KR102382119B1 - System of avoiding dangerous situations for self driving cars - Google Patents

Abstract

The present invention provides a system for avoiding a dangerous situation of an autonomous vehicle that recognizes a risk existing on a path and avoids it in advance.
Accordingly, the system for avoiding dangerous situations of an autonomous driving vehicle according to an aspect of the present invention includes a control server that monitors a vehicle driving state in a setting area, and an autonomous vehicle that receives route information of an abnormally driven vehicle from the control server, The autonomous vehicle updates the route to avoid the received route of the abnormal driving vehicle.

Description

SYSTEM OF AVOIDING DANGEROUS SITUATIONS FOR SELF DRIVING CARS

The present invention relates to an autonomous vehicle, and more particularly, to a system for avoiding a dangerous situation of an autonomous vehicle.

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. This is to warn the driver by judging whether there are other vehicles in the blind spot that cannot be seen through the side mirrors by sensors mounted on both sides of the car. .

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. Accordingly, autonomous driving technology is being commercialized in public transportation such as buses.

However, when autonomous driving is commercialized in daily life, there may be a problem in that the user's insensitivity to safety gradually increases. In addition, in an accident situation such as a vehicle-to-vehicle impact, it is possible to face the moment of an accident without any preparation by blindly believing in autonomous driving, even though minimal preliminary preparation is required. Furthermore, since autonomous driving is driven according to a predetermined algorithm, a method to deal with special situations such as a case in which a reckless driving vehicle approaches while forming an irregular path has not yet been thoroughly studied.

Korean Patent No. 10-2106875 (2020. 4. 27.) {SYSTEM AND METHOD FOR AVOIDING ACCIDENTS DURING AUTONOMOUS DRIVING BASED ON VEHICLE LEARNING}

SUMMARY OF THE INVENTION The present invention is to solve the problems of the prior art, and an object of the present invention is to provide a system for avoiding a dangerous situation of an autonomous vehicle that recognizes a risk existing on a path and avoids it in advance.

A system for avoiding dangerous situations of an autonomous vehicle according to an aspect of the present invention includes a control server that monitors a vehicle driving state in a setting area, and an autonomous vehicle that receives route information of an abnormally running vehicle from the control server, The driving vehicle updates the route so as to avoid the received route of the abnormally running vehicle.

In this case, the server includes a driving data collection unit for monitoring the vehicle driving state in the setting area, an abnormal driving determination unit for discriminating an abnormal vehicle among vehicles running in the setting area, an abnormal path determination unit for calculating the path of the abnormal vehicle, and an avoidance signal transmission module that transmits the path of the abnormal vehicle to an autonomous vehicle traveling in a setting area.

In addition, the abnormal path determining unit may derive a danger radius with a radius of a set distance centered on the abnormal vehicle.

In addition, when the autonomous vehicle is included in the danger radius, the avoidance signal transmitting module may transmit a vehicle stop signal or a disembarkation signal.

In addition, the autonomous vehicle may include a controller for setting a route, and the controller may determine a contact point between the autonomous vehicle and the abnormal vehicle from the received route information of the abnormal vehicle.

In addition, when the contact time is within a set time, the controller may set the path of the autonomous vehicle including the back road.

The present invention detects a dangerous situation such as reckless driving on a path and reflects it to correct the path of autonomous driving in real time, so that it is possible to minimize damage such as an accident by avoiding dangerous situations in advance.

1 is a diagram schematically illustrating a function of a system for avoiding dangerous situations of an autonomous vehicle according to an embodiment of the present invention.
2 is a configuration diagram of a system for avoiding dangerous situations of an autonomous vehicle according to an embodiment of the present invention.
3 is a configuration diagram illustrating the control server in FIG. 2 in more detail.
FIG. 4 is a configuration diagram illustrating the autonomous vehicle of FIG. 2 in more detail.
FIG. 5 is a configuration diagram illustrating the sensing unit of FIG. 4 in more detail.
6 is a configuration diagram illustrating the output unit of FIG. 4 in more detail.

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, a system for avoiding dangerous situations of an autonomous vehicle according to an embodiment of the present invention will be schematically described. 1 is a diagram schematically illustrating a function of a system for avoiding dangerous situations of an autonomous vehicle according to an embodiment of the present invention.

Referring to the drawing, the autonomous driving vehicles 1, 2, 3 receive information on the abnormally operating vehicle T from the control server 100 while performing autonomous driving along the original path R indicated by the dotted line. In this case, the path can be updated. As an example, abnormal driving refers to a vehicle or vehicle that is recognized as having reckless driving, speeding, multiple signal violations, and drunkenness and other risk factors.

At this time, the control server 200 detects the movement of the abnormally running vehicle T to derive a driving path RT, and the autonomous driving vehicles 1, 2, 3 determine whether this path overlaps with its own path. .

In the drawing, in the case of vehicle 1, since it is determined that there is still enough time to contact the abnormally running vehicle T, the route is updated as the detour route R1. However, in the case of vehicle 2, since it is expected to come into contact with the abnormally running vehicle (T) soon, the route must be updated as a detour route. Set up a new path (R2).

In FIG. 1, reference symbol C indicates a danger radius. That is, the control server detects the speed of the abnormally running vehicle (T) and sets a dangerous radius (C) within the set section. In this case, vehicle 3 has already entered the dangerous radius (C). Therefore, in this case, it may be suggested to stop the vehicle or get off the vehicle in order to avoid the risk more aggressively. Of course, in FIG. 1 , it may be considered to set the path of the vehicle 3 in the opposite direction (the opposite direction to the R direction), but since it causes the vehicle to rotate, stopping or getting off is more preferable for quick evacuation.

Above, a system for avoiding dangerous situations according to an embodiment of the present invention will be described in more detail. 2 is a configuration diagram of a system for avoiding dangerous situations of an autonomous driving vehicle according to an embodiment of the present invention, FIG. 3 is a configuration diagram illustrating the control server in FIG. 2 in more detail, and FIG. 4 is the autonomous driving system in FIG. It is a configuration diagram showing the driving vehicle in more detail, FIG. 5 is a configuration diagram showing the sensing unit in FIG. 4 in more detail, and FIG. 6 is a configuration diagram showing the output unit in FIG. 4 in more detail.

Referring to FIG. 2 , first, the system 1000 for avoiding dangerous situations of an autonomous driving vehicle according to an embodiment of the present invention includes the control server 100 and at least one autonomous driving vehicle 200 as described above.

At this time, as shown in FIG. 3 , the control server 100 includes a driving data collection unit 110 , an abnormal operation determination unit 120 , an abnormal path determination unit 130 , and an avoidance signal transmission module 140 . .

The driving data collection unit 110 monitors the driving state of the vehicle in the setting area. In this case, the setting area refers to the setting range among cities, provinces, dongs, eup, and myeons in the administrative district, and is made centered on the traffic road. The driving data collection unit 110 collects driving data of multiple vehicles received from a camera such as CCTV or a local server to monitor driving conditions of all vehicles. In addition, it goes without saying that a disaster situation other than the vehicle in the driving data collection unit 110 setting area can also be detected.

The abnormal operation determination unit 120 determines an abnormal vehicle among vehicles operating in the setting area. Here, the abnormal vehicle judges speeding driving, signal violation, direction indicator violation, etc., analyzes the driving flow, determines all types of operation that go against the flow as abnormal, and considers the set number of times and duration for abnormal operation. judging by the vehicle.

At this time, the abnormal path determining unit 130 determines the path of the abnormal vehicle. The route information is mainly set along the driving road, and the danger radius of the abnormal vehicle is set together as in FIG. 1 for the case where a plurality of intersections are distributed. The danger radius refers to an area whose radius is the set distance centered on the abnormal vehicle. In this case, the danger radius is preferably set in proportion to the speed of the abnormal vehicle.

The avoidance signal transmission module 140 serves to transmit the path of the abnormal vehicle and related information to the autonomous vehicle 200 . In addition, when the autonomous vehicle is included in the danger radius, the avoidance signal transmitting module 140 transmits a stop signal or a get off signal of the vehicle. Accordingly, since the autonomous vehicle 200 performs driving while checking the path of the abnormal vehicle, more protective and safe driving is possible.

Meanwhile, referring to FIG. 4 , an autonomous vehicle according to an embodiment of the present invention includes an input unit 210 , a sensing unit 220 , an output unit 230 , a control unit 240 , and a communication unit 250 . ) and a driving unit 260 .

The input unit 210 inputs the destination of the vehicle to derive a route when the autonomous vehicle is driven. However, as described above, this route may be updated to avoid the route of the abnormal driving vehicle received from the control server 100 through the communication unit 250 .

Referring to FIG. 5 , the sensing unit 220 may include a radar 221 and a lidar 222 , and may further include a camera 223 . The radar 221 refers to a device capable of moving unmanned while performing a radar detection operation by mounting an antenna in an autonomous vehicle. The radar 221 is not limited to performing only a radar detection operation using the provided antenna, and such as a plurality of sensors or complex sensors capable of sensing the surrounding environment such as the lidar 222 and the camera 223 . It can be implemented in the form In addition, the radar 221 senses the surrounding environment to generate surrounding sensing information, and determines inanimate objects such as roads, other vehicles, people, and buildings that are obstacles in the driving direction based on the surrounding sensing information.

The lidar 222 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 222 emits a laser pulse to the ground surface and measures the return time by analyzing the spatial location of the reflection point and surveying the topography. A difficult three-dimensional model can be obtained.

The lidar 222 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 222 . In addition, since the sensing unit 120 needs to utilize location information of the autonomous vehicle, the GPS 224 is essentially further included.

Meanwhile, referring to FIG. 6 , the output unit 230 includes an abnormal vehicle display module 231 , an abnormal situation display module 232 , and a route change display module 223 .

As described above, the abnormal vehicle display module 231 serves to display the abnormal vehicle on the route, and also displays that there is a risk that the user's vehicle and the route overlap and contact. In this case, the abnormal vehicle display module 231 may separately display the number of the vehicle closest to the user's vehicle when there are a plurality of abnormal vehicles. Also, in this case, it is preferable to display the contact point together. The abnormal situation display module 232 separately displays the disaster situation existing on the path. This utilizes the data collected by the above-described driving data collection unit 110 as described above.

When a new route is generated to avoid the route of the abnormally running vehicle received by the route change display module 233 control unit 240, it is displayed. At this time, it is preferable that the dangerous radius of the abnormal vehicle is displayed and the distance from the new route is displayed therefrom.

Meanwhile, as described above, the controller 140 determines the contact point between the autonomous vehicle and the abnormal vehicle from the path information of the abnormal vehicle. Accordingly, a different method of setting the avoidance path is applied. In other words, in the case of vehicle 2 as shown in FIG. 1 , when it is determined that it is impossible to avoid the detour road, the controller sets the path of the vehicle to the back road direction. In this case, an increase in mileage and an increase in arrival time will be unavoidable.

In the case of vehicle 3, since the control unit is already located within the dangerous radius, the control unit alerts the user to stop or get off the vehicle according to a signal from the control server.

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 to 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.

1000: Dangerous situation avoidance system of autonomous vehicle
100: control server
110: driving data collection unit
120: abnormal operation judgment unit
130: abnormal path determination unit
140: avoid ㅣ signal transmission module
200: autonomous vehicle
210: input unit
220: sensing unit
221: radar
222: Lida
223: camera
224: GPS
230: output unit
231: abnormal vehicle display module
232: abnormal situation display module
233: path change display module
240: control unit
250: communication department
260: driving unit

Claims (6)

In the risk avoidance system of an autonomous vehicle,
a control server that monitors the vehicle driving state in the setting area; and
an autonomous vehicle that receives route information of an abnormally driven vehicle from the control server;
including,
The autonomous vehicle updates the route to avoid the received route of the abnormal driving vehicle, or
Alternatively, the autonomous vehicle determines a contact time between the autonomous vehicle and the abnormal vehicle from the received path information of the abnormal vehicle, and when the contact time is within a set time, the control unit sets the autonomous vehicle path to include a back road Dangerous situation avoidance system for autonomous vehicles, characterized in that
According to claim 1,
The control server includes a driving data collection unit for monitoring the vehicle driving state in a setting area, an abnormal driving determination unit for discriminating an abnormal vehicle among vehicles running in the setting area, an abnormal path determination unit for calculating the path of the abnormal vehicle, and and an avoidance signal transmission module for transmitting the path of the abnormal vehicle to the autonomous vehicle traveling in a set area.
3. The method of claim 2,
The system for avoiding dangerous situations of an autonomous driving vehicle, characterized in that the abnormal path determining unit derives a danger radius with a set distance as a radius centered on the abnormal vehicle.
4. The method of claim 3,
The system for avoiding dangerous situations of an autonomous vehicle, characterized in that when the autonomous vehicle is included within the danger radius, the avoidance signal transmitting module transmits a stop signal or a get off signal of the vehicle.
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