KR102469413B1 - Control system and method for autonomous driving of refractory bus vehicle - Google Patents

Abstract

In an autonomous vehicle in which two vehicles are connected by an articulation joint, a first vehicle among the two vehicles includes: a first GPS that obtains location information of the first vehicle; a plurality of first recognition sensors for collecting information around the self-driving vehicle; a first processing unit generating first information including at least one of types and locations of objects around the self-driving vehicle by collecting and processing information acquired by the plurality of first cognitive sensors; and an autonomous driving control unit that receives the first information from the first processing unit and the location information of the first vehicle from the first GPS, wherein a second vehicle of the two vehicles includes the second vehicle. a second GPS that acquires vehicle location information; a plurality of second cognitive sensors that collect information around the self-driving vehicle; and a second processing unit configured to generate second information including at least one of a type and a location of an object around the self-driving vehicle by collecting and processing information obtained by the plurality of second cognitive sensors. The autonomous driving control unit receives the second information from the second processing unit, receives the location information of the second vehicle from the second GPS, and transmits the location information of the first vehicle and the location information of the second vehicle. Based on this, the time of the first information and the second information may be synchronized, and operation of the autonomous vehicle may be controlled by using the synchronized first information and second information together.

Description

Control system and method for autonomous driving of refractory bus vehicle {Control system and method for autonomous driving of refractory bus vehicle}

The present invention relates to a control system and method for autonomous driving of an articulated bus vehicle, which separately configures a recognition sensor processing system for the first and second, extracts the type and location information of an object, and generates GPS signals for the first and second, respectively. It relates to a system and method for controlling an autonomous vehicle by synchronizing the time of two systems using the same.

Public transportation self-driving vehicles must be stably operated according to a pre-determined route, and technology to stop at a designated section must be provided so that passengers can safely ride at the stop.

In particular, the articulated vehicle has a maximum capacity of 100 people in a two-car, one-car formation, and since it is a two-car connected vehicle and is long, there is a problem in that the number of cognitive sensors for autonomous driving increases accordingly.

In addition, in the case of an articulated bus vehicle, there is a problem in that the processing capacity of the system is excessive to process the information obtained from the recognition sensor at once.

Therefore, the need for a system and method capable of solving these problems is increasing.

Korean Intellectual Property Office Registration No. 10-0873472 Korean Intellectual Property Office Registration No. 10-1017604

The present invention relates to a control system and method for autonomous driving of an articulated bus vehicle, which separately configures a recognition sensor processing system for the first and second, extracts the type and location information of an object, and generates GPS signals for the first and second, respectively. It is intended to provide users with a system and method for controlling an autonomous vehicle by synchronizing the time of the two systems using the present invention.

Specifically, the present invention provides an autonomous driving control unit to synchronize the time of first information acquired by the first vehicle and second information obtained by the second vehicle based on location information of the first vehicle and location information of the second vehicle, and To provide a user with an autonomous vehicle, system and method characterized by controlling the operation of the autonomous vehicle by using the synchronized first and second information together.

On the other hand, the technical problems to be achieved in the present invention are not limited to the above-mentioned technical problems, and other technical problems that are not mentioned will become clear to those skilled in the art from the description below. You will be able to understand.

In an autonomous vehicle made to run while bending on a curved road by connecting two vehicles with an articulation joint, which is an aspect of the present invention for achieving the above technical problem, a first vehicle of the two vehicles is A first GPS that acquires vehicle location information; a plurality of first recognition sensors for collecting information around the self-driving vehicle; a first processing unit generating first information including at least one of types and locations of objects around the self-driving vehicle by collecting and processing information acquired by the plurality of first cognitive sensors; and an autonomous driving control unit that receives the first information from the first processing unit and the location information of the first vehicle from the first GPS, wherein a second vehicle of the two vehicles includes the second vehicle. a second GPS that acquires vehicle location information; a plurality of second cognitive sensors that collect information around the self-driving vehicle; and a second processing unit configured to generate second information including at least one of a type and a location of an object around the self-driving vehicle by collecting and processing information obtained by the plurality of second cognitive sensors. The autonomous driving control unit receives the second information from the second processing unit, receives the location information of the second vehicle from the second GPS, and transmits the location information of the first vehicle and the location information of the second vehicle. Based on this, the time of the first information and the second information may be synchronized, and operation of the autonomous vehicle may be controlled by using the synchronized first information and second information together.

In addition, the plurality of first cognitive sensors and the plurality of second cognitive sensors may include at least one camera, at least one LIDAR, and at least one radar.

In addition, the first processing unit and the second processing unit generate a triggering signal, transfer it to the plurality of first cognitive sensors and the plurality of second cognitive sensors, and generate a triggering signal, and transmit the triggering signal to the plurality of first cognitive sensors and the plurality of second cognitive sensors. The cognitive sensor may collect the information according to the triggering signal.

In addition, the period of the triggering signal may be set based on the first sensor having the slowest measurement period among the plurality of first cognitive sensors and the plurality of second cognitive sensors.

In addition, the first processing unit and the second processing unit determine whether all information acquired from the plurality of first cognitive sensors and the plurality of second cognitive sensors is collected according to the cycle of the triggering signal, and all of the When information is not collected, the period of the triggering signal may be reset.

On the other hand, in the control method of an autonomous vehicle, which is another aspect of the present invention for achieving the above technical problem, in which two vehicles are connected by an articulated joint so that they can run while bending on a curved road, the first vehicle of the two vehicles A first step of obtaining location information of the first vehicle by a first GPS of the second vehicle and obtaining location information of the second vehicle by a second GPS of a second vehicle; a second step of collecting information around the self-driving vehicle by a plurality of first cognitive sensors of the first vehicle and collecting information about the autonomous vehicle by a plurality of cognitive sensors of the second vehicle; A first processing unit of the first vehicle generates first information including at least one of a type and a location of an object around the autonomous vehicle by collecting and processing information acquired by the plurality of first cognitive sensors; A second processing unit of the second vehicle collects and processes information obtained by the plurality of second cognitive sensors to generate second information including at least one of a type and a location of an object around the self-driving vehicle. Step 3; The autonomous driving control unit of the first vehicle receives the first information from the first processing unit, receives location information of the first vehicle from the first GPS, and transmits the second information from the second processing unit. a fourth step of receiving and receiving location information of the second vehicle from the second GPS; and the autonomous driving control unit synchronizes the time of the first information and the second information based on the location information of the first vehicle and the location information of the second vehicle, and the synchronized first information and the second information. A fifth step of controlling the operation of the self-driving vehicle by using information together; may include.

In addition, the plurality of first cognitive sensors and the plurality of second cognitive sensors include at least one camera, at least one lidar, and at least one radar, and between the first step and the second step, A 1.5 step of generating a triggering signal by the first processing unit and the second processing unit and transmitting the triggering signal to the plurality of first cognitive sensors and the plurality of second cognitive sensors, and in the second step, the plurality of The first cognitive sensor and the plurality of second cognitive sensors of may collect the information according to the triggering signal.

In addition, the period of the triggering signal may be set based on the first sensor having the slowest measurement period among the plurality of first cognitive sensors and the plurality of second cognitive sensors.

In addition, after the fifth step, whether the first processing unit and the second processing unit collect all information obtained from the plurality of first cognitive sensors and the plurality of second cognitive sensors according to the cycle of the triggering signal. A sixth step of determining whether or not; and a seventh step of resetting the period of the triggering signal by the first processing unit and the second processing unit when all of the information is not collected.

The present invention relates to a control system and method for autonomous driving of an articulated bus vehicle, which separately configures a recognition sensor processing system for the first and second, extracts the type and location information of an object, and generates GPS signals for the first and second, respectively. By using the time synchronization of the two systems, it is possible to provide a system and method for controlling an autonomous vehicle to the user.

Specifically, the present invention provides an autonomous driving control unit to synchronize the time of first information acquired by the first vehicle and second information obtained by the second vehicle based on location information of the first vehicle and location information of the second vehicle, and , It is possible to provide a self-driving vehicle, a system and a method characterized in that the operation of the autonomous vehicle is controlled by using the synchronized first and second information together to the user.

However, the effects obtainable in the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below. You will be able to.

1 shows an example of a block configuration diagram for an autonomous vehicle according to the present invention.
2 shows an example of a specific block diagram related to each component of the articulated bus in relation to the present invention.
3 illustrates an example of collecting information based on a triggering signal in relation to the present invention.
4 is a flowchart illustrating a control method for autonomous driving of an articulated bus vehicle in relation to the present invention.

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

Since the present invention can make various changes and have various embodiments, specific embodiments will be illustrated in the drawings and described in detail in the detailed description. This is not intended to limit the present invention to specific embodiments, and it can be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

In describing the present invention, terms such as first and second may be used to describe various components, but the components may not be limited by the terms. These terms are only for the purpose of distinguishing one component from another. For example, a first element may be termed a second element, and similarly, a second element may be termed a first element, without departing from the scope of the present invention.

When a component is referred to as being connected or connected to another component, it may be directly connected or connected to the other component, but it may be understood that another component may exist in the middle. . On the other hand, when it is mentioned that a certain element is directly connected to another element or directly connected to another element, it can be understood that no other element exists in the middle.

Terms used in this specification are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions may include plural expressions unless the context clearly dictates otherwise.

In this specification, the terms include or include are intended to designate that there is a feature, number, step, operation, component, part, or combination thereof described in the specification, and one or more other features or numbers, It can be understood that the presence or addition of steps, operations, components, parts, or combinations thereof is not precluded.

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

An autonomous vehicle refers to a vehicle that navigates to its destination by itself by identifying the situation with various sensors such as precise maps and global positioning systems (GPS), without the driver manipulating the steering wheel, accelerator pedal, or brake.

The self-driving market is expected to enter a full-fledged growth phase from 2020.

According to market research firm Navigant Research, the global self-driving car market is estimated to reach $1.2 trillion by 2035 after accounting for $200 billion, or 2% of the total car market, in 2020.

Several technologies may be required to realize self-driving cars, such as HDA technology that automatically maintains the distance between vehicles, Lane Departure Warning System (LDWS), Lane Keeping Assist System (LKAS), Blind Spot Warning System (BSD), Advanced Smart Cruise Control (ASCC) and Automatic Emergency Braking (AEB) are required.

Here, the self-driving vehicle must be stably operated according to a predetermined route, and even when a specific event occurs, stable service technology must be provided through bypass operation corresponding to the event.

In particular, the articulated vehicle has a maximum capacity of 100 people in a two-car, one-car formation, and since it is a two-car connected vehicle and is long, there is a problem in that the number of cognitive sensors for autonomous driving increases accordingly.

In addition, in the case of an articulated bus vehicle, there is a problem in that the processing capacity of the system is excessive to process the information obtained from the recognition sensor at once.

Therefore, the present invention relates to a control system and method for autonomous driving of an articulated bus vehicle, which separately configures a recognition sensor processing system for the first and second time, extracts the type and location information of an object, and generates GPS signals for the first and second time It is intended to provide a system and method for controlling an autonomous vehicle to a user by synchronizing the time of the two systems using each.

Specifically, the present invention provides an autonomous driving control unit to synchronize the time of first information acquired by the first vehicle and second information obtained by the second vehicle based on location information of the first vehicle and location information of the second vehicle, and To provide a user with an autonomous vehicle, system and method characterized by controlling the operation of the autonomous vehicle by using the synchronized first and second information together.

Prior to a detailed description of the present invention, an autonomous vehicle applied to the present invention will be described in detail.

1 shows an example of a block configuration diagram for an autonomous vehicle according to the present invention.

Referring to FIG. 1 , an autonomous vehicle 100 includes a wireless communication unit 110, a driving unit 120, a braking unit 130, a sensing unit 140, an output unit 150, a memory 160, and a control unit 180. ), a power supply unit 190, and the like.

However, since the components shown in FIG. 1 are not essential, an autonomous vehicle 100 having more or fewer components may be implemented.

Hereinafter, the above components are examined in turn.

The wireless communication unit 110 may include one or more modules enabling wireless communication between the autonomous vehicle 100 and a wireless communication system or between a device and a network in which the device is located.

The wireless communication unit 110 may perform communication with an external device through short-range communication or long-distance communication.

Here, the short-range communication may include ANT, Bluetooth, Radio Frequency Identification (RFID), Infrared Data Association (IrDA), UltraWideband (UWB), and ZigBee technologies.

In addition, long-distance communication includes code division multiple access (CDMA), frequency division multiple access (FDMA), time division multiple access (TDMA), orthogonal frequency division multiple access (OFDMA), and single carrier frequency division multiple access (SC-FDMA). can include

Also, referring to FIG. 1 , the driving unit 120 provides a function of driving the autonomous vehicle 100 , that is, the mobile body.

That is, a driving force for moving the self-driving vehicle 100 may be provided based on configurations such as a motor and an inverter.

Also, referring to FIG. 1 , the braking unit 130 is a component that provides a braking function to stop the movement of the autonomous vehicle 100 .

The braking unit 130 includes a braking force generating device that generates a force necessary for braking using a driver's operating force or auxiliary power, a braking device that reduces the speed of a vehicle using the force generated by the braking force generating device, or directly stops the vehicle, It may be composed of an auxiliary device that transmits the force generated by the braking force generating device to the braking device.

Braking force generating devices include auxiliary power such as vacuum, hydraulic pressure, and air brakes, master cylinders, boosters, etc., brake devices include drum and disc brakes, and auxiliary devices include vacuum pumps and air compressors.

The braking unit 130 includes a braking brake necessary for lowering the driving speed of a vehicle or making an emergency stop, a parking brake maintaining a parked or stopped state or preventing a vehicle parked on a slope from slipping, and an auxiliary brake controlling the speed when going down a slope. classified as In addition, according to the friction method, it may be divided into a friction type and a non-friction type.

The former includes parking, center, wheel, commercial, hydraulic, and air brakes, and the latter includes deceleration, exhaust, engine, electronic, and fluid brakes.

In addition, the sensing unit 140 performs autonomous driving such as the opening/closing state of the autonomous vehicle 100, the position of the autonomous vehicle 100, the orientation of the autonomous vehicle 100, and the acceleration/deceleration of the autonomous vehicle 100. A sensing signal for controlling the operation of the autonomous vehicle 100 is generated by detecting the current state of the vehicle 100 .

The sensing unit 140 may also sense whether or not the power supply unit 190 is supplying power.

The sensing unit 140 according to the present invention may further include a proximity sensor, an ultrasonic sensor, and a distance sensor.

The output unit 150 is for generating an output related to sight, hearing, or touch, and may include a display unit 151, a sound output module 152, and the like.

The display unit 151 displays (outputs) information processed by the autonomous vehicle 100 .

The display unit 151 may include a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display. display) and a 3D display.

Some of these displays may be of a transparent type or a light transmission type so that the outside can be seen through them. This may be referred to as a transparent display, and a representative example of the transparent display is TOLED (Transparent OLED) and the like. A rear structure of the display unit 151 may also be configured as a light transmissive structure. With this structure, a user can view an object located behind the body of the autonomous vehicle 100 through an area occupied by the display unit 151 of the body of the autonomous vehicle 100 .

Depending on the implementation form of the autonomous vehicle 100, two or more display units 151 may exist.

When the display unit 151 and a sensor for detecting a touch operation (hereinafter referred to as a 'touch sensor') form a mutual layer structure (hereinafter referred to as a 'touch screen'), the display unit 151 may be used in addition to an output device. It can also be used as an input device. The touch sensor may have a form of, for example, a touch film, a touch sheet, or a touch pad.

The touch sensor may be configured to convert a pressure applied to a specific area of the display unit 151 or a change in capacitance generated in a specific area of the display unit 151 into an electrical input signal. The touch sensor may be configured to detect not only the touched position and area, but also the pressure upon touch.

When there is a touch input to the touch sensor, the corresponding signal(s) are sent to the touch controller. The touch controller processes the signal(s) and then transmits corresponding data to the controller 180. Thus, the controller 180 can know which area of the display unit 151 has been touched.

The proximity sensor 141 may be disposed in an inner area of the autonomous vehicle 100 surrounded by the touch screen or near the touch screen. The proximity sensor refers to a sensor that detects the presence or absence of an object approaching a predetermined detection surface or an object existing in the vicinity without mechanical contact by using the force of an electromagnetic field or infrared rays. Proximity sensors have a longer lifespan than contact sensors, and their utilization is also high.

Examples of the proximity sensor include a transmissive photoelectric sensor, a direct reflection photoelectric sensor, a mirror reflection photoelectric sensor, a high frequency oscillation type proximity sensor, a capacitive proximity sensor, a magnetic proximity sensor, an infrared proximity sensor, and the like. When the touch screen is capacitive, the proximity of the pointer is detected by a change in electric field according to the proximity of the pointer. In this case, the touch screen (touch sensor) may be classified as a proximity sensor.

The audio output module 152 may output audio data received from the wireless communication unit 110 or stored in the memory 160 in a recording mode, a voice recognition mode, a broadcast reception mode, or the like.

The sound output module 152 also outputs sound signals related to functions performed in the autonomous vehicle 100 . The sound output module 152 may include a receiver, a speaker, a buzzer, and the like.

The memory unit 160 may store programs for processing and control by the control unit 180, and functions for temporarily storing input/output data (eg, messages, audio, still images, moving images, etc.) can also be performed.

The memory 160 may be a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (eg SD or XD memory, etc.), RAM (Random Access Memory, RAM), SRAM (Static Random Access Memory), ROM (Read-Only Memory, ROM), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, magnetic It may include at least one type of storage medium among a disk and an optical disk. The self-driving vehicle 100 uses the storage function of the memory 160 on the Internet.

In addition, the controller 180 controls the overall operation of the autonomous vehicle 100 in general.

The power supply unit 190 receives external power and internal power under the control of the controller 180 and supplies power necessary for the operation of each component.

Various embodiments described herein may be embodied in a recording medium readable by a computer or similar device using, for example, software, hardware, or a combination thereof.

According to hardware implementation, the embodiments described herein include application specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field programmable gate arrays (FPGAs), It may be implemented using at least one of processors, controllers, micro-controllers, microprocessors, and electrical units for performing other functions. The described embodiments may be implemented by the controller 180 itself.

According to software implementation, embodiments such as procedures and functions described in this specification may be implemented as separate software modules. Each of the software modules may perform one or more functions and operations described herein. The software code may be implemented as a software application written in any suitable programming language. The software code may be stored in the memory 160 and executed by the controller 180.

Meanwhile, FIG. 2 shows an example of a specific block configuration diagram related to each component of the articulated bus in relation to the present invention.

Referring to FIG. 2 , a self-driving vehicle 1 made by connecting two vehicles 100a and 100b with an articulated node so that they can run while bending on a curved road is shown.

Among the two vehicles 100a and 100b, the first vehicle 100a includes a first GPS 111a for obtaining location information of the first vehicle 100a and a plurality of GPS devices for collecting information around the autonomous vehicle 100a. By collecting and processing the information acquired by the first cognitive sensors 141a, 142a, and 143a and a plurality of first cognitive sensors, first information including at least one of the types and locations of objects around the self-driving vehicle is generated. and an autonomous driving control unit 200 that receives the first information from the first processing unit 180a and receives the location information of the first vehicle from the first GPS unit 111a. can

In addition, among the two vehicles 100a and 100b, the second vehicle 100b has a second GPS 111b for obtaining location information of the second vehicle 100b and a plurality of second vehicles for collecting information around the autonomous vehicle. 2 cognitive sensors 141b, 142b, and 143b, by collecting and processing information obtained by a plurality of second cognitive sensors, to generate second information including at least one of the type and location of objects around the self-driving vehicle A second processing unit 180b may be included.

In addition, the autonomous driving control unit 200 of the first vehicle 100a receives the second information from the second processing unit 180b and receives the location information of the second vehicle from the second GPS 111b, Based on the location information of the first vehicle 100a and the location information of the second vehicle 100b, the times of the first information and the second information are synchronized, and the synchronized first and second information are combined together. It is possible to control the operation of the self-driving vehicle 100 by using.

The articulated vehicle has a maximum capacity of 100 people in a two-car, one-car formation, and is long as a two-car connected vehicle, so the number of cognitive sensors for autonomous driving increases accordingly, and the system processing capacity is unreasonable to process the cognitive sensors at once. The present invention can solve.

That is, the inch sensor processing system is separately configured for the former and the latter, receives information from it and performs judgment and control, and the cognitive sensor processing system extracts the type and location information of the object with sensor information, and This problem can be solved through time synchronization of the two systems using each GPS signal.

Meanwhile, the plurality of first perception sensors 141a, 142a, and 143a and the plurality of second perception sensors 141b, 142b, and 143b may include at least one camera, at least one LIDAR, and at least one radar. have.

Meanwhile, according to the present invention, information may be collected based on a triggering signal.

Referring to (a) of FIG. 3, conventionally, since the measurement period is different for each sensor, there is a problem in that a signal processing time point is determined and the signal closest to that point is assumed to be the same time point and processed.

Therefore, as shown in (b) of FIG. 3, the first processing unit 180a and the second processing unit 180b generate a triggering signal to detect the plurality of first cognitive sensors 141a, 142a, and 143a and the plurality of of the second recognition sensors (141b, 142b, 143b), the plurality of first recognition sensors (141a, 142a, 143a) and the plurality of second recognition sensors (141b, 142b, 143b) according to the triggering signal By collecting the above information, this can be solved.

Through the proposed method, a triggering signal is generated in the cognitive sensor processing system, the signal is acquired at the same time, there is no discarded information, and accurate synchronization time points can be set between the cognitive sensors.

Meanwhile, according to the present invention, the triggering signal may use a sensor having the slowest measurement period.

That is, the triggering signal may be set according to the measurement period of the sensor having the slowest measurement period.

In addition, even if it is set according to the slowest signal, it is possible to determine whether the cognitive sensor processing system processes the entire signal and, if not, to determine the signal period of the final trigger while increasing the measurement period.

Meanwhile, FIG. 4 is a flowchart illustrating a control method for autonomous driving of an articulated bus vehicle in relation to the present invention.

Referring to FIG. 4, in a method for controlling an autonomous vehicle that connects two vehicles with an articulation joint so that they can run while bending on a curved road, a first GPS of a first vehicle among the two vehicles determines the location of the first vehicle. Obtaining information, a second GPS of a second vehicle acquiring location information of the second vehicle, and a plurality of first cognitive sensors of the first vehicle collecting information around the autonomous vehicle, and the second Steps (S1, S2, S3) of collecting information around the self-driving vehicle by a plurality of cognitive sensors of the vehicle are performed first.

Thereafter, the period of the triggering signal is set based on the first sensor having the slowest measurement period among the plurality of first cognitive sensors and the plurality of second cognitive sensors (S4, S5), and the first processing unit and the second processing unit In addition, it is determined whether all the information obtained from the plurality of first cognitive sensors and the plurality of second cognitive sensors is collected according to the period of the triggering signal, and when all information is not collected, the first processing unit and The second processing unit may reset the period of the triggering signal (S7, S9).

In addition, the first processing unit and the second processing unit generate a triggering signal and transmit it to the plurality of first cognitive sensors and the plurality of second cognitive sensors (S6), and the plurality of first cognitive sensors and the plurality of second cognitive sensors. The cognitive sensor collects the information according to the triggering signal.

In addition, the first processing unit of the first vehicle generates first information including at least one of types and locations of objects around the self-driving vehicle by collecting and processing information acquired by the plurality of first cognitive sensors. and generating second information including at least one of types and locations of objects around the self-driving vehicle by a second processing unit of the second vehicle collecting and processing information acquired by the plurality of second cognitive sensors. do.

Thereafter, the autonomous driving control unit of the first vehicle receives the first information from the first processing unit, receives the location information of the first vehicle from the first GPS, and receives the second information from the second processing unit. and the location information of the second vehicle is received from the second GPS.

In addition, the autonomous driving control unit synchronizes the time of the first information and the second information based on the location information of the first vehicle and the location information of the second vehicle, and the synchronized first information and the second information. Operation of the self-driving vehicle may be controlled by using the information together.

Therefore, the present invention relates to a control system and method for autonomous driving of an articulated bus vehicle, which separately configures a recognition sensor processing system for the first and second time, extracts the type and location information of an object, and generates GPS signals for the first and second time A system and method for controlling an autonomous vehicle can be provided to a user by synchronizing the time of the two systems using each.

Specifically, the present invention provides an autonomous driving control unit to synchronize the time of first information acquired by the first vehicle and second information obtained by the second vehicle based on location information of the first vehicle and location information of the second vehicle, and , It is possible to provide a self-driving vehicle, a system and a method characterized in that the operation of the autonomous vehicle is controlled by using the synchronized first and second information together to the user.

Meanwhile, the above-described embodiments of the present invention may be implemented through various means. For example, embodiments of the present invention may be implemented by hardware, firmware, software, or a combination thereof.

In the case of hardware implementation, the method according to the embodiments of the present invention includes one or more ASICs (Application Specific Integrated Circuits), DSPs (Digital Signal Processors), DSPDs (Digital Signal Processing Devices), PLDs (Programmable Logic Devices) , Field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, etc.

In the case of implementation by firmware or software, the method according to the embodiments of the present invention may be implemented in the form of a module, procedure, or function that performs the functions or operations described above. The software code may be stored in a memory unit and driven by a processor. The memory unit may be located inside or outside the processor and exchange data with the processor by various means known in the art.

Detailed descriptions of the preferred embodiments of the present invention disclosed as described above are provided to enable those skilled in the art to implement and practice the present invention. Although the above has been described with reference to preferred embodiments of the present invention, those skilled in the art will understand that the present invention can be variously modified and changed without departing from the scope of the present invention. For example, those skilled in the art can use each configuration described in the above-described embodiments in a way of combining each other. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The present invention can be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention. Accordingly, the above detailed description should not be construed as limiting in all respects and should be considered as illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention. The invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. In addition, claims that do not have an explicit citation relationship in the claims may be combined to form an embodiment or may be included as new claims by amendment after filing.

Claims (9)

In an autonomous vehicle that connects two vehicles with an articulated joint so that they can run while bending on a curved road,

The first vehicle of the two vehicles,
a first GPS acquiring location information of the first vehicle;
a plurality of first recognition sensors for collecting information around the self-driving vehicle;
a first processing unit generating first information including at least one of types and locations of objects around the self-driving vehicle by collecting and processing information acquired by the plurality of first cognitive sensors; and
An autonomous driving control unit that receives the first information from the first processing unit and receives location information of the first vehicle from the first GPS unit;

The second vehicle of the two vehicles,
a second GPS acquiring location information of the second vehicle;
a plurality of second cognitive sensors that collect information about the self-driving vehicle; and
A second processing unit configured to generate second information including at least one of types and locations of objects around the self-driving vehicle by collecting and processing information acquired by the plurality of second cognitive sensors;

The autonomous driving control unit,
receiving the second information from the second processing unit;
Receiving location information of the second vehicle from the second GPS,
Synchronizing times of the first information and the second information based on the location information of the first vehicle and the location information of the second vehicle;
Controlling the operation of the autonomous vehicle by using the synchronized first and second information together;

The plurality of first recognition sensors and the plurality of second recognition sensors,
at least one camera, at least one lidar and at least one radar;

The first processing unit and the second processing unit,
A triggering signal is generated and transmitted to the plurality of first cognitive sensors and the plurality of second cognitive sensors,
The plurality of first cognitive sensors and the plurality of second cognitive sensors collect the information according to the triggering signal.
delete delete According to claim 1,
The period of the triggering signal is
The self-driving vehicle, characterized in that set based on a first sensor having the slowest measurement cycle among the plurality of first cognitive sensors and the plurality of second cognitive sensors.
According to claim 4,
The first processing unit and the second processing unit,
Determine whether all information obtained from the plurality of first cognitive sensors and the plurality of second cognitive sensors is collected according to the period of the triggering signal;

If all of the above information is not collected,
Self-driving vehicle, characterized in that for resetting the period of the triggering signal. In the control method of an autonomous vehicle that connects two vehicles with an articulated joint so that they can run while bending on a curved road,

a first step in which a first GPS of a first vehicle among the two vehicles acquires location information of the first vehicle and a second GPS of a second vehicle obtains location information of the second vehicle;

a second step of collecting information around the self-driving vehicle by a plurality of first cognitive sensors of the first vehicle and collecting information about the autonomous vehicle by a plurality of cognitive sensors of the second vehicle;

A first processing unit of the first vehicle generates first information including at least one of a type and a location of an object around the autonomous vehicle by collecting and processing information acquired by the plurality of first cognitive sensors; A second processing unit of the second vehicle collects and processes information obtained by the plurality of second cognitive sensors to generate second information including at least one of a type and a location of an object around the self-driving vehicle. Step 3;

The autonomous driving control unit of the first vehicle receives the first information from the first processing unit, receives location information of the first vehicle from the first GPS, and transmits the second information from the second processing unit. a fourth step of receiving and receiving location information of the second vehicle from the second GPS; and

The autonomous driving control unit synchronizes the time of the first information and the second information based on the location information of the first vehicle and the location information of the second vehicle, and the synchronized first information and second information A fifth step of controlling the operation of the self-driving vehicle by using together; including,

The plurality of first recognition sensors and the plurality of second recognition sensors,
at least one camera, at least one lidar and at least one radar;

Between the first step and the second step,
A 1.5 step of generating a triggering signal by the first processing unit and the second processing unit and transmitting the triggering signal to the plurality of first cognitive sensors and the plurality of second cognitive sensors; further comprising,

In the second step,
The plurality of first cognitive sensors and the plurality of second cognitive sensors collect the information according to the triggering signal.
delete According to claim 6,
The period of the triggering signal is
The method of controlling an autonomous vehicle, characterized in that set based on a first sensor having the slowest measurement cycle among the plurality of first cognitive sensors and the plurality of second cognitive sensors.
According to claim 8,
After the fifth step,
A sixth step of determining, by the first processing unit and the second processing unit, whether all information acquired from the plurality of first cognitive sensors and the plurality of second cognitive sensors is collected according to a period of the triggering signal; and
and a seventh step of resetting, by the first processing unit and the second processing unit, a cycle of the triggering signal when all of the information is not collected.

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