KR102326821B1 - Map update system with precision of autonomous driving through MMS shooting - Google Patents

Abstract

The present invention relates to a location tracking system of a precise road map using mobile mapping system (MMS) data, and more specifically, to a location tracking system of a precise road map using MMS data which be filtered into a promising lane candidate using a precise driving trajectory obtained from an MMS vehicle to increase accuracy of lane detection and to reduce unnecessary calculations, thereby building a precise map of a lane level. The location tracking system comprises: a high accuracy driving trajectory detecting device; a rear camera device; a laser scanning device; a controller; a mapping device; and an orthogonal image converter.

Description

Map update system with precision of autonomous driving through MMS shooting}

The present invention relates to a system for tracking the location of a map with precision through MMS (Mobile Mapping System) data, and more particularly, by filtering into promising lane candidates using a high-precision driving trajectory obtained from an MMS vehicle, the accuracy of lane detection is increased and unnecessary It relates to a system for tracking the location of a map with precision through improved MMS data so that it can build a sub-optimal precision map by reducing calculations.
In addition, the present invention attenuates the vibrations generated in the MMS vehicle with the high attenuation ability of the rotating torque structure to safely protect the module, reduce the shooting cost by enabling drone shooting, and improve the convenience of updating by focusing on the desired part. It is about a system for locating maps with precision through MMS data that seeks and provides a moving ground reference point for aerial photography.

In order to support a more convenient, stable and efficient arrival to the destination through autonomous driving, it automatically determines whether a lane change is necessary by considering the shape of the road ahead recognized from the precision map, the connection relationship between roads, and the number of lanes. In order to effectively determine the timing of a lane change when a change is necessary, the need for a precise map is increasing.

In response to this demand, as in the example of FIG. 1 , in the prior art, it includes a pre-processing module (1), a region of interest setting module (2), a lane recognition module (3), an error detection module (4) and a display module (5). construct a lane map of the map, wherein the preprocessing module 1 includes a lane candidate selection unit 1-1, an edge extraction unit 1-2 and a thinning unit 1-3; The region of interest setting module 2 includes a dynamic image region of interest setting unit 2-1, a fixed image region of interest setting unit 2-2, a camera region of interest setting unit 2-3, and a video region of V-ROI (V-ROI). Interest) setting unit 2-4; The lane recognition module 3 includes a lane search unit 3-1, an optimal lane determination unit 3-2, and a candidate lane search unit 3-3; The error detection module 4 includes a top view conversion unit 4-1 and a Hough conversion unit 4-2, thereby interlocking the vehicle location information obtained from the navigation and the image information obtained from the vehicle to generate interest for lane recognition A lane recognition system that reduces the amount of computation required to perform lane recognition by filtering an area is disclosed.

However, this technology has the advantage of improving the response performance of the entire system by reducing the amount of computation required to perform lane recognition by filtering the region of interest for lane recognition by linking the vehicle location information obtained from the navigation and image information obtained from the vehicle However, the relevance to constructing the lane information included in the precision map is low.

In addition, the general lane recognition technology uses image-based lane recognition and lane object extraction to find the connectivity of pixels with a large color difference from the surrounding area from the image and estimate the lane as the lane. this exists

Republic of Korea Patent Publication No. 10-2018-0131154 (2018.12.10.) 'Lane filtering and lane map construction method using high-precision driving trajectory of MMS vehicle'

The present invention was created to solve the problems in the prior art as described above. By filtering the high-precision driving trajectory obtained from the MMS vehicle into promising lane candidates, the accuracy of lane detection is increased and unnecessary calculation is reduced to reduce the lane level. Its main purpose is to provide a map location tracking system with improved precision through MMS data to build a precision map of
In addition, the present invention attenuates the vibrations generated in the MMS vehicle with the high attenuation ability of the rotating torque structure to safely protect the module, reduce the shooting cost by enabling drone shooting, and improve the convenience of updating by focusing on the desired part. One of its objectives is to provide a map location tracking system with precision through MMS data that provides a moving ground reference point for aerial photography.

The present invention is a means for achieving the above object, is mounted on the MMS vehicle 100, a high-precision traveling trajectory detecting device 10 for detecting the traveling trajectory of the MMS vehicle 100; The rear camera device 20 for obtaining the RGB image according to the driving trajectory of the MMS vehicle 100; a laser scanning device 30 for acquiring a three-dimensional point cloud of map coordinates through ground lidar information when the MMS vehicle 100 is driven; a controller 40 for controlling the driving of the high-precision driving trajectory detecting device 10, the rear camera device 20, and the laser scanning device 30; a mapper 50 for generating a mapping image by projecting the high-precision driving trajectory of the MMS vehicle obtained by the high-precision driving trajectory detection device 10 according to the control signal of the controller 40 onto the RGB image; and an orthographic image converter 60 that converts the mapping image to an ortho image through an inverse perspective mapping method under the control of the controller 40; (40) is approximated by a linear equation to derive a representative linearity, then a lane candidate is detected for the region of interest in an orthogonal image to derive a linearity, and a promising lane is obtained by comparing the similarity between the representative linearity of the high-precision driving trajectory and the linearity of the lane candidates. Candidates are derived, lane objects are extracted from the derived promising lane candidates, and map coordinates obtained from the map coordinates 3D point cloud obtained by the laser scanning device 30 are given to the extracted lane objects to generate map coordinate lanes. and build lane maps; The MMS vehicle 100 is equipped with a module housing MH for mounting modules necessary for generating map coordinate lanes, and between the module housing MH and the upper surface of the vehicle body 110 which is the inner floor surface of the MMS vehicle 100 A torque attenuator 5000 is further installed, and the torque attenuator 5000 is assembled to the cylindrical rotational torque induction tube 5200 with one side open, and the rotational torque induction tube 5200 to rotate when an external force is generated. MMS comprising a rotational flow rod 5300 inserted into the rotational torque induction tube 5200 while flowing, and a torque buffer spring 5500 interposed between the rotational torque induction tube 5200 and the rotational flow rod 5300. A system for locating a map with precision through data;
A drone hangar 300 having a plurality of compartments in the height direction by a plurality of dividing walls 310 is further provided at the rear end of the MMS vehicle 100; The drone hangar 300 is provided with a dividing wall 310 dividing a predetermined space in the height direction, and the drone chamber divided by the dividing wall 310 is guided by wireless communication with a returning drone (DR). A signal processor 320 is mounted, and a drone controller 330 connected to and controlling the signal processor 320 is installed on the outer wall of the drone hangar 300 , and a drone controller 330 is installed on the roof of the MMS vehicle 100 . ) is electrically connected to a double-axis rotary motor 340 is installed, and a driving gear 342 is fixed to both shafts of the double-axis rotary motor 340, respectively, and a part of the roof is formed with an empty slot 350 therein, the slot A plurality of rolling rolls 352 are installed on the bottom surface of the 350, and on the rolling roll 352, a telescopic sheet 360 that flows in the slot 350 to open and close the open part of the drone hangar 300 is provided. provided, gear grooves 362 of a certain depth are formed at both ends of one side of the elastic sheet 360, and the gear grooves 362 are configured to engage the driving gear 342;
A sliding guide plate ( 220), the lift drive source 230 fixed to one side of the slide guide plate 220 and controlled by the controller 40, the screw rod 240 connected to the rotation shaft of the lift drive source 230, and the screw rod 240. The bearing guide 270 fixed symmetrically to the surfaces of the first moving plate 250 and the second moving plate 260, the first moving plate 250 and the second moving plate 260 that are screwed together and slide. , a 'V'-shaped moving member 280 that is fixed in contact with the bearing guide 270 and lifted or lowered depending on the positions of the first moving plate 250 and the second moving plate 260, the moving member 280 ) is fixed to the upper end and includes a ground reference communicator 210 controlled by the controller 40,
The screw rod 240 is installed so that the end of the bearing is fixed and can be rotated in place, and a center position 242 is provided in the center of the length, and the left and right sides with the center position 242 are threaded to face each other. is formed, and each one of the first moving plate 250 and the second moving plate 260 so that the first moving plate 250 and the second moving plate 260 can be screwed with the screw rod 240 . A coupling protrusion (DD) is formed to protrude from the center of the side, and the first moving plate 250 and the second moving plate 260 are assembled and installed at a point symmetrical with respect to the center position 242. It provides a system for tracking the location of the map with precision through MMS data.

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According to the present invention, an improved effect can be obtained to build a lane-level precision map by increasing the accuracy of lane detection and reducing unnecessary calculations by filtering the high-precision driving trajectories obtained from the MMS vehicle to promising lane candidates.
In addition, the present invention attenuates the vibrations generated in the MMS vehicle with the high attenuation ability of the rotating torque structure to safely protect the module, reduce the shooting cost by enabling drone shooting, and improve the convenience of updating by focusing on the desired part. It has the effect of providing a moving ground reference point for aerial photography.

1 is a block diagram of a lane recognition system using surrounding environment information according to the related art.
2 is a configuration block diagram showing the basic configuration of a system according to the present invention.
5 is an exemplary view showing an example in which a ground reference point is implemented in the system according to the present invention.
6 is an exemplary view showing an example in which a drone hangar is formed in the system according to the present invention.
7 is an exemplary view of a torque attenuator mounted on an MMS vehicle constituting the system according to the present invention.

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

The system according to the present invention includes a high-precision driving trajectory detection device 10, a rear camera device 20, and a laser scanning device 30 provided in an MMS (Mobile Mapping System) vehicle, and a controller 40 for controlling these devices. is configured to obtain a high-precision driving trajectory of the MMS vehicle, RGB image, and map coordinates 3D point cloud from them.

At this time, the high-precision driving trajectory detection device 10 includes the pre-processing module 1, the region of interest setting module 2, the lane recognition module 3, the error detection module 4 and the display module 5 illustrated in FIG. 1 . Including, these modules are mounted inside the module housing (MH) as shown in the example of FIG.

Then, the rear camera device 20 acquires an RGB image, and the laser scan device 30 acquires a map coordinate 3D point cloud from ground lidar information, which is used to create a lane of map coordinates. This three-dimensional point cloud data is obtained by a three-dimensional data clustering technique, and since this is a known theory, a detailed description thereof will be omitted.

Here, the high-precision driving trajectory and RGB image are correspondingly acquired at the same GPS time, and the RGB image is acquired by the rear camera device 20 of the MMS vehicle.

And, the high-precision driving trajectory of the MMS vehicle obtained by the high-precision driving trajectory detecting device 10 is an RGB image of the high-precision driving trajectory using the projection matrix of the rear camera device 30 under the control of the controller 40. to generate a mapping image through the mapper 50 .

In addition, this mapping image is converted into an orthographic image by inverse perspective mapping through the orthogonal image converter 60 .

In addition, the mapped image and the converted orthographic image are stored in the memory 70 .

The conversion to the orthographic image is to use the characteristic that the driving trajectory in the ortho image space is parallel to the surrounding driving lane and the characteristic that the driving trajectory is orthogonal to the stop line.

Thereafter, the controller 40 approximates the high-precision driving trajectory included in the orthogonal image with a linear equation to derive a representative linearity, and detects a lane candidate for a region of interest (ROI) in the orthographic image to derive the linearity do.

Here, the region of interest is preferably set as a past driving trajectory of 5 to 20 meters in which the MMS vehicle has traveled because of an error in perspective transformation.

In addition, lane candidates detected in the region of interest are detected using a generalized Hough transform (GHT) or a B-Snake method capable of linear detection not only of straight lines but also curves.

Thereafter, the controller 40 derives a promising lane candidate by comparing the similarity between the representative linearity of the high-precision driving trajectory and the linearity of the lane candidates, and the similarity comparison compares the similarity of any one or more of the linear length, direction, curvature, and whether or not they intersect. .

Then, the lane object is extracted from the promising lane candidates derived by the similarity comparison, and the map coordinates obtained from the map coordinates 3D point cloud obtained by the laser scanning device 30 are given to the extracted lane objects to obtain the map coordinate lanes. create and construct a lane map.

In this case, since MMS basically includes a GPS receiver, there is no difficulty in checking and extracting map coordinates.

For reference, it is natural that conventional input and output means are connected to the controller 40 .

In addition, in the present invention, the front camera 80 is further connected to the controller 40 so that when a hole such as a pothole is identified on the road, it is detected and reflected on the map.

And, the front camera 80 is installed on the front license plate of the MMS vehicle.

In addition, an image analyzer 90 is further connected to the controller 40 , and the image analyzer 90 is responsible for reading an analog image captured by the front camera 80 .

That is, the image analyzer 90 learns the data using a machine learning technique to learn the case of a road with a pothole or a severe flatness of a road that is not a normal road, and then scraps the image when the image is captured. and save it, and reflect the GPS information and record it together as road surface information when constructing a lane map.

This will enable the creation of maps necessary for safer autonomous driving.

In addition, in the present invention, as illustrated in FIG. 5 , an elevating ground reference point unit 200 may be further installed on one side of the MMS vehicle 100 .

At this time, the elevating type ground reference point unit 200 is configured to provide a ground reference point during aerial photography by having a structure that ascends or descends according to a control signal of the controller 40 .

That is, there is a reference point for aerial photography that moves on the ground. To this end, the elevating ground reference point unit 200 is configured to communicate GPS information with the aircraft.

This elevating ground reference point unit 200 includes a slide guide plate 220 that is fixed to protrude on one frame of the MMS vehicle 100 .

In addition, the lift drive source 230 is fixed to one side of the slide guide plate 220 , and the direction of rotation of the lift drive source 230 is determined according to the control signal of the controller 40 .

In addition, the screw rod 240 arranged in the longitudinal direction of the slide guide plate 220 is connected to the rotation shaft of the lift driving source 230 .

At this time, the screw rod 240 is installed so that the end of the bearing is fixed and can be rotated in place, a center position 242 is provided in the center of the length, and the left and right sides are opposite to each other around the center position 242 A thread is formed.

In addition, the first moving plate 250 and the second moving plate 260 slid along the screw rod 240 are fitted and screw-coupled thereto.

In this case, the first moving plate 250 and the second moving plate 260 are assembled to be caught by the slide guide plate 220 and configured to slide using the slide guide plate 220 as a guide.

Here, a coupling protrusion DD is protruded from the center of each one side so that the first moving plate 250 and the second moving plate 260 can be screwed with the screw rod 240 .

In addition, the first moving plate 250 and the second moving plate 260 are assembled and installed at a point symmetrical with respect to the center position 242 .

Accordingly, the first moving plate 250 and the second moving plate 260 may approach each other or move away from each other according to the rotational direction of the elevating drive source 230, and the center position 242 is installed symmetrically around the center. Therefore, it always approaches or moves away at the same distance.

Meanwhile, the bearing guides 270 are fixed to the surfaces of the first and second moving plates 250 and 260 to be symmetrical to each other.

The bearing guide 270 guides the rising and falling of the moving member 280 while in contact with the 'V'-shaped moving member 280 .

At this time, both ends of the movable member 280 are coupled to each other by the fixing member 282 so as to maintain a constant 'V' shape at all times.

In addition, the ground reference communicator 210 is fixed to the upper end of the movable member 280 , and the ground reference communicator 210 is controlled by the controller 40 .

Accordingly, when used as a ground reference point, the movable member 280 is raised as much as possible to maintain the ground reference communicator 210 in a state in which it can communicate with the aircraft under aerial photography. Coordinates (GPS coordinates) are transmitted.

Then, when the mission is completed, the movable member 280 is lowered as much as possible to maintain the roof of the MMS vehicle 100 and the top of the ground reference communicator 210 to be on the same plane, when the MMS vehicle 100 moves while moving. It can move smoothly without interference.

In particular, in the present invention, while the MMS vehicle 100 is configured to serve as a ground reference point, it enables drone photography rather than aerial photography, thereby reducing the shooting cost, and intensively shooting only the desired part when necessary, so the information update cycle and update It can be configured to pursue the convenience of sex.

To this end, as in the example of FIG. 6 , a drone hangar 300 is further provided at the rear of the MMS vehicle 100 .

The drone hangar 300 is provided with a partition wall 310 dividing a predetermined space in the height direction, and a signal processor 320 is mounted on the inner wall inside the drone chamber partitioned by the partition wall 310 .

The signal processor 320 plays a role of guiding the returning drone (DR) into each drone hangar 300 through wireless communication, mainly RF communication.

In addition, a drone controller 330 is installed on the outer wall of the drone hangar 300 , and the signal processor 320 is connected to the drone controller 330 to be controlled.

In particular, a double-axis rotary motor 340 electrically connected to the drone controller 330 is installed on the roof of the MMS vehicle 100, and a driving gear 342 is fixed to both shafts of the double-axis rotary motor 340, respectively.

In addition, a part of the roof is formed with an empty slot 350 therein, and a plurality of rolling rolls 352 are installed on the bottom surface of the slot 350 , and the elastic sheet flowing in the slot 350 is provided thereon. 360 is provided.

In this case, the stretchable sheet 360 performs a function of opening and closing the open portion of the drone hangar 300 .

At this time, a gear groove 362 of a certain depth is formed at both ends of one side of the elastic sheet 360, and the gear groove 362 is engaged with the driving gear 342, for this purpose, both sides of the roof are It is partially incised to maintain an open state so that the driving gear 342 and the gear groove 362 can be engaged.

Therefore, when you want to update the local topography by taking pictures, open the field hangar 300, fly a drone (DR) to take a picture of the desired part, and then provide the information necessary for mapping or autonomous driving precision map production.

In particular, a plurality of drones DR can be controlled by each driver at the same time so that simultaneous work is possible, and since the control frequency is different for each drone DR, each drone can be individually guided and accommodated in its own storage room when returning.

During this operation, the opening and closing of the drone hangar 300 is possible by opening and closing the telescopic sheet 360 while the double-axis rotary motor 340 is driven according to the control signal of the drone controller 330 .

In this case, the telescopic sheet 360 opens and closes the drone hangar 300 while sliding.

In addition, the MMS vehicle 100 used in the present invention further includes a torque attenuator 5000 as in the example of FIG. 7 .

The torque attenuator 5000 is installed between the module housing MH and the upper surface of the vehicle body 110, which is the inner bottom surface of the MMS vehicle 100, to generate a rotational torque rather than a simple spring buffer structure to attenuate vibration. It is constructed to increase the damping ability through a unique method.

Through this, it is possible to safely protect a plurality of modules mounted on the module housing (MH) by attenuating vibration.

The torque attenuator 5000 is assembled to the cylindrical rotational torque induction tube 5200 with one side open and the rotational torque induction tube 5200 to rotate and flow when an external force is generated inside the rotational torque induction tube 5200. It includes a rotation flow rod 5300 inserted into the, and a torque buffer spring 5500 interposed between the rotation torque induction tube 5200 and the rotation flow rod 5300 .

At this time, a vehicle body fixing flange 5100 is integrally formed at the other end of the rotating torque induction tube 5200 and is bolted to the vehicle body 110 .

In addition, a helical torque induction groove 5210 is formed in the inner diameter of the rotational torque induction tube 5200 symmetrically in the radial direction.

In addition, one end of the rotational flow rod 5300 is integrally formed with a rod flange 5310 fitted to and caught by the housing fixing flange 5400, and a portion of the periphery thereof is symmetrically in the diametrical direction so that the torque inducing protrusion 5320 protrudes. The screw is assembled, and the torque inducing protrusion 5320 is fitted into the torque inducing groove 5210 .

In addition, the housing fixing flange 5400 is bolted to the lower surface of the module housing MH, and a through hole is formed in the center so that the rotational fluid rod 5300 can be fitted, and the fastening surface of the module housing (MH). A stepped groove 5410 of a certain depth is concave on the surface facing the .

The stepped groove 5410 is a space in which the rod flange 5310 can be hooked and rotated, and after the rod flange 5310 is assembled, there must be some clearance with the lower surface of the module housing MH. In this way, rotational torque can be generated while rotating smoothly.

Thus, when an external force is generated by vibration, the rotational flow rod 5300 rotates and presses the torque buffer spring 5500 and at the same time enters the rotational torque induction tube 5200. In the process, rotational torque is generated, The external force is dispersed, resolved, and removed.

Therefore, the external force can be relieved very easily and quickly, and the module housing (MH) can be safely protected from vibration.

10: high-precision driving trajectory detection device
20: rear camera device
30: laser scanning device
40: controller

Claims (1)

a high-precision driving trajectory detection device 10 mounted on the MMS vehicle 100 and configured to detect the driving trajectory of the MMS vehicle 100; The rear camera device 20 for obtaining the RGB image according to the driving trajectory of the MMS vehicle 100; a laser scanning device 30 for acquiring a three-dimensional point cloud of map coordinates through ground lidar information when the MMS vehicle 100 is driven; a controller 40 for controlling the driving of the high-precision driving trajectory detecting device 10, the rear camera device 20, and the laser scanning device 30; a mapper 50 for generating a mapping image by projecting the high-precision driving trajectory of the MMS vehicle obtained by the high-precision driving trajectory detection device 10 according to the control signal of the controller 40 onto the RGB image; and an orthographic image converter 60 that converts the mapping image to an ortho image through an inverse perspective mapping method under the control of the controller 40; (40) is approximated by a linear equation to derive a representative linearity, then a lane candidate is detected for the region of interest in an orthogonal image to derive a linearity, and a promising lane is obtained by comparing the similarity between the representative linearity of the high-precision driving trajectory and the linearity of the lane candidates. Candidates are derived, lane objects are extracted from the derived promising lane candidates, and map coordinates obtained from the map coordinates 3D point cloud obtained by the laser scanning device 30 are given to the extracted lane objects to generate map coordinate lanes. and build lane maps; The MMS vehicle 100 is equipped with a module housing MH for mounting modules necessary for generating map coordinate lanes, and between the module housing MH and the upper surface of the vehicle body 110 which is the inner floor surface of the MMS vehicle 100 A torque attenuator 5000 is further installed, and the torque attenuator 5000 is assembled to a cylindrical rotational torque induction tube 5200 with one side open, and the rotational torque induction tube 5200, and rotates when an external force is generated. MMS comprising a rotational flow rod 5300 inserted into the rotational torque induction tube 5200 while flowing, and a torque buffer spring 5500 interposed between the rotational torque induction tube 5200 and the rotational flow rod 5300. A system for locating a map with precision through data;
A drone hangar 300 having a plurality of compartments in the height direction by a plurality of dividing walls 310 is further provided at the rear end of the MMS vehicle 100; The drone hangar 300 is provided with a dividing wall 310 dividing a predetermined space in the height direction, and the drone chamber divided by the dividing wall 310 is guided by wireless communication with a returning drone (DR). A signal processor 320 is mounted, and a drone controller 330 connected to and controlling the signal processor 320 is installed on the outer wall of the drone hangar 300 , and a drone controller 330 is installed on the roof of the MMS vehicle 100 . ) is electrically connected to a double-axis rotary motor 340 is installed, and a driving gear 342 is fixed to both shafts of the double-axis rotary motor 340, respectively, and a part of the roof is formed with an empty slot 350 therein, the slot A plurality of rolling rolls 352 are installed on the bottom surface of the 350, and on the rolling roll 352, a telescopic sheet 360 that flows in the slot 350 to open and close the open part of the drone hangar 300 is provided. provided, gear grooves 362 of a certain depth are formed at both ends of one side of the elastic sheet 360, and the gear grooves 362 are configured to engage the driving gear 342;
A sliding guide plate ( 220), the lift drive source 230 fixed to one side of the slide guide plate 220 and controlled by the controller 40, the screw rod 240 connected to the rotation shaft of the lift drive source 230, and the screw rod 240. The bearing guide 270 fixed symmetrically to the surfaces of the first moving plate 250 and the second moving plate 260, the first moving plate 250 and the second moving plate 260 that are screwed together and slide. , a 'V'-shaped moving member 280 that is fixed in contact with the bearing guide 270 and lifted or lowered depending on the positions of the first moving plate 250 and the second moving plate 260, the moving member 280 ) including a fixed member 282 for mutually binding the gapped ends, a ground reference communicator 210 fixed to the upper end of the movable member 280 and controlled by the controller 40,
The screw rod 240 is installed so that the end of the bearing is fixed and can be rotated in place, and a center position 242 is provided in the center of the length, and the left and right sides with the center position 242 are threaded to face each other. is formed, and each one of the first moving plate 250 and the second moving plate 260 so that the first moving plate 250 and the second moving plate 260 can be screwed with the screw rod 240 . A coupling protrusion (DD) is formed to protrude from the center of the side, and the first moving plate 250 and the second moving plate 260 are assembled and installed at a point symmetrical with respect to the center position 242. Location tracking system for maps with precision via MMS data.

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