KR102264265B1 - Method for road lane management based on vehicle-road infrastructure information fusion and apparatus for the same - Google Patents

Abstract

A vehicle-road infrastructure information convergence-based road lane management method and system are disclosed. The vehicle-road infrastructure information convergence-based road lane management method according to the present invention comprises receiving individual road condition information including road lane information for a road section being driven from at least one autonomous vehicle and location information of the autonomous vehicle. step, deriving road condition analysis information by analyzing the individual road condition information, comparing the derived road condition analysis information with design information for the road section being driven to derive the degree of difference between the two, and the difference and determining a road section in which the degree exceeds a predetermined reference value.

Description

Vehicle-Road Infrastructure Information Convergence-based Lane Management Method and System {METHOD FOR ROAD LANE MANAGEMENT BASED ON VEHICLE-ROAD INFRASTRUCTURE INFORMATION FUSION AND APPARATUS FOR THE SAME}

The present invention relates to road lane management, and more particularly, to a method and system for performing road lane management based on the fusion of vehicle-road infrastructure information.

An autonomous vehicle performs autonomous driving by using the lane keeping control system installed in the vehicle during autonomous driving. Such a lane keeping control system is a driving lane and driving vehicle obtained by signal processing sensor information and vehicle information (including vehicle speed, inertia, steering angle, steering torque, etc.) acquired by an image sensor for a vehicle (including lidar) on the driving route required for lane maintenance. Based on the relative information values (including departure angle, departure distance, curvature, road width, etc.) with to control the vehicle.

The lane keeping control system of an autonomous vehicle is largely composed of Recognition, Judgment, and Operation layers as shown below.

1) Recognition layer: A layer that extracts and categorizes attribute information required for driving by using sensors installed in a vehicle (eg, Camera, Radar, Lidar, etc. in FIG. 1) that play the same role as human eyes and ears

2) Decision layer: A layer that determines the movement of a vehicle, such as creating a safe zone and determining a dangerous situation to safely drive to a destination (eg, DCU in FIG. 1 : Domain Control Unit)

3) Operation layer: A layer that controls the direct movement of a vehicle, such as controlling the speed or direction, like a human blood vessel, muscle, and nervous system (various actuators and controllers that control them)

In order for the autonomous vehicle's lane keeping control system to operate smoothly, the autonomous vehicle must properly recognize the lane on the road. Acquired road lanes need to be properly installed and managed. In other words, some of the road lanes may be worn out or erased due to the driving of many vehicles and the influence of weather, etc., and such damage to the road lanes can greatly impair the safety of autonomous driving, no matter how good the sensor performance of the autonomous vehicle is. have. Therefore, road lane management is very important for the safe driving of autonomous vehicles, and road lane management has not been performed in consideration of the autonomous driving-related data of autonomous vehicles.

On the other hand, there are attempts to graft new technologies such as cloud systems, big data processing, artificial intelligence (AI), internet of things (IoT), edge computing, etc. There was no example of receiving the status of road lanes (including road facilities) from autonomous driving vehicles (including general vehicles driven by humans) and using them to secure safe driving of autonomous vehicles and manage road lanes.

An object of the present invention for solving the above problems is to provide a method and system for fusion of vehicle-side information and road infrastructure information to identify the state of a road lane and utilize it for road maintenance.

In addition, another object of the present invention for solving the above problems is a method and system for providing information on a driving lane and information on a virtual driving lane to the vehicle side by fusion of vehicle-side provided information and road infrastructure information. is to provide

Another object of the present invention to solve the above problems is to provide an autonomous driving system that performs autonomous driving by receiving lane information in which vehicle-side provided information and road infrastructure information are convergence-analyzed.

In order to achieve the above object, a cloud-based vehicle-road infrastructure information convergence type lane management method according to an embodiment of the present invention for achieving the above object includes road lane information for a road section being driven from one or more autonomous vehicles and a location of the autonomous vehicle Receiving individual road condition information including information, analyzing the individual road condition information to derive integrated road condition analysis information, and collecting the derived road condition analysis information and design information for the driving road section Comprising the steps of deriving a degree of difference between the two by comparison and determining a road section in which the degree of difference exceeds a predetermined reference value, generating virtual lane information for a road section in which the degree of difference exceeds a predetermined reference value and transmitting the generated virtual lane information to the autonomous vehicle.

The road lane information includes at least one of road lane state information obtained through an image sensor of the autonomous vehicle, road infrastructure state information, and recognition rate data of the image sensor.

The cloud-based vehicle-road infrastructure information convergence lane management method according to the present invention comprises the steps of: generating driving lane information for each road section that maximizes safe driving of the autonomous vehicle based on the road condition analysis information; The method further includes transmitting driving lane information to the autonomous vehicle.

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The cloud-based vehicle-road infrastructure information convergence lane management method according to the present invention includes the steps of transmitting road condition guide information including information on a road section in which the degree of difference exceeds a predetermined reference value to a computing device of a road management team further includes

In order to achieve the above object, a cloud-based vehicle-road infrastructure information convergence lane management system according to another embodiment of the present invention for achieving the above object includes road lane information for a road section in which at least one autonomous vehicle is driving and the information of the autonomous vehicle. A road condition information transceiver for receiving individual road condition information including location information, a road condition analysis unit for deriving road condition analysis information by analyzing the individual road condition information, and the derived road condition analysis information and the road section A road information comparison unit for deriving the degree of difference between the two by comparing the design information for each other, a road condition determination unit for determining a road section in which the degree of difference exceeds a predetermined reference value, and lane information for transmitting virtual lane information to the autonomous vehicle a transmission unit, wherein the virtual lane information is information on a virtual driving lane for a road section in which the degree of difference determined by the road condition determination unit exceeds a predetermined reference value.

The road condition transceiver transmits road condition guide information including information on a road section in which the degree of difference exceeds a predetermined reference value to the computing device of the road management team.

The cloud-based vehicle-road infrastructure information convergence lane management system according to the present invention further transmits driving lane information from the lane information transmitter to the autonomous vehicle.

The driving lane information is information on a driving lane for each road section that maximizes safe driving of the autonomous vehicle based on the road condition analysis information of the road condition analysis unit.

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The cloud-based vehicle-road infrastructure information convergence autonomous driving system according to another embodiment of the present invention for achieving the above object provides individual road condition information including road lane information and driving location information acquired using an image sensor. An individual road condition information transmitter for transmitting to the lane management system, a lane information receiver for receiving lane information from the lane management system, a driving route generator for generating a driving route based on the lane information, and a driving route generator based on the generated driving route and an autonomous driving controller for controlling autonomous driving, wherein the lane information includes virtual lane information, and the virtual lane information has a predetermined degree of road condition determination determined based on the individual road condition information analysis of the lane management system. It is information about the virtual driving lane for the road section that exceeds the standard value of .

The lane information further includes driving lane information.

The driving lane information is information on driving lanes for each road section for maximizing safe driving generated based on the analysis of the individual road condition information of the lane management system.

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According to the present invention, by using information and road infrastructure information provided from a plurality of autonomous vehicles, it is possible to immediately grasp the road condition in the cloud-based road lane management system, so that it is possible to promptly notify the road management team of the need for repairs, and to paint the optimal lane This is possible, and by providing information related to safe operation of the autonomous vehicle, the safety and reliability of the operation of the autonomous vehicle can be improved.

1 is a block diagram illustrating an autonomous vehicle according to the prior art;
2 is a flowchart illustrating a vehicle-road infrastructure information convergence-based road lane management method according to an embodiment of the present invention.
3 is a block diagram illustrating a vehicle-road infrastructure information convergence-based road lane management system according to an embodiment of the present invention.
4 is a block diagram illustrating an autonomous driving system based on vehicle-road infrastructure information fusion according to an embodiment of the present invention;

Objects and effects of the present invention are not limited to those mentioned above, and the objects and effects of the present invention, and technical configurations for achieving them will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings.

In describing the present invention, if it is determined that a detailed description of a well-known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms. Each of the following examples are provided so that the disclosure of the present invention is complete, and to completely inform those of ordinary skill in the art to which the present invention belongs, the scope of the invention, and it is intended to limit the scope of the present invention no.

Throughout the specification, when a part "includes" or "includes" a certain element, it means that other elements may be further included, rather than excluding other elements, unless otherwise stated. . In addition, terms such as "...process", "...unit", "...device", "...device", "...unit" or "...module" described in the specification are at least It means a unit that processes one function or operation, which may be implemented as hardware or software or a combination of hardware and software.

On the other hand, in each embodiment of the present invention, each of the components, functional blocks or means may be composed of one or more sub-components, and the electrical, electronic, and mechanical functions performed by each component are the electronic circuits. , an integrated circuit, an ASIC (Application Specific Integrated Circuit), etc. may be implemented as various well-known devices or mechanical elements, and may be implemented separately or two or more may be integrated into one.

Hereinafter, the configuration of the present invention will be described in detail through a preferred embodiment of the present invention with reference to the accompanying drawings. Of course, the technical spirit of the present invention is not limited to the following embodiments, and may be applied to other modifications or changed embodiments within the same or similar scope.

On the other hand, the automation level of an autonomous vehicle refers to five levels of autonomous driving, and stages 1 to 4 are premised on human driver intervention, but stage 5 is a fully autonomous vehicle with video, radar, lidar, and GPS. It aims to autonomously drive without human intervention by simply designating a destination by recognizing the surrounding environment.

In the present specification, the term self-driving vehicle does not mean only a 5-level fully autonomous vehicle without human intervention, but also encompasses autonomous vehicles having an automation level of 1 to 4 levels. For example, the present invention is applied to a vehicle of the second stage of autonomous driving that is commercialized and operated at the time of filing.

As described above, in order for an autonomous vehicle to safely and smoothly perform autonomous driving, it is necessary to maintain and manage road lanes and road facilities in an optimal state at all times. However, road lane management so far is designed without considering the actual driving data of the vehicle, whether it is a general vehicle or an autonomous vehicle, because roads and related facilities are being built in consideration of general vehicles driven by people. There is a need for a new road lane management method that considers the smooth autonomous driving of driving vehicles.

Therefore, in the following, a cloud-based vehicle-road infrastructure information convergence type road lane management method using cloud computing according to an embodiment of the present invention to solve such a problem in the prior art is described with reference to the accompanying drawings. The configuration will be described in detail.

2 is a flowchart illustrating a vehicle-road infrastructure information convergence-based road lane management method according to an embodiment of the present invention.

Referring to FIG. 2 , in the vehicle-road infrastructure information convergence-based lane management method according to an embodiment of the present invention, the lane management system installed in the cloud receives information about the road condition in which the autonomous vehicle is driving from the autonomous vehicle. After this, the state of the road is analyzed by analyzing it, and information related to the road condition is transmitted to the road management team receiving device 500 operated by the road management team.

Specifically, at least one autonomous vehicle 400 is information about the road condition measured by a sensor module (including an image sensor, a GPS receiver, an environmental sensor such as Radar, Lidar, etc.) mounted in each autonomous vehicle. The road condition information is transmitted to the lane management system 300 (S210). Here, the lane management system 300 is a cloud computer-based system that manages road lanes by fusing road information and road infrastructure information provided by the autonomous vehicle 400 . The road infrastructure information may be transmitted from another external related information providing device (not shown) and/or a system (not shown).

Here, the individual road condition information includes location information of the autonomous vehicle 400, information on road lanes (width between lanes, solid line section, dotted line section, U-turn section, lane color, crosswalk, road location, etc. displayed on the road) all information) and traffic light conditions necessary for road maintenance, road light conditions, milestone conditions, traffic conditions, etc., and location information of the facilities. In addition, the individual road condition information may include information on the recognition rate and recognition level of the road lane information measured by the sensor module (including the image sensor and the environmental sensor) of the autonomous vehicle 400 .

The recognition rate or recognition grade (hereinafter, collectively referred to as the recognition rate) of each sensor module may be determined according to the aging state of the sensor modules and the specifications of the hardware, but in the present invention, the driving environment around the vehicle (line clarity, climate, road condition) It is assumed to be determined by the influence of In actual implementation, it is clear to those of ordinary skill in the art to which the present invention pertains that the change in the recognition rate due to the aging state of the sensor or the hardware specification can be easily removed based on the detection history of the sensor module. will be able

On the other hand, the individual road condition information in the cloud-based vehicle-road infrastructure information convergence lane management method according to an embodiment of the present invention is not only an autonomous vehicle but also general vehicles (a vehicle driven by a person, which can measure the road condition). In addition to the case of using the measured road condition as driving assistance information by attaching an image sensor that can means the vehicle that transmits) can also be transmitted.

The lane management system 300 analyzes individual road condition information received from at least one autonomous vehicle 400 to derive integrated road condition analysis information indicating the condition of the road related to the individual road condition information (S220) . At this time, the lane management system 300 receives individual road condition information from a plurality of autonomous vehicles and general vehicles having a road condition measurement and transmission function that have driven the corresponding road up to a certain point in time in the present and past. Integrated road condition analysis information can be derived by performing big data analysis techniques.

Thereafter, the lane management system 300 compares the derived road condition analysis information with design information (including information on road design and repair status, etc.) for the corresponding road, and compares the current road condition with the design standard for the corresponding road. to derive the degree of difference (including information indicating the degree of difference) (S230). Here, the design information for the corresponding road may be provided from an external information providing system (not shown) or device (not shown) that provides related information, or the lane management system 300 itself may originally have it. .

The lane management system 300 determines whether a difference between the design road condition and the road condition measured by the autonomous vehicle 400 exceeds a predetermined reference value (threshold value) ( S240 ).

While performing steps S230 and S240, using information derived from the process of deriving road condition analysis information, information about the best driving lane for each road section to be transmitted to the autonomous vehicle 400 that has transmitted individual road condition information is generated. do. That is, lanes satisfying a predetermined reference value are identified for each road section, and driving lane information for guides for driving in these lanes is generated.

For example, the route is set such that the autonomous vehicle will drive from section A to section C through section B of a one-way three-lane road, and the lane management system 300 uses big data inference and analysis to determine 1 in section A of the road. Assuming that the lanes of the lane are good and the remaining lanes are poor, only the lanes of 2 lanes are good in section B, and only the lanes of 3 lanes are good in section C, the lane management system 300 shows that section A is 1 Driving lane information for guides is generated for guiding the vehicle to travel in a lane, a section B in a second lane, and a section C in a three lane.

Of course, in order to generate driving lane information for a guide for a road to be driven in the future, in the step S210 of the autonomous vehicle transmitting individual road condition information, the autonomous vehicle must also transmit destination route information set in the navigation system. to be.

Also, depending on road conditions, there may be places where there are no good lanes due to very weak lane management (including no lanes or severe wear of lane paint). In this case, the lane management system 300 generates virtual lane information for safe and smooth driving.

When the difference between the derived actual road and the road measured by the autonomous vehicle 400 exceeds a preset predetermined reference value, the lane management system 300 transmits road condition guide information including information on the degree of the difference to the road. It is transmitted to the computing device 500 of the management team (herein, a department that manages roads, which is referred to as encompassing people) (S250).

Alternatively, the lane management system 300 may transmit the road condition guide information to the road management team computing device 500 irrespective of whether the reference value has been passed. The road condition guide information may include information included in individual road condition information and/or information used in the process of deriving road condition guide information in addition to information on the degree of difference between the determined actual road and the design road.

The road management team computing device 500 includes all departments that perform maintenance on roads such as road lane repainting (referred to as road management centers, road management departments, etc., and not limited by terminology, all departments performing such tasks) device (portable terminal, PC, server computer, or system) operated by the company), and the department immediately identifies the section of the road that needs repair or maintenance based on the received road condition guide information in real time and performs road maintenance related tasks. can be done quickly. The road management team computing device 500 may be implemented as a general computer, a server, a cloud computing device, a terminal possessed by field personnel, and the like.

On the other hand, the lane management system 300 according to an embodiment of the present invention provides the best performance for each road section to the autonomous vehicle 400 that transmits individual road condition information using the information derived in the above-described road condition analysis information derivation process. The driving lane information indicating the driving lane is transmitted ( S260 ). Upon receiving this, the autonomous vehicle 400 uses the corresponding information in the lane keeping control system installed in the vehicle to maintain lanes for each road section (including maintenance of the driving route) or change lanes (including change of the driving route). autonomous driving such as

The lane management system 300 according to an embodiment of the present invention provides virtual lane information for a specific road section to the autonomous vehicle 400 that has transmitted individual road condition information based on the above-described road condition analysis information derivation process. can be transmitted (S260). Depending on the road conditions, there may be places where lane management of the road is very weak (including no lanes or severe wear of the lane paint). In this case, the autonomous vehicle 400 may perform autonomous driving by using virtual lane information for safe and smooth driving received from the lane management system 300 and a sensor module installed in the vehicle. Next, a cloud-based vehicle-road infrastructure information convergence type road lane management system according to an embodiment of the present invention will be described.

3 is a block diagram illustrating a vehicle-road infrastructure information convergence-based road lane management system according to an embodiment of the present invention.

Referring to FIG. 3 , the cloud-based vehicle-road infrastructure information convergence type lane management system 300 according to an embodiment of the present invention includes a road condition information transceiver 310 , a road condition analysis unit 320 , and a road design. It includes an information storage unit 330 , a road information comparison unit 340 , a road condition determination unit 350 , and a lane information transmission unit 360 .

The road condition information transceiver 310 according to an embodiment of the present invention receives individual road condition information from at least one or more autonomous vehicles 400 , and receives road condition guide information derived from the road condition determination unit 350 . It is transmitted to the computing device 500 of the road management team (a device used by the road management team to perform related tasks). As described above, since individual road condition information can be transmitted by a general vehicle equipped with related equipment, the road condition information transceiver 310 according to an embodiment of the present invention can also receive road condition guide information transmitted by a general vehicle. have. However, the present invention is not limited thereto, and the transceiver of individual road condition information and road condition guide information may be implemented separately, or may be implemented by being included in a communication module for transmitting and receiving other information.

Here, the individual road condition information includes location information of the autonomous vehicle 400, information on road lanes (width between lanes, solid line section, dotted line section, U-turn section, lane color, crosswalk, road location, etc. displayed on the road) all information) and traffic light conditions necessary for road maintenance, road light conditions, milestone conditions, traffic conditions, etc., and location information of the relevant facilities (which may be referred to as road infrastructure). In addition, the individual road condition information may include information on the recognition rate and recognition level of the road lane information measured by the sensor module (including the image sensor and the environmental sensor) of the autonomous vehicle 400 .

The road condition analysis unit 320 according to an embodiment of the present invention analyzes individual road condition information received from at least one or more autonomous vehicles 400 to analyze the road condition, which is condition information on roads related to the individual road condition information. derive information The road condition analysis unit 320 collects individual road condition information received from a plurality of autonomous vehicles and general vehicles that have traveled on the road up to a certain point in the past as well as individual road condition information at the current time point in big data. ), it is possible to derive road condition analysis information through the analysis technique.

The road design information storage unit 330 according to an embodiment of the present invention includes design information ( Hereinafter referred to as road design information) is stored. The road design information storage unit 300 transmits the road design information to the above-described road condition information transmission/reception unit 310 or a separate communication module (not shown) mounted in the lane management system 300 according to an embodiment of the present invention. can be received through The road design information may be stored in the road design information storage unit 330 in a fixed and unchanging form, and is updated when necessary through the above-described road condition information transmitting/receiving unit 310, a communication module or a separate storage device. It may be stored in the storage unit 330 .

The road information comparison unit 340 according to an embodiment of the present invention compares the road condition analysis information derived from the road condition analysis unit 320 to the road design information (road design and repair status) stored in the road design information storage unit 330 . etc.) and compare with Through this, the current road condition of the relevant road section and the level of design standards for the relevant road section are identified (including deriving information on the degree of difference).

When the difference between the derived actual road and the road measured by the autonomous vehicle 400 exceeds a preset reference value (threshold value), the road condition determination unit 350 according to an embodiment of the present invention determines the difference. It transmits road condition guide information including information on the road condition information to the computing device 500 of the road management team through the road condition information transmission/reception unit 310 . Alternatively, as described above, it may include a case in which road condition guide information is transmitted to the computing device 500 of the road management team regardless of whether the reference value has been passed. The road condition guide information may include information included in individual road condition information and/or other information used in the process of deriving road condition guide information in addition to the information on the degree of difference described above.

The lane information transmitter 360 according to an embodiment of the present invention transmits the driving lane information and/or virtual lane information described above in the cloud-based vehicle-road infrastructure information convergence lane management method according to an embodiment of the present invention of FIG. 2 . The individual road condition information is transmitted to the transmitted autonomous vehicle 400 . That is, the lane information transmission unit 360 of the lane management system 300 according to an embodiment of the present invention transmits individual road condition information using the information derived from the above-described road condition analysis unit 320 . The driving lane information indicating the best driving lane for each road section is transmitted to the 400 . Upon receiving this, the autonomous driving vehicle 400 may perform autonomous driving including lane maintenance or lane change for each road section by using the corresponding information.

In addition, the lane information transmitter 360 of the lane management system 300 according to an embodiment of the present invention uses the information derived from the road condition analysis unit 320 to transmit individual road condition information to a specific autonomous vehicle. It is possible to transmit virtual lane information for a road section (including a section in which the road lane painting has been worn or damaged). On the other hand, the lane information transmitter 360 according to an embodiment of the present invention may be implemented to transmit the driving lane information and the virtual lane information to separate transmission modules, unlike the above embodiment, and is included in another communication module. may be implemented.

The lane management system 300 according to an embodiment of the present invention may be implemented in a manner using a server computer fixed at a specific location, and a situation such as computer resources among a plurality of computer servers existing on the Internet. It can be implemented as a lane control system in which optimal computer servers are selected and configured according to Next, a cloud-based vehicle-road infrastructure information convergence type autonomous driving system according to an embodiment of the present invention will be described.

4 is a block diagram illustrating a vehicle-road infrastructure information convergence autonomous driving system according to an embodiment of the present invention.

Referring to FIG. 4 , a cloud-based vehicle-road infrastructure information convergence autonomous driving system 400 according to an embodiment of the present invention corresponds to an autonomous vehicle, and includes a sensor module 410 and a surrounding situation recognition unit 420 . , a road condition information transmitter 430 , a lane information receiver 440 , a driving route generator 450 , an autonomous driving controller 460 , and a control module 470 .

The sensor module 410 according to an embodiment of the present invention includes environmental sensors (vehicle speed sensor, acceleration sensor, yaw rate sensor, steering angle sensor) for driving road environment measurement and vehicle state measurement installed inside and outside the autonomous driving system 400 . , steering torque sensor, image sensor, lidar, GPS, etc.).

The surrounding situation recognition unit 420 according to an embodiment of the present invention determines the state of the autonomous driving system 400 and the driving road based on the driving road environment measurement information and the vehicle state measurement information received from the sensor module 410 . The environment may be determined and the result may be transmitted to the individual road condition information transmitter 430 . In addition, the surrounding situation recognition unit 420 may transmit the recognition rate (including the recognition grade) for the driving road environment measurement information and/or the vehicle condition measurement information received from the sensor module 410 to the road condition information transmitter 430 .

Driving road environment measurement information includes all information displayed on the road such as location information of the autonomous driving system 400, information on road lanes (width between lanes, solid line section, dotted line section, U-turn section, lane color, crosswalk, road location, etc.) information) and traffic light conditions necessary for road maintenance, road light conditions, milestone conditions, traffic conditions, etc., and location information of the corresponding facilities.

The road condition information transmission unit 430 according to an embodiment of the present invention transmits the driving road environment measurement information and vehicle condition measurement information received from the surrounding situation recognition unit 420, and the recognition rate (including recognition grade) information for them, V2X, It is transmitted to the cloud lane management system 300 using any wireless communication network such as WiFi or mobile communication network.

The lane information receiver 440 according to an embodiment of the present invention receives lane information (including driving lane information and/or virtual lane information) transmitted from the cloud lane management system 300 . That is, the lane information receiving unit 440 receives the driving lane information and/or virtual lane information described above in the cloud-based vehicle-road infrastructure information convergence lane management method according to an embodiment of the present invention of FIG. 2 to the lane management system 300 . receive from Meanwhile, the individual road condition information transmitter 430 and the lane information receiver 440 according to an embodiment of the present invention may be implemented as separate communication modules (not shown), respectively, or may be integrated into one communication module. have.

The driving route generating unit 450 according to an embodiment of the present invention generates a driving route based on the lane information (including driving lane information and/or virtual lane information) received from the lane information receiving unit 440 and then autonomously drives. It is transmitted to the control unit 460 .

The autonomous driving controller 460 according to an embodiment of the present invention controls the autonomous driving system 400 based on the driving route received from the driving route generator 450 . The autonomous driving system control according to the preferred embodiment of the present invention includes maintaining and/or changing a driving route, maintaining and changing driving speed (including stopping), on-off control such as vehicle lighting, and transmission cycle of vehicle driving information. It may include changing and/or changing the transmission target of vehicle driving information, displaying an in-vehicle instrument panel (including a display device), controlling sound, and the like.

The control module 470 is a module that performs a function related to driving of the autonomous driving system 400 based on the control of the autonomous driving controller 460, such as a steering module, a braking module, a driving module, a human machine interface (HMI) module, and the like. includes In addition, it may include a precise positioning correction unit (not shown) for performing precise positioning correction.

On the other hand, although each configuration in the above-described embodiments of the present invention has been described as a separate device, this is merely an exemplary description for convenience of description and enhancement of understanding, and within the scope of the technical spirit of the present invention. Of course, it may be implemented in various forms. For example, each transmitter and receiver may be implemented by being integrated into one communication module, or may be implemented by being divided into two or more devices.

The methods according to the present invention may be implemented in the form of program instructions that can be executed by various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the computer readable medium may be specially designed and configured for the present invention, or may be known and available to those skilled in the art of computer software.

Examples of computer-readable media include hardware devices specially configured to store and carry out program instructions, such as ROM, RAM, flash memory, and the like. Examples of program instructions include not only machine language codes such as those generated by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device described above may be configured to operate as at least one software module to perform the operations of the present invention, and vice versa.

Above, the configuration of the present invention has been described in detail through preferred embodiments of the present invention. However, the above-described embodiment is merely an example, and does not limit the scope of the present invention. Those of ordinary skill in the art of the present invention will be able to make various modifications and changes within the scope of the technical spirit of the present invention from the teachings and suggestions of the present specification. Therefore, the protection scope of the present invention should be determined by the description of the following claims.

Claims (14)

receiving individual road condition information including road lane information for a road section being driven from one or more autonomous vehicles and location information of the autonomous vehicle;
deriving integrated road condition analysis information by analyzing the individual road condition information;
comparing the derived road condition analysis information with design information for the road section being driven to derive a degree of difference between them; and
determining a road section in which the degree of difference exceeds a predetermined reference value;
generating virtual lane information for a road section in which the degree of difference exceeds a predetermined reference value; and
The cloud-based vehicle-road infrastructure information convergence lane management method further comprising transmitting the generated virtual lane information to the autonomous vehicle. According to claim 1,
The road lane information includes at least one of road lane state information obtained through an image sensor of the autonomous vehicle, road infrastructure state information, and recognition rate data of the image sensor, cloud-based vehicle-road infrastructure information convergence lane management Way. According to claim 1,
generating driving lane information for each road section that maximizes safe driving of the autonomous vehicle based on the road condition analysis information; and
A cloud-based vehicle-road infrastructure information convergence lane management method further comprising transmitting the generated driving lane information to the autonomous vehicle. delete According to claim 1,
The cloud-based vehicle-road infrastructure information convergence type lane management method further comprising transmitting road condition guide information including information on a road section in which the degree of difference exceeds a predetermined reference value to a computing device of the road management team. a road condition information transceiver for receiving individual road condition information including road lane information for a road section being driven from at least one autonomous vehicle and location information of the autonomous vehicle;
a road condition analysis unit for deriving road condition analysis information by analyzing the individual road condition information;
a road information comparison unit that compares the derived road condition analysis information with the design information for the road section to derive a degree of difference between the two;
a road condition determination unit for discriminating a road section in which the difference exceeds a predetermined reference value; and
and a lane information transmitter for transmitting virtual lane information to the autonomous vehicle;
The virtual lane information is information on a virtual driving lane for a road section in which the degree of difference determined by the road condition determination unit exceeds a predetermined reference value, a cloud-based vehicle-road infrastructure information convergence lane management system. 7. The method of claim 6,
The road condition information transceiver unit transmits road condition guide information including information on a road section in which the degree of difference exceeds a predetermined reference value to a computing device of the road management team, a cloud-based vehicle-road infrastructure information convergence type lane management system . 7. The method of claim 6,
The lane information transmitter
A cloud-based vehicle-road infrastructure information convergence lane management system that further transmits driving lane information to the autonomous vehicle. 9. The method of claim 8,
The driving lane information is information on driving lanes for each road section that maximizes safe driving of the autonomous vehicle based on the road condition analysis information of the road condition analysis unit, cloud-based vehicle-road infrastructure information convergence lane management system. delete an individual road condition information transmitter for transmitting individual road condition information including road lane information and driving location information obtained using an image sensor to a lane management system;
a lane information receiver configured to receive lane information from the lane management system;
a driving route generator configured to generate a driving route based on the lane information;
an autonomous driving control unit for controlling autonomous driving based on the generated driving path;
The lane information includes virtual lane information,
The virtual lane information is cloud-based vehicle-road infrastructure, which is information on a virtual driving lane for a road section in which the degree of road condition determination determined based on the individual road condition information analysis of the lane management system exceeds a predetermined reference value. Information convergence autonomous driving system. 12. The method of claim 11,
The lane information further includes driving lane information,
Cloud-based vehicle-road infrastructure information convergence type autonomous driving system. 13. The method of claim 12,
The driving lane information is information on driving lanes for each road section for maximizing safe driving generated based on the analysis of the individual road condition information of the lane management system, a cloud-based vehicle-road infrastructure information convergence type autonomous driving system. delete

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