KR102216785B1 - Driving control method for autonomous vehicle - Google Patents

Abstract

An objective of the present invention is to realize safe driving control of an autonomous vehicle. According to the present invention, a driving control method of an autonomous vehicle comprises: a step in which a traffic information collector collects a radar signal including driving environment data from a plurality of radars and signal devices buried in a road at regular intervals; a step of analyzing a vehicle driving situation on the road in accordance with the driving environment data of the collected radar signal; a step of inducing autonomous driving of a vehicle and detecting whether a preceding vehicle accident occurs in accordance with the analyzed vehicle driving situation; a step of generating an accident occurrence warning message for warning following autonomous vehicles based on an accident point of an accident occurrence if the vehicle accident occurrence is detected; and a step in which the traffic information collector wirelessly transmits the generated accident occurrence warning message to the following autonomous vehicles to allow the following autonomous vehicles to respond to the vehicle accident.

Description

Driving of an autonomous vehicle and its control method {DRIVING CONTROL METHOD FOR AUTONOMOUS VEHICLE}

The present invention relates to a technique for controlling the driving of an autonomous vehicle, and more particularly, to a driving of an autonomous vehicle capable of quickly detecting and responding to a vehicle accident at the front side when the autonomous vehicle is driving on the road, and a control method thereof. About.

As is known, by taking advantage of the development of technologies (e.g., sensor technology, radar technology, etc.), such as detecting and detecting the environment around the road and the driving situation of the vehicle, etc. Technology development is taking place.

Recently, self-driving vehicles of low altitude (low altitude of autonomous driving technology for autonomous driving of vehicles) or medium (high and medium of autonomous driving technology for autonomous driving of vehicles) have been developed, and driving tests on actual roads have been conducted everywhere. In particular, the actual operation of autonomous vehicles is being attempted in some areas where the operation area is limited (for example, an inner driving road in a university campus, an inner driving road in an amusement park, etc.).

The autonomous vehicle may detect (detect) a moving object (eg, vehicle, bicycle, bike, animal, person, etc.) approaching the front, side, or rear through a sensor or a radar mounted at a predetermined position of the vehicle.

That is, the autonomous vehicle may perform autonomous driving control such as collision avoidance driving and vehicle stop through detection of the approach of a moving object, and through this, an accident such as a collision of the autonomous vehicle with a moving object may be prevented.

However, the existing autonomous vehicle using self-sensing means such as sensors and radar mounted on the vehicle can prevent an accident caused by collision with a moving object approaching the vehicle itself to some extent, but in front of the autonomous vehicle being driven ( For example, in the case of a vehicle that the driver is driving, there is no means to detect a vehicle accident that has occurred irrespective of himself (in front of a position that does not enter the driver's field of view), such as collision avoidance control to respond to vehicle accidents in front. There is a problem that it has no choice but to have limits.

Korean Patent Publication No. 10-2020-0060980 (Publication date: 2020. 06. 02.)

The present invention collects radar signals (including driving environment data) transmitted from each radar and signal device buried in the road through a traffic information collector (infrastructure) installed on the roadside, and uses the collected radar signals to signal installed in the vehicle. Autonomous vehicle driving control method that can induce autonomous driving of the vehicle through mutual communication with the collector and at the same time detect an accident of the preceding vehicle while driving and alert the autonomous vehicles following the accident based on the accident point. And an apparatus thereof.

The problem to be solved by the present invention is not limited to the ones mentioned above, and another problem to be solved that is not mentioned can be clearly understood by those of ordinary skill in the art from the following descriptions. will be.

According to an aspect of the present invention, a traffic information collector collecting radar signals including driving environment data from a plurality of radars and signal devices buried at predetermined intervals on a road, and driving environment of the collected radar signals Analyzing a vehicle driving situation on the road based on data, inducing autonomous driving of the vehicle based on the analyzed driving situation of the vehicle and detecting whether a preceding vehicle accident has occurred, and the occurrence of the vehicle accident Is detected, generating an accident occurrence warning message for alerting the occurrence of an accident to autonomous vehicles following the accident point, and the traffic information so that the following autonomous vehicles can respond to the vehicle accident. It is possible to provide a driving control method of an autonomous vehicle including the step of wirelessly transmitting, by a collector, the generated accident warning message to the following autonomous vehicles.

The following autonomous vehicles of the present invention may be autonomous vehicles or general vehicles driving in a preset road zone at a rear end based on the accident point.

The accident warning message of the present invention may be continuously wirelessly transmitted in the preset road zone according to a preset period.

The preset predetermined period of the present invention is a preceding period that is temporally preceded by a temporally following subsequent period (a time period that temporally follows the preset predetermined period) (a time period that temporally precedes among the preset predetermined period) ) Can be set relatively longer than.

The present invention includes the steps of analyzing driving environment data of a radar signal collected after the occurrence of the vehicle accident to check whether the vehicle accident has been completed, and when it is determined that the vehicle accident has been completed, generating a corresponding training completion message. And wirelessly transmitting the generated training completion message to the following autonomous vehicles.

The present invention includes the step of receiving a request for vehicle status information of a road ahead including from one of the autonomous driving vehicles to the accident point from one of the following autonomous vehicles, and a vehicle location and vehicle for the road ahead according to the request. The method may further include generating a flow screen, and wirelessly transmitting the generated vehicle location and vehicle flow screen to the autonomous vehicle.

The request for the vehicle status information of the present invention may be generated based on an occupant interface of the autonomous vehicle.

According to another aspect, the present invention includes a driving environment collecting unit for collecting radar signals including driving environment data from a plurality of radars and signal devices buried at predetermined intervals on a road, and driving environment data of the collected radar signals. A driving situation analysis unit that analyzes the driving situation of the vehicle on the road based on the vehicle driving situation, and a vehicle accident detection unit that induces autonomous driving of the vehicle and detects whether a preceding vehicle accident has occurred based on the analyzed driving situation of the vehicle; When the occurrence of the vehicle accident is detected, a message generator for generating an accident occurrence warning message to alert the occurrence of an accident to autonomous vehicles following the accident point, and the following autonomous vehicles In order to respond, a driving control device for an autonomous vehicle may be provided, including a communication unit for wirelessly transmitting the generated accident warning message to the following autonomous vehicles.

The following autonomous vehicles of the present invention may be autonomous vehicles or general vehicles driving in a preset road zone at a rear end based on the accident point.

The communication unit of the present invention may continuously wirelessly transmit the accident occurrence warning message into the preset road zone according to a preset period.

The communication unit of the present invention may set a later period that is temporally followed by a relatively longer than a preceding period that temporally precedes with respect to the predetermined period.

The driving situation analysis unit of the present invention analyzes whether or not the vehicle accident has been completed based on driving environment data of a radar signal collected through the driving environment collecting unit after the occurrence of the vehicle accident, and the message generating unit includes: When it is determined that it is complete, a training completion message corresponding thereto is generated, and the communication unit may wirelessly transmit the generated training completion message to the following autonomous vehicles.

In the present invention, when a request for vehicle status information of a front road including from one of the following autonomous vehicles to the accident point is received through the communication unit, the front road corresponding to the request A road screen generator for generating a vehicle location and a vehicle flow screen for, and the communication unit may wirelessly transmit the generated vehicle location and vehicle flow screen to the autonomous vehicle.

According to an embodiment of the present invention, a radar signal (including driving environment data) transmitted from each radar and signal device buried in the road is collected through a traffic information collector installed on the side of the road, and the collected radar signal is used in the vehicle. Induces autonomous driving of the vehicle through mutual communication with the installed signal collector, and responds to vehicle accidents in front by detecting an accident of the preceding vehicle while driving, and alerting the autonomous vehicles following the accident based on the accident point. It is possible to effectively perform collision avoidance control to achieve safer driving control of an autonomous vehicle.

1 is an exemplary diagram of a road traffic system to which a driving control apparatus for an autonomous vehicle according to an embodiment of the present invention can be applied.
2 is a block diagram of an apparatus for controlling driving of an autonomous vehicle according to an embodiment of the present invention.
3 is a flowchart illustrating a main process of alerting autonomous vehicles following an accident of a vehicle ahead detected using a plurality of radars buried in a road according to an embodiment of the present invention.

First, the advantages and features of the present invention, and a method of achieving them will become apparent with reference to embodiments to be described later in detail together with the accompanying drawings. Here, the present invention is not limited to the embodiments disclosed below, but may be implemented in a variety of different forms, only the present embodiments are intended to complete the disclosure of the present invention, and are generally in the technical field to which the present invention pertains. It is provided by way of example in order to allow those skilled in the art to clearly understand the scope of the invention, so the technical scope of the invention should be defined by the claims.

In addition, in the following description of the present invention, if it is determined that a detailed description of known functions or configurations may unnecessarily obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to intentions or customs of users and operators. Therefore, the definition should be made based on the technical idea described throughout the description of the present invention.

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

1 is an exemplary diagram of a road traffic system to which a driving control apparatus for an autonomous vehicle according to an embodiment of the present invention can be applied.

Referring to FIG. 1, a plurality of lanes, such as a plurality of lanes for maintaining a lane of an autonomous vehicle in driving, are located at a predetermined position of a road 102 on which autonomous vehicles such as passenger cars (for example, 112, 114, 116) travel. The solid white line 108 and the solid yellow line 104 are painted.

Therefore, the autonomous vehicles 112, 14, and 116 traveling in each lane of the road 102 divided by lanes, that is, a radar buried on the lane, and a sensor and sensing means capable of interacting with the radar are mounted. Vehicles can drive autonomously while automatically identifying lanes drawn on the road through signal exchange with embedded devices. Here, autonomous driving may be defined as, for example, unmanned driving.

Of course, not all vehicles driving on each lane of the road 102 are autonomous vehicles, and some vehicles may be ordinary vehicles driven directly by the driver.

In addition, a plurality of radars and signaling devices 118 are buried in each lane of the road 102 at predetermined intervals, and each radar and signaling device 118 is a radar signal including driving environment data of an autonomous vehicle. At predetermined intervals, radar signals including driving environment data transmitted wirelessly may be transmitted to the traffic information collector 120 installed at a predetermined location along the roadside.

In FIG. 1, reference numeral 106 may mean, for example, a central separation zone. In this embodiment, only one-way three-lane road among roads for one-way three-lane is exemplarily shown.

The traffic information collector 120 is shown in FIG. 1 for convenience of explanation and enhancement of understanding, but this is only an exemplary presentation, and is not necessarily limited thereto, and is used along one side (or alternating both sides) of the road side. It may be installed in a form in which a plurality of units exist at set predetermined distance intervals.

In FIG. 1, the autonomous driving vehicle 112 and the autonomous driving vehicle 114 indicate a state in which a collision has occurred, and a situation in which two vehicles are placed in a stopped state across two lanes and three lanes due to such vehicle collision. It can be seen that it is (vehicle accident situation).

In this case, a number of radars buried on the road at the accident site include accident situation data of autonomous vehicles (i.e., accident situation data in which two vehicles in a collision were stationary across two lanes and three lanes). A radar signal is wirelessly transmitted at predetermined intervals, and the radar signals including accident situation data (driving environment data) transmitted wirelessly may be transmitted to the traffic information collector 120 installed at a predetermined location along the roadside.

The traffic information collector 120 detects a vehicle accident through analysis of radar signals including accident situation data that is wirelessly transmitted and received (collected) from each radar, and generates an accident warning message generated based on the detection result. It is possible to provide a function such as wireless transmission to autonomous vehicles (or general vehicles) that follow a point based on a point, and specific functions provided by the traffic information collector 120 are described in detail with reference to FIG. Will be

2 is a block diagram of a driving control device for an autonomous vehicle according to an embodiment of the present invention, a driving environment collection unit 202, a driving situation analysis unit 204, a vehicle accident detection unit 206, and a message generation A unit 208, a communication unit 210, and a road screen generator 212 may be included.

The driving environment collection unit 202 includes driving environment data (e.g., accident situation data, etc.) wirelessly transmitted from a plurality of radars and signal devices 118 buried at predetermined positions in each lane in the road 102 It is possible to provide a function such as collecting (acquiring) radar signals to perform and transmitting the collected radar signals to the driving condition analysis unit 204.

The driving situation analysis unit 204 is based on the driving environment data included in the radar signals remotely collected from each radar through the driving environment collecting unit 202, the vehicle driving situation (e.g., vehicle A function of analyzing whether driving, whether the vehicle is stopped, a vehicle stopping position on a lane, etc.), and transmitting (notifying) the analysis result to the vehicle accident detection unit 206 may be provided.

In addition, the driving condition analysis unit 204 may detect a vehicle accident based on the driving environment data included in the radar signals collected in real time through the driving environment collection unit 202 after a vehicle accident occurs on the road 102. It is possible to provide a function of analyzing whether the training has been completed, and transmitting (notifying) the vehicle accident to the message generator 208 when it is determined that the vehicle accident has been resolved.

The vehicle accident detection unit 206 induces autonomous driving of the vehicle based on the vehicle driving situation analyzed by the driving situation analysis unit 204 and detects whether a preceding vehicle accident has occurred on the road 102, and When an accident (eg, a vehicle collision accident, a vehicle rollover accident, etc.) is detected, a function such as transmitting the information to the message generating unit 208 may be provided.

When the detection of a vehicle accident is notified from the vehicle accident detection unit 206, the message generating unit 208 generates an accident warning message to alert an accident to autonomous vehicles or general vehicles following the accident point. And, it is possible to provide a function such as transmitting the generated accident warning message to the communication unit 210. Here, the accident warning message may include, for example, the number of vehicle accidents and the time when vehicle accidents occur.

In addition, the message generation unit 208, when notified of completion of the vehicle accident recovery from the driving situation analysis unit 204, provides a function such as generating a corresponding vehicle accident completion message and transmitting it to the communication unit 210 can do.

The communication unit 210 is an autonomous vehicle that follows from the accident point an accident occurrence warning message transmitted from the message generating unit 208 so that autonomous vehicles or general vehicles following the accident can respond to the vehicle accident. It may provide a function such as wireless transmission to fields or general vehicles.

Here, the communication unit 210 sends an accident warning message to a predetermined period (e.g., 0.5 seconds, within a preset road area (eg, within 300 meters from the accident point, within 500 meters, within 800 meters, etc.)). 1 second, etc.) can be transmitted continuously. At this time, the reason why the accident warning message is continuously wirelessly transmitted at a preset predetermined period is that new vehicles enter the preset road zone as time elapses.

In addition, the communication unit 210 may set a later period that follows temporally for a predetermined period (eg, 1 minute) to be relatively longer than a preceding period that precedes it in time. For example, an accident warning message is wirelessly transmitted at 0.5 second intervals in the preceding period of 20 seconds (the time interval of 1 to 20 seconds out of 1 minute), followed by a 40 second trailing cycle (the time interval of 21 seconds to 60 seconds out of 1 minute). ) Can be set to wirelessly transmit an accident warning message at 1 second intervals.

The road screen generation unit 212 includes a road ahead (e.g., from the accident point) from the autonomous driving vehicle (or general vehicle) to the accident point from any one of autonomous vehicles or general vehicles following the accident point. When a request for vehicle status information of the road ahead between vehicles) is received through the communication unit 210, a vehicle location and a vehicle flow screen for the road ahead corresponding to the request are generated, and the vehicle location of the generated road ahead And transmitting the vehicle flow screen to the communication unit 2110.

Here, the request for vehicle status information may be generated through an interface of a passenger in the vehicle and transmitted wirelessly to the communication unit 210.

The communication unit 210 may wirelessly transmit the vehicle location and vehicle flow screen of the road ahead received from the road screen generator 212 to a corresponding vehicle (ie, a vehicle requesting vehicle status information).

3 is a flowchart illustrating a main process of alerting autonomous vehicles following an accident of a vehicle ahead detected using a plurality of radars buried in a road according to an embodiment of the present invention.

Referring to FIG. 3, in a plurality of radars and signal devices 118 buried at predetermined intervals in each lane of the road 102, a radar signal including driving environment data of an autonomous vehicle driving on the road is preset. The radar signals including driving environment data wirelessly transmitted at predetermined intervals may be collected through the driving environment collecting unit 202 in the traffic information collector 120 (step 302).

In the driving situation analysis unit 204, based on the driving environment data included in the radar signals remotely collected from each radar buried in the lanes of the road 102 through the driving environment collecting unit 202, the road 102 ), such as whether the vehicle is running, whether the vehicle is stopped, and the vehicle stopping position on the lane (step 304).

The vehicle accident detection unit 206 determines whether a vehicle accident (for example, a vehicle collision accident, a vehicle rollover accident, etc.) has occurred on the road 102 based on the vehicle driving situation analyzed through the driving situation analysis unit 204. It detects (step 306), and when a vehicle accident occurs as a result of detection (step 308), it notifies the message generation unit 208 of this.

When the detection of the vehicle accident is notified, the message generating unit 208 generates an accident warning message for warning of the accident to autonomous vehicles or general vehicles following the accident point, and the generated accident warning message Is transmitted to the communication unit 210, and in the communication unit 210, the generated accident warning message is transmitted from the accident point so that autonomous vehicles or general vehicles following the accident point can respond to the vehicle accident. Wireless transmission is performed to driving vehicles or general vehicles (step 310).

At this time, the communication unit 210 sends an accident warning message to a predetermined period (e.g., 0.5 seconds, 1 area, etc.) within a preset road area (eg, within 300 meters from the accident point, within 500 meters, within 800 meters, etc.) Seconds, etc.) can be continuously wirelessly transmitted.

In addition, in the communication unit 210, for a predetermined period (for example, 1 minute), a subsequent period that follows in time may be set to be relatively longer than a preceding period that precedes in time. For example, in the preceding period of 20 seconds (the time interval of 1 second to 20 seconds of 1 minute), an accident warning message is wirelessly transmitted at 0.5 second intervals, followed by a 40 second following period (the time interval of 21 seconds to 60 seconds out of 1 minute). ), an accident warning message can be wirelessly transmitted at 1 second intervals.

In this case, drivers of autonomous vehicles or general vehicles that follow based on the accident point of the vehicle may perform driving control (eg, slowing the vehicle, flashing an emergency light, etc.) corresponding to a vehicle accident in front.

In addition, the occupants of autonomous vehicles or drivers of general vehicles following the accident point, vehicle status information on the road ahead (e.g., the road ahead between the vehicle from the accident point) including from their current location to the accident point. Can be requested.

When vehicle status information is requested by an occupant of an autonomous vehicle or a driver of a general vehicle, the road screen generator 212 includes a road ahead including the vehicle from the vehicle to the accident point (for example, a road ahead between the vehicle and the vehicle). ), and the communication unit 210 wirelessly transmits the vehicle location and vehicle flow screen of the road ahead to the corresponding vehicle (ie, the vehicle requesting vehicle status information).

Again, in the driving environment collection unit 202, driving environment data (eg, accident situation data, etc.) wirelessly transmitted from a plurality of radars and signal devices 118 buried in each lane of the road 102 after a vehicle accident occurs. Radar signals including a are collected and transmitted to the driving situation analysis unit 204 (step 312), and the driving situation analysis unit 204 includes a driving environment included in the radar signals collected in real time after a vehicle accident occurs. The data is analyzed (step 314), and based on the analysis result, it is checked whether or not handling of the vehicle accident has been completed (step 316).

If it is determined that the vehicle accident has been corrected as a result of the check in step 316, the message generating unit 208 generates a corresponding vehicle accident completion message and transmits it to the communication unit 210, and the communication unit 210 In step 318, the vehicle location and vehicle flow screen of the road ahead are wirelessly transmitted to the vehicle (ie, the vehicle requesting vehicle status information).

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains, various substitutions, modifications, and changes, etc., within the scope not departing from the essential characteristics of the present invention. It will be easy to see that this is possible. That is, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments.

Accordingly, the scope of protection of the present invention should be interpreted by the claims to be described later, and all technical thoughts within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.

118: radar and signaling device
120: traffic information collector
202: Driving environment collection unit
204: driving situation analysis unit
206: vehicle accident detection unit
208: message generator
210: communication department
212: road screen generator

Claims (7)

Collecting, by the traffic information collector, a radar signal including driving environment data from a plurality of radars and signal devices buried at predetermined intervals on the road;
Analyzing a vehicle driving condition on the road based on the collected driving environment data of the radar signal,
Detecting whether a preceding vehicle accident has occurred based on the analyzed driving condition of the vehicle; and
When the occurrence of the vehicle accident is detected, generating an accident occurrence warning message to alert the occurrence of the accident to autonomous vehicles following the accident point,
Wirelessly transmitting the accident occurrence warning message generated by the traffic information collector to the following autonomous vehicles, so that the following autonomous vehicles can respond to the vehicle accident,
The following autonomous vehicles are autonomous vehicles driving in a preset road zone at a rear end based on the accident point,
Analyzing driving environment data of a radar signal collected after the occurrence of the vehicle accident, checking whether the vehicle accident has been completed or not;
If it is determined that the training is complete, generating a corresponding training completion message,
Further comprising the step of wirelessly transmitting the generated training completion message to the following autonomous vehicles,
The accident occurrence warning message is continuously wirelessly transmitted in the preset road area according to a preset period,
The preset predetermined period is compared to a preceding period in which a subsequent period that follows in time (a time period that follows in time among the preset periods) precedes in time (a time period that precedes in time among the preset periods). Set relatively long
Driving control method of autonomous vehicle. delete delete delete delete The method of claim 1,
Receiving a request for vehicle status information of a road ahead including from any one of the following autonomous vehicles to the accident point; and
Generating a vehicle location and vehicle flow screen for the road ahead according to the request,
Further comprising the step of wirelessly transmitting the generated vehicle location and vehicle flow screen to the autonomous vehicle
Driving control method of autonomous vehicle. The method of claim 6,
The request for the vehicle status information,
Generated based on the occupant interface of the autonomous vehicle
Driving control method of autonomous vehicle.

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