scope of the claims and their equivalents should be construed as being included in the scope of the present invention. do.

Claims (5)

A location information collection unit for receiving location information;
A road surface temperature sensor which detects infrared rays emitted from the road surface and measures the temperature of the road surface and the ambient air at one second intervals without being in contact with the road surface;
An acceleration sensor and a gyro sensor for measuring a balance state of the vehicle at the one second period;
An illumination sensor for measuring the illumination of the outside of the vehicle at the interval of 1 second;
Storage unit;
A sound measuring unit measuring outside or inside of the vehicle at the interval of 1 second;
And a control module for collecting the location of the vehicle through the location information collection unit at the one second period.
The control module controls the road surface temperature sensor to measure the road surface temperature at each cycle, and controls the acceleration sensor and the gyro sensor to measure the balance state of the vehicle.
The control module,
Complementary combinations of the measurement information detected from the acceleration sensor and the gyro sensor, and gives a higher weight to the measurement of the gyro sensor to measure the balance of the vehicle,
The control module,
Collect location information on the tunnel, and measure the illumination information for each section through the illumination detection sensor when entering the tunnel, and if the measured illumination information does not meet a predetermined standard, the location information of the corresponding point is stored. Road environment information collection device, stored in the department. The method of claim 1,
Further comprising a communication unit,
The control module,
When the measured road surface temperature does not meet a predetermined criterion or the balance state of the vehicle does not meet a predetermined criterion at a specific point of a specific time, the traffic management server transmits the location information on the specific point through the communication unit. Me device to collect environmental information on the road, to the Internet IoT cloud. delete delete The method of claim 1,
Wind speed sensor; And a voice output unit,
The control module,
Collect location information for the bridge,
And outputting a notification through the voice output unit when the detected information exceeds a reference value based on the information collected by the wind speed sensor when the bridge is adjacent to the predetermined range.

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