KR102382115B1 - Self driving cars - Google Patents

Abstract

The present invention provides an autonomous driving moving means in which the moving means for performing autonomous driving recognizes obstacles and sets a driving route on a sidewalk or the like, not on a road.
Accordingly, the autonomous driving means according to an aspect of the present invention includes a control unit for calculating a driving path and controlling driving, and a sensing unit for detecting an obstacle on the driving path, wherein the control unit includes a first driving path and the second driving path. A second driving path separated from the first driving path by a set distance is calculated.

Description

Autonomous driving means {SELF DRIVING CARS}

The present invention relates to an autonomous driving vehicle, and more particularly, to an autonomous driving vehicle that performs autonomous driving in India as well as on a road.

An autonomous vehicle is a vehicle that can drive automatically without human driving. Autonomous vehicles drive autonomously by recognizing their surroundings using radar, light detection and ranging (LIDAR), GPS, and cameras and specifying a destination. Unmanned vehicles that are already being put into practical use include unmanned vehicles that patrol preset routes operated by the Israeli military, and unmanned driving systems such as dump trucks operated in overseas mines and construction sites.

The first core technologies of these autonomous vehicles are the driverless vehicle system and the actual system. It is a technology that not only simulates in the laboratory, but also actually builds an unmanned vehicle system. It implements the accelerator, reducer and steering device, which are driving devices, to suit unmanned operation, and enables control using the computer, software and hardware installed in the unmanned vehicle. do.

The second core technology is to receive and process visual information using vision and sensors. As the basis of autonomous driving for unmanned operation, it is a technology that accepts image information and extracts necessary information from the image. It uses not only CCD (charge-coupled device) cameras but also ultrasonic sensors and range filters to fuse information necessary for distance and driving, so that it can avoid obstacles and cope with unexpected situations through analysis and processing.

The third core technology is the integrated control system and operation monitoring fault diagnosis system technology. This technology establishes a driving monitoring system that monitors vehicle operation and gives appropriate commands according to changing situations, and provides appropriate information to the operator by diagnosing system failures by analyzing various situations occurring from individual processors and sensors. or to perform the function of notifying an alarm.

The fourth core technology is intelligent control and intelligent operation devices. This technology is an unmanned driving technique that generates control commands based on mathematical analysis using real vehicle models. Intelligent Forward Control is a system that maintains the distance from the vehicle in front or obstacles by adjusting the speed by itself without the driver operating the pedals based on radar guide technology. When the driver inputs the distance to the vehicle in front, the long-distance radar attached to the front of the vehicle detects the position of the vehicle in front, maintains a constant speed, decelerates or accelerates, and stops completely if necessary, which is useful in weather where visibility is difficult.

The fifth applied technology is the lane departure prevention system. This is a technology that notifies the driver of an unintended departure situation by detecting the lane with a camera installed inside.

The sixth application technology is the parking assistance system. This is a system that helps the car park in reverse by adjusting the steering system when the driver finds the assist button, puts in reverse gear, and presses the brake pedal. By automatically guiding the vehicle from the departure point to the parking space based on infrastructure as well as vehicle-mounted sensors, it saves unnecessary time and energy when parking, thereby minimizing cost and environmental pollution.

The seventh application technology is the automatic parking system. This is a technology in which the driver stops the car in front of the parking lot, turns off the engine, gets off, and presses the remote control lock switch twice in succession. am.

The eighth application technology is a blind spot information guidance system. It is used to change lanes by checking obstacles and vehicles on both sides in complex road conditions, as sensors mounted on both sides of the car determine whether there is another vehicle in the blind spot that is not visible through the side mirrors and warn the driver. .

The biggest advantage of driverless cars is that they help fuel efficiency by avoiding repeated stops by making the control device more even because the driving speed and traffic management data match. will be. In addition, it has the advantages of solving fatigue caused by long-term driving, greatly reducing the risk of traffic accidents, speeding up road traffic flow, and reducing traffic congestion.

However, until now, autonomous vehicles have been focused only on driving on roadways. That is, when the 5th level of autonomous driving is generalized, it can be naturally assumed that various means of transportation are operated by autonomous driving in addition to vehicles traveling on the road. However, as in Prior Art Document 1, in-depth research on autonomous driving technology in sidewalks, etc., not on roads, has not been made so far. In this case, in the case of a sidewalk other than a road, it will be necessary to approach from a different perspective in avoiding obstacles and setting a driving route.

[Prior art literature]

Korean Patent Registration No. 10-2031757 (2019. 10. 15.)

The present invention is to solve the problems of the prior art, and an object of the present invention is to provide an autonomous driving moving means in which a moving means performing autonomous driving recognizes obstacles and sets a driving route on a sidewalk, etc. not a road. .

An autonomous driving moving means according to an aspect of the present invention includes a control unit for calculating a driving path and controlling driving, and a sensing unit for detecting an obstacle on the driving path, wherein the control unit includes a first driving path and the first driving A second driving path separated from the path by a set distance is calculated.

In this case, the sensing unit may detect the speed of the fixed object, the moving object, and the moving object on the travel path, and the controller may calculate the second travel path by calculating the approach speed of the moving object.

In addition, the control unit may control the driving to be driven to the first driving path again after controlling the driving in the second driving path.

In addition, the controller may control the driving to the second driving path and then modify the second driving path to be the first driving path.

In addition, the autonomous driving means further includes an output unit, wherein the output unit includes a driving maintenance display module that displays a case where the driving route is maintained constant and a driving change display module that displays that the control unit calculates the possibility that the driving route will change. may be included.

In addition, the autonomous driving moving means further includes an input steering unit, and when the control unit calculates the possibility that the driving route is changed and the input steering unit is operated, the control unit transfers all or part of the control right of the autonomous driving to the user can be converted

In addition, the output unit further includes a sound output module, wherein the sound output module outputs a warning sound when the obstacle is closer to the autonomous driving means within a set distance when the possibility that the driving route is changed is calculated by the controller can be

The present invention harmonizes the safety of autonomous driving with the safety of pedestrians and surroundings by recognizing obstacles, setting the autonomous driving means while changing the driving route on sidewalks, etc., and outputting related marks to the outside.

1 is a diagram schematically illustrating an autonomous driving means according to an embodiment of the present invention.
2 is a block diagram of an autonomous driving means according to an embodiment of the present invention.

FIG. 3 is a configuration diagram illustrating the sensing unit of FIG. 2 in more detail.
4 is a configuration diagram illustrating the output unit of FIG. 2 in more detail.
FIG. 5 is a configuration diagram illustrating the control unit in FIG. 2 in more detail.
6 and 7 are diagrams for explaining an additional function of an autonomous driving means according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings so that those skilled in the art can easily implement them. Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

Terms including an ordinal number such as 1st, 2nd, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component. and/or includes a combination of a plurality of related listed items or any of a plurality of related listed items.

Unless defined otherwise, all terms used herein, including technical and scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

Hereinafter, the autonomous driving means 1000 according to an embodiment of the present invention will be schematically described. 1 is a diagram schematically illustrating an autonomous driving means according to an embodiment of the present invention.

First of all, the autonomous driving means 1000 according to an embodiment of the present invention is characterized in that it can be driven on general sidewalks rather than on automobile roads. Accordingly, in FIG. 1, the form of a kickboard is exemplified as an autonomous driving means, but it is not limited thereto, and it is natural that all things that can be driven on the sidewalk, including roads, fall within the scope of the present invention.

At this time, the autonomous driving means 1000 travels while sensing an obstacle in front when driving on the sidewalk. In this case, the autonomous driving means 1000 travels on the first driving route route1, which is the main route, and the autonomous driving means 1000 detects an obstacle on the driving route and transfers a part of the sidewalk to the first driving route route1. to be specified as

In other words, in a typical navigation system, when a route is designated, the entire lane is designated as a route regardless of the lane. After entering, a specific part of a sidewalk or road with a low frequency of detecting obstacles is specified as the first driving route (route1), and driving is performed by controlling the driving around this area.

Accordingly, the autonomous driving means 1000 travels on the first travel route route1 on which the arrangement of obstacles is determined to be low, and detects persons 1 to 3 (P1, P2, P3) that are obstacles on the travel route. At this time, in the case of people 1 and 2 (P1, P2), although they are close to the autonomous driving means 1000 (direction (a)), it is determined that they are not obstacles in the first driving route route1. However, in the case of person 3 (P3), entering into the first travel route (route1) and approaching the autonomous driving means (direction (b)) are detected.

At this time, the autonomous driving means 1000 re-calculates the driving route and prepares to change the direction in standby. In this situation, the autonomous driving means 1000 blinks the indicator 130a to cause a change in the driving route. It will output that there is. This indicator 130a blinks so as to be visible to person 3 (P3). Even in this case, person 3 (P3) maintains the path (direction (b)) of person 3 (P3), autonomous driving means 1000 recalculates the driving route from the first driving route route1 to the second driving route route2 spaced to the right, and the autonomous driving means 1000 enters the rightward (d1). Thereafter, the autonomous driving means 1000 determines the main driving path while driving the second driving route route2 (d2), or determines the arrangement of obstacles on the route in real time and changes the driving route again (d3) to start 1 Control the drive to enter the driving path.

Hereinafter, an autonomous driving means according to an embodiment of the present invention will be described in more detail. 2 is a configuration diagram of an autonomous driving means according to an embodiment of the present invention, FIG. 3 is a configuration diagram illustrating the sensing unit in FIG. 2 in more detail, and FIG. 4 is a diagram illustrating the output unit in FIG. 2 in more detail. It is a configuration diagram, and FIG. 5 is a configuration diagram showing the control unit in FIG. 2 in more detail.

Referring to the drawings, the autonomous driving means 1000 according to an embodiment of the present invention includes an input steering unit 110 , a sensing unit 120 , an output unit 130 , a control unit 140 , a communication unit 150 and and a driving unit 160 . In addition, the autonomous driving means 1000 may further include a server 200 as shown.

The input steering unit 110 mainly serves as a steering wheel for inputting the destination of the autonomous vehicle or manually steering the autonomous vehicle. In the autonomous driving means 1000 according to the present embodiment, even when autonomous driving is performed, manual driving may be involved or the control right may be switched to manual driving when a predetermined event occurs, so the input steering unit 110 is essential. It is preferable to be provided with In addition, as in FIG. 1 described above, the input steering unit 110 is preferably provided in the form of holding with both hands in order to support the body such as the hand for the user's stable boarding, but is not limited thereto.

The sensing unit 120 may include a radar 121 and a lidar 122 , and may further include a camera 123 . The radar 121 refers to a device capable of moving unmanned while performing a radar detection operation by mounting an antenna in an autonomous vehicle. The radar 121 is not limited to performing only a radar detection operation using the provided antenna, and a plurality of sensors or complex sensors capable of sensing the surrounding environment such as the lidar 122 and the camera 123 are used. It can be implemented in the form The radar 121 generates surrounding sensing information by sensing the surrounding environment, and determines inanimate objects such as roads, other vehicles, people, and buildings, which are obstacles in the driving direction, based on the surrounding sensing information. Accordingly, the radar 121 may detect the speed of the fixed and moving objects and the moving objects existing on the driving path.

The lidar 122 is a device that precisely draws a surrounding state by emitting a laser pulse, receiving the light reflected from the surrounding target object, and measuring the distance to the object. The lidar 122 emits a laser pulse to the ground surface and measures the return time by analyzing the spatial position of the reflection point to measure the topography, and the reflected return time is different depending on the structure. A difficult three-dimensional model can be obtained.

The lidar 122 is composed of a laser, a scanner, a receiver, and a positioning system, and the wavelength of the laser is 600-1000 nm. The scanner is the part that lets you quickly scan your surroundings to get information. The receiver is a part that detects the returning light, and the sensitivity to the light of the receiver is a major factor influencing the performance of the lidar 122 .

In addition, since the sensing unit 120 needs to utilize the location information of the autonomous vehicle, it essentially further includes the GPS 124 , and even if the user does not explicitly perform the steering to rotate the above-described input steering unit 110 . A microphone 125 may be further provided to intervene in autonomous driving by voice or the like.

The output unit 130 is disposed inside or outside the autonomous vehicle to display various states. The output unit 130 includes a driving maintenance display module 131 , a driving change display module 132 , a sound output module 133 , and a vibration output module 134 .

When the driving route of the autonomous driving means 1000 is determined and the straight-line operation continues according to the driving route, the driving maintenance display module 131 uses the indicator 130a in FIG. carry out In other words, it is confirmed that the continuous blinking of a person or vehicle located on the driving path is checked and that the autonomous driving means 1000 continues to operate in the same direction. Accordingly, it is possible to secure the predictability of pedestrians and to safely drive pedestrians and autonomous driving means.

The driving change display module 132 is activated when the sensing unit 120 detects the presence and proximity of the person 3 (P3) moving on the path (b) as shown in FIG. 1 . In this case, since it is difficult to completely predict the final arrival position of person 3 (P3), the indicator can be set to light repeatedly when it is calculated that it can be approached within a set time within a set distance. That is, the driving change display module 132 serves to display that the possibility that the driving route is changed is calculated by the controller 140 .

By confirming this lighting, it can be seen that the position of the autonomous driving means can be changed even for person 3 (P3) or other people or vehicles nearby.

On the other hand, the driving change display module 132 starts blinking at the time when the possibility of a change in the driving route occurs initially, but may also blink while actually changing the driving route. Accordingly, it is possible to recognize that the driving route is changing in the surrounding people or vehicles.

The sound output module 133 assists the driving change display module 133 . That is, when there is a possibility that the driving route is changed or the driving route is actually changed, the sound output module 133 alarms the outside to further ensure the safety of surrounding people and vehicles. In addition, the sound output module 133 plays an auxiliary role in the user side by outputting a warning sound when an obstacle is closer to the autonomous driving means within a set distance when the possibility that the driving route is changed is calculated by the controller 140 . can also be done together.

The vibration output module 134 also serves to assist the driving change display module 133 from the user's side. That is, when the possibility of changing the driving path is calculated, vibration is applied to the input steering unit, etc. to separately inform that there is a nearby obstacle, and also serves as a signal that can manually intervene in the steering of the autonomous driving means. do. In this case, the control intervention module 145 to be described later may completely or partially convert the control right of autonomous driving to the user.

The controller 140 calculates a driving route and controls driving. In more detail, the control unit 140 of the autonomous driving means 1000 according to an embodiment of the present invention includes a path calculation module 141 , an obstacle determination module 142 , a driving correction module 143 , and a display control module 144 . ) and a control intervention module 145 .

The route calculation module 141 first calculates the main driving route from the destination information first input from the input steering unit 110 . Here, the main driving route refers to a driving route in which the entire specific road (without considering the width of the road) is used as in a typical navigation system.

Next, the route calculation module 141 calculates a portion of the road or sidewalk with the least complexity as the first travel route based on data of fixed and moving objects that are obstacles on the travel path detected by the sensing unit 120 . .

Thereafter, the path correction module 142 calculates the second driving path, which is the avoidance path, by calculating the approach speed of the moving object detected by the sensing unit 120 . As described above, the second driving path refers to a path spaced apart from the first driving path by a set distance, and may be formed on the same road or sidewalk. However, in this case, the route correction module 142 calculates the travel route only when the approach of the moving object is within the set range as described above without immediately changing the route to the second route.

In this case, the display control module 143 controls the aforementioned driving maintenance display module 131 to indicate that the driving path of the autonomous driving means 1000 is determined and the straight-line driving continues according to the driving path, It controls the driving change display module 132 to display the presence and proximity of a moving object. Since the control of the sound output module 133 and the vibration output module 134 has already been described, a detailed description thereof will be omitted.

On the other hand, as already described, the route correction module 142 may control the driving to be driven again along the first travel route after controlling the drive along the second travel route. In addition, when it is determined that it is appropriate to stay on the main route according to the detection value of the sensing unit after controlling driving to the second travel route, the route correction module 142 may modify the second travel route to the default first travel route. there is.

The control intervention module 144 calculates the degree of user intervention when the aforementioned sound output module 133 or the vibration output module 134 activates an output when an obstacle approaches. That is, in this case, it is the moment at which the possibility that the driving path will change is calculated. At this time, if the input steering unit is adjusted by the user, the control intervention module 144 converts the autonomous driving means to manual driving or changes the instantaneous direction of rotation. It can be controlled to enable instantaneous manual driving, such as setting.

In this case, as described above, the driving change display module 130 is converted to manual driving or partially manual driving is performed. Materials can also be contested.

Hereinafter, additional functions of the present invention will be described. 6 and 7 are diagrams for explaining an additional function of an autonomous driving means according to an embodiment of the present invention.

First, in FIG. 6, when the sensing unit detects an emergency such as unconsciousness while driving, information is transmitted directly to 119 and the emergency room through the communication unit, and autonomous driving to a place such as a park where there is little risk of a secondary accident or a place that can be transported quickly It exemplifies that the means of movement can be moved by itself. In an emergency situation where life or death is decided in seconds like this, self-driving vehicles can help people receive treatment in the shortest time.

Next, although the shortest distance to the destination in FIG. 7 is route A, the controller may determine the route as route B, which is the shortest distance that does not pass the overpass in consideration of the characteristics of the autonomous driving means. In addition, it will be possible to provide the most suitable and smooth route guidance for the user by linking with a smart watch through the communication unit.

As described above, preferred embodiments of the present invention have been disclosed in the present specification and drawings, and although specific terms are used, these are only used in a general sense to easily explain the technical content of the present invention and help the understanding of the present invention. , it is not intended to limit the scope of the present invention. It will be apparent to those of ordinary skill in the art to which the present invention pertains that other modifications based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

100: self-driving vehicle
110: input steering unit
120: detection unit
121: radar
122: lidar
123: camera
124: GPS
125: microphone
130: output unit
131: driving maintenance display module
132: driving change display module
133: sound output module
134: vibration output module
140: control unit
141: route calculation module
142: path modification module
143: display control module
144: control intervention module
150: communication department
160: driving unit
200: server

Claims (7)

a control unit that calculates a driving route and controls driving;
a sensing unit that detects an obstacle on the driving path; and
output unit; including,
The control unit calculates a first driving path and a second driving path spaced apart from the first driving path by a set distance,
and the output unit includes a driving maintenance display module for displaying a case in which the driving route is maintained constant and a driving change display module for indicating that the control unit calculates the possibility that the driving route is changed.
According to claim 1,
The sensing unit detects a fixed object, a moving object, and the speed of the moving object on the travel path,
and the control unit calculates the second travel route by taking into account the approach speed of the moving object.
3. The method of claim 2,
and the control unit controls the driving to be driven again along the first driving path after controlling the driving along the second driving path.
According to claim 1,
and the control unit controls driving to the second driving path and then corrects the second driving path to the first driving path.
delete According to claim 1,
The autonomous driving means further includes an input steering unit,
When the control unit calculates the possibility that the driving route is changed and the input steering unit is operated, the control unit transfers all or part of the control right of the autonomous driving to the user.
According to claim 1,
The output unit further includes a sound output module, and the sound output module outputs a warning sound when the obstacle is closer to the autonomous driving means within a set distance when the possibility that the driving route is changed is calculated by the control unit. Autonomous driving means of transportation.

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