KR102495611B1 - Apparatus, method and system for autonomous driving - Google Patents

Abstract

The present invention relates to a device, method, and system for autonomous driving. The device comprises: a sensor part that detects a surrounding object of an own vehicle; a control part that generates an autonomous driving path of the own vehicle based on the movement data of the surrounding object detected by the sensor part; and a surrounding object analysis part that receives the movement data of the surrounding object from the control part and analyzes an expected movement trajectory of the surrounding object probabilistically, wherein the control part, by the movement data of the surrounding object and the surrounding object analysis part, generates the autonomous driving path based on the expected movement trajectory of the probabilistically analyzed surrounding object. Therefore, the present invention is capable of improving an autonomous driving control performance.

Description

Autonomous driving device, method and system {APPARATUS, METHOD AND SYSTEM FOR AUTONOMOUS DRIVING}

The present invention is an autonomous driving device. It relates to a method and system, and more particularly, to an autonomous driving apparatus, method, and system for performing autonomous driving according to an autonomous driving path created to avoid collision with surrounding objects.

Today's automotive industry is moving in the direction of implementing autonomous driving that minimizes driver intervention in driving the vehicle. An autonomous vehicle refers to a vehicle that recognizes the surrounding environment through external information detection and processing functions while driving, determines a driving path on its own, and drives independently using its own power.

Self-driving vehicles can drive to their destination by themselves, avoiding collisions with obstacles on the driving path and adjusting the vehicle speed and driving direction according to the shape of the road, without the driver manipulating the steering wheel, accelerator pedal, or brakes. there is. For example, acceleration may be performed on a straight road, and deceleration may be performed while changing a driving direction corresponding to a curvature of the road on a curved road.

These self-driving vehicles avoid collisions with surrounding vehicles by using sensor data acquired through sensors mounted on the vehicle while driving the route to the initially set destination, or create new ones through V2X (Vehicle-to-Everything) communication. Autonomous driving is performed by setting a route and modifying the initially set route. However, autonomous driving based on sensors installed in the vehicle has a problem in that the precision is reduced due to the systemic limitations of the sensor device, and the autonomous driving route obtained through communication is non-up-to-date of communication information (non-up-to-date of map data). gender, etc.), there is a problem that the accuracy is low.

The background art of the present invention is disclosed in Korean Patent Publication No. 10-1998-0068399 (published on October 15, 1998).

The present invention was invented to solve the above problems, and an object of the present invention is to improve the precision of autonomous driving control that occurs when autonomous driving is performed through only sensor data measured through a sensor mounted on a vehicle, and to communicate An autonomous driving device, method, and system for improving autonomous driving control performance by improving inaccuracy of an autonomous driving route due to non-update information are provided.

An autonomous driving device according to an aspect of the present invention includes a sensor unit that detects surrounding objects of the own vehicle, a control unit that generates an autonomous driving path of the own vehicle based on movement data of the surrounding objects detected by the sensor unit, and and a surrounding object analyzer that receives movement data of the surrounding object from the controller and analyzes an expected movement trajectory of the surrounding object probabilistically, wherein the controller is configured to analyze the movement data of the surrounding object and the surrounding object analyzing unit It is characterized in that the self-driving route is generated based on the probabilistically analyzed expected movement trajectory of the surrounding object.

In the present invention, the movement data of the surrounding object is characterized in that it is object attribute data including at least one of object type, movement speed, deceleration and acceleration information, lane change frequency information, and lane compliance information.

In the present invention, the surrounding object analyzer receives the movement data of the surrounding object, and analyzes the expected movement trajectory of the surrounding object probabilistically based on pre-stored big data reflecting movement data reference information according to object properties. It is characterized by doing.

In the present invention, the control unit finally determines the expected movement path of the surrounding object based on the movement data of the surrounding object and the expected movement trajectory of the surrounding object, and determines the expected movement path of the surrounding object based on the determined expected movement path of the surrounding object. It is characterized by generating an autonomous driving route of the vehicle.

The present invention is characterized in that it further includes an autonomous driving driving unit that performs at least one of driving, steering, and braking of the own vehicle so that the own vehicle follows the generated autonomous driving path.

An autonomous driving method according to an aspect of the present invention includes the steps of detecting, by a sensor unit, surrounding objects of the own vehicle; and determining, by a controller, an autonomous driving path of the own vehicle based on movement data of the surrounding objects detected by the sensor unit. generating, by the surrounding object analyzing unit, receiving movement data of the surrounding object from the control unit and probabilistically analyzing an expected movement trajectory of the surrounding object; and, by the controller, moving data of the surrounding object and the surrounding object. and updating the autonomous driving path based on the expected movement trajectory of the surrounding object probabilistically analyzed by an object analyzer.

In the present invention, the movement data of the surrounding object is characterized in that it is object attribute data including at least one of object type, movement speed, deceleration and acceleration information, lane change frequency information, and lane compliance information.

According to the present invention, in the analyzing step, the surrounding object analysis unit receives the movement data of the surrounding object, and the estimated movement trajectory of the surrounding object based on pre-stored big data in which reference information of the movement data according to object properties is reflected. It is characterized by probabilistic analysis.

In the updating step, the control unit finally determines an expected movement path of the surrounding object based on the movement data of the surrounding object and the expected movement trajectory of the surrounding object, and determines the determined expected movement path of the surrounding object. It is characterized in that the self-driving path is updated based on.

The present invention is characterized in that the controller further comprises controlling at least one of driving, steering, and braking of the own vehicle so that the own vehicle follows the updated autonomous driving route.

An autonomous driving system according to an aspect of the present invention includes a control unit that generates an autonomous driving route of the own vehicle based on movement data of surrounding objects of the own vehicle, and receives movement data of the surrounding objects from the control unit to determine the movement of the surrounding objects. A data server for probabilistically analyzing an expected movement trajectory and transmitting the data to the control unit, and a communication unit for performing data communication between the control unit and the data server, wherein the control unit analyzes the movement data of the surrounding object and the surrounding object It is characterized in that the self-driving path is generated based on the expected movement trajectory of the surrounding object probabilistically analyzed by the unit.

The present invention creates an autonomous driving path by considering the sensor data measured by a sensor installed in the vehicle and the expected movement trajectory of the surrounding vehicle analyzed through the data server, and performs autonomous driving, thereby improving the existing sensor-based autonomous driving. It can overcome the limitations of control and improve autonomous driving control performance.

1 is a block diagram illustrating an autonomous driving control device according to an embodiment of the present invention.
2 and 3 are exemplary diagrams for explaining a process of analyzing movement data of a surrounding object by a surrounding object analyzer in the autonomous driving control device according to an embodiment of the present invention.
4 is a flowchart for explaining an autonomous driving method according to an embodiment of the present invention.
5 is a block diagram illustrating an autonomous driving system according to an embodiment of the present invention.

Hereinafter, embodiments of an autonomous driving device, method, and system according to the present invention will be described with reference to the accompanying drawings. In this process, the thickness of lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of a user or operator. Therefore, definitions of these terms will have to be made based on the content throughout this specification.

1 is a block diagram illustrating an autonomous driving control device according to an embodiment of the present invention, and FIGS. 2 and 3 are a control unit generating an autonomous driving route in the autonomous driving control device according to an embodiment of the present invention. It is an example diagram to explain the process.

Referring to FIG. 1 , an autonomous driving control device according to an embodiment of the present invention includes an interface unit 10, a positioning unit 20, a map data storage unit 30, a sensor unit 40, a control unit 50, A surrounding object analysis unit 60 and an autonomous driving unit 70 may be included.

The interface unit 10 performs an input/output function of receiving a user's manipulation and outputting driving information of the own vehicle, and performing input/output functions such as a head up display (HUD), cluster and buttons as well as a voice recognition device and 3D hologram It can include all possible configurations.

The positioning unit 20 may position the current position of the own vehicle. Specifically, the positioning unit 20 may receive GPS coordinates of the current location of the vehicle, that is, location information of latitude and longitude coordinates, using a satellite navigation system such as GPS.

The map data storage unit 30 stores map data for searching a driving route and guiding the searched driving route. The map data storage unit 30 includes information such as links of driving roads, properties of each link, node list of intersections for each link, width information of driving roads, lane information, location, size and shape information of fixed facilities, etc. It may store precision map data including .

The sensor unit 40 may detect objects around the vehicle and transmit the detected objects to the control unit 50 to be described later. The sensor unit 40 may include all kinds of sensors mounted on the vehicle, and may include a camera sensor, a radar sensor, a lidar sensor, an ultrasonic sensor, or the like to detect objects around the vehicle.

When a destination is input from the user through the interface unit 10, the controller 50 determines the current location of the host vehicle determined by the positioning unit 20 and the map data stored in the map data storage unit 30. It is possible to perform autonomous driving of the own vehicle by creating a route from the location to the destination and driving the created route while controlling an autonomous driving driving unit 70 to be described later.

Meanwhile, in the present embodiment, the control unit 50 may create an autonomous driving path for the own vehicle based on movement data of surrounding objects detected by the sensor unit 40 . Here, the surrounding objects include all objects moving in the vicinity of the own vehicle, such as pedestrians, bicycles, motorcycles, as well as surrounding vehicles traveling around the own vehicle. In addition, the movement data of the surrounding objects includes one or more of object type (type of object such as car, truck, bus, pedestrian, bicycle or motorcycle), moving speed, deceleration information, lane change frequency information, and lane compliance information. Indicates object attribute data.

That is, the control unit 50 monitors the surrounding objects of the own vehicle through the sensor unit 40 while driving the route to the destination, and generates an autonomous driving route in real time to avoid collision with surrounding objects. Autonomous driving of the vehicle may be performed.

However, as described above, when autonomous driving is performed based only on a sensor mounted on a conventional vehicle, there is a problem in that the autonomous driving precision is lowered due to the systematic limitations of the sensor device, so in this embodiment, the surrounding object analyzer (60 ), the expected movement trajectory of the surrounding object is probabilistically analyzed and reflected in the self-driving path generation of the own vehicle, thereby adopting a configuration that improves autonomous driving precision.

The surrounding object analyzer 60 may receive movement data of the surrounding objects from the control unit 50 and analyze an expected movement trajectory of the surrounding objects probabilistically. At this time, the surrounding object analysis unit 60 receives the movement data of the surrounding objects, reflects the movement data reference information according to the object properties, and analyzes the expected movement trajectory of the surrounding objects probabilistically based on pre-stored big data. there is.

More specifically, as described above, the movement data of the surrounding objects that the surrounding object analyzing unit 60 receives from the control is at least one of object type, moving speed, deceleration and acceleration information, lane change frequency information, and lane compliance information. included Referring to the example shown in FIG. 2 , the surrounding object analyzer 60 may determine that the driving vehicle 1 is a vehicle that frequently changes lanes based on the movement data of the traveling vehicle 1, and the movement data of the traveling vehicle 2 Based on , it can be determined that the driving vehicle 2 is a low-speed vehicle, and based on each movement data of the traveling vehicles 3 and 4, it can be determined that the traveling vehicles 3 and 4 are vehicles traveling at a constant speed in front of the host vehicle, respectively. Similarly, referring to the example shown in FIG. 3 , the surrounding object analyzer 60 may determine that the driving vehicle 1 is a vehicle driving carelessly in a lane based on the movement data of the driving vehicle 1, and the Based on the movement data, it can be determined that the driving vehicle 2 is a vehicle that frequently changes lanes, and based on the movement data of the driving vehicle 3, it can be determined that the driving vehicle 3 is speeding in front of the host vehicle.

Accordingly, the surrounding object analyzer 60 may probabilistically analyze the expected movement trajectory of the surrounding object based on the movement data of the surrounding object input from the control unit 50. At this time, the surrounding object analyzing unit 60 may analyze the object It is possible to probabilistically analyze the expected movement trajectory of surrounding objects based on pre-stored big data by reflecting movement data reference information according to attributes. In big data, the movement data is collected according to object properties (ie, object type, moving speed, deceleration information, lane change frequency information, and lane compliance information), and the movement trajectory of the surrounding object is calculated from the movement data of one surrounding object. It means a database of reference information for prediction. Accordingly, the surrounding object analyzer 60 may probabilistically analyze the expected movement trajectory of the surrounding object by applying a probability analysis technique through big data to the movement data of the surrounding object.

On the other hand, in consideration of the computational load of the big data-based probability analysis process, the surrounding object analyzer 60 transmits data server 60 that communicates with the host vehicle from the outside of the host vehicle as shown in FIGS. 2 and 3 . may be implemented.

The surrounding object analyzer 60 may transmit the probabilistically analyzed predicted movement trajectory of the surrounding object to the controller 50, and accordingly, the controller 50 may transmit the movement data of the surrounding object and the probabilistically analyzed predicted movement trajectory of the surrounding object. An autonomous driving route may be generated based on the expected movement trajectory.

That is, the control unit 50 calculates an autonomous driving route by considering not only the movement data of the surrounding objects detected by the sensor unit 40 but also the expected movement trajectory of the surrounding objects probabilistically analyzed based on the movement data of the surrounding objects. By generating the sensor device, it is possible to improve the problem that the precision of autonomous driving is lowered due to the systemic limitation of the sensor device when autonomous driving is performed based only on the sensor mounted on the conventional vehicle.

At this time, the control unit 50 finally determines the expected movement path of the surrounding object based on the movement data of the surrounding object and the expected movement trajectory of the surrounding object, and determines the autonomous driving route of the own vehicle based on the determined expected movement path of the surrounding object. can create That is, the control unit 50 based on the movement data of the surrounding objects currently being monitored in real time through the sensor unit 40 and the expected movement trajectory of the surrounding objects probabilistically analyzed by the surrounding object analyzer 60 An expected movement path of surrounding objects is finally determined, and an autonomous driving path for avoiding a collision with surrounding objects may be created based on the determined expected movement path. This process means updating the autonomous driving path generated based only on the movement data of the surrounding objects using the expected movement trajectory of the surrounding objects.

The autonomous driving driving unit 70 may perform one or more of driving, steering, and braking of the own vehicle to follow the autonomous driving path created (updated) through the above process. That is, the autonomous driving driving unit 70 is controlled by the control unit 50 to follow the generated (updated) autonomous driving route, and may perform one or more of driving, steering, and braking of the own vehicle. To this end, as shown in FIG. 1, the autonomous driving driving unit 70 includes a driving system 71 for driving an internal combustion engine, motor driven power steering (MDPS), active front steering (AFS), and rear wheel steering (RWS). The same steering system 73 and a braking system 75 such as Autonomous Emergency Braking (AEB) and Anti-lock Brake System (ABS) may be included.

4 is a flowchart for explaining an autonomous driving method according to an embodiment of the present invention.

Referring to the autonomous driving method according to an embodiment of the present invention with reference to FIG. 4 , first, the sensor unit 40 senses surrounding objects of the own vehicle (S10). In step S10, the sensor unit 40 may detect objects around the vehicle through a camera sensor, radar sensor, lidar sensor, or ultrasonic sensor mounted on the vehicle.

Next, the control unit 50 creates an autonomous driving path for the own vehicle based on the movement data of surrounding objects detected by the sensor unit 40 (S20). Here, the movement data of the surrounding object may include one or more of object type, movement speed, deceleration/acceleration information, lane change frequency information, and lane compliance information.

Subsequently, the surrounding object analyzer 60 receives the movement data of the surrounding objects from the control unit 50 and probabilistically analyzes the expected movement trajectory of the surrounding objects (S30). In step S30, the surrounding object analysis unit 60 receives the movement data of the surrounding objects, and analyzes the expected movement trajectory of the surrounding objects probabilistically based on the pre-stored big data by reflecting the movement data reference information according to the object properties. can do.

Subsequently, the control unit 50 updates the autonomous driving path generated in step S20 based on the movement data of the surrounding objects and the expected movement trajectory of the surrounding objects probabilistically analyzed by the surrounding object analyzer 60 (S40). . In step S40, the control unit 50 finally determines the expected movement path of the surrounding objects based on the movement data of the surrounding objects and the expected movement trajectories of the surrounding objects, and updates the autonomous driving route based on the determined expected movement paths of the surrounding objects. can do.

Subsequently, the control unit 50 controls one or more of driving, steering, and braking of the own vehicle through the autonomous driving driving unit 70 so that the own vehicle follows the updated autonomous driving route (S50).

On the other hand, as described above, in consideration of the computational load of the big data-based probability analysis process, the surrounding object analyzer 60 is a data server 60 communicating with the own vehicle from outside the own vehicle as shown in FIG. may be implemented as

In this case, the interface unit 10, the positioning unit 20, the map data storage unit 30, the sensor unit 40, the control unit 50, and the autonomous driving unit 70 are mounted on the vehicle, and the data server ( 60) communicates with the own vehicle from the outside of the own vehicle, and a communication unit 80 for communication between the own vehicle and the data server 60 may be mounted on the own vehicle. The communication unit 80 may perform vehicle to vehicle (V2V) and vehicle to infrastructure (V2I) communication with the external vehicle/infrastructure 90 as well as the data server 60 . The map data stored in the map data storage unit 30 is updated through the latest map data provided from the infrastructure outside the vehicle through the communication unit 80, thereby maintaining its up-to-dateness.

In this way, the present embodiment creates an autonomous driving path by considering the sensor data measured through the sensor mounted on the vehicle and the expected movement trajectory of the surrounding vehicle analyzed through the data server together, and performs autonomous driving, thereby improving the existing sensor-based It is possible to overcome the limitations of autonomous driving control and improve autonomous driving control performance.

Although the present invention has been described with reference to the embodiments shown in the drawings, it should be noted that this is only exemplary and various modifications and equivalent other embodiments are possible from those skilled in the art to which the technology pertains. will understand Therefore, the true technical protection scope of the present invention should be defined by the claims below.

10: interface unit
20: positioning unit
30: map data storage unit
40: sensor unit
50: control unit
60: surrounding object analysis unit, data server
70: autonomous driving unit
71 drive system
73: steering system
75: braking system
80: Ministry of Communications
90: external vehicle/infrastructure

Claims (10)

a sensor unit for detecting objects around the vehicle;
a surrounding object analysis unit probabilistically analyzing an expected movement trajectory of the surrounding object based on the movement data of the surrounding object detected by the sensor unit and the pre-stored big data; and
An autonomous driving route of the own vehicle is generated based on the movement data of the surrounding objects detected by the sensor unit to control the autonomous driving of the own vehicle, and the autonomous driving route generated based on the movement data of the surrounding objects a control unit for updating by using an expected movement trajectory of the surrounding object analyzed probabilistically by the surrounding object analyzing unit;
including,
The big data is a database of reference information for predicting the movement trajectory of a nearby object from the movement data of one surrounding object by collecting the movement data according to object properties,
The object properties include object type, moving speed, deceleration/acceleration information, lane change frequency information, and lane compliance information.
delete delete According to claim 1,
The control unit finally determines an expected movement path of the surrounding object based on the movement data of the surrounding object and the expected movement trajectory of the surrounding object, and collides with the surrounding object based on the determined expected movement path of the surrounding object. The self-driving device characterized in that for updating the self-driving route of the host vehicle to avoid the
According to claim 1,
The self-driving device according to claim 1 , wherein the surrounding object analysis unit is implemented as a server that communicates with the own vehicle from outside the own vehicle.
controlling, by a control unit, autonomous driving of the own vehicle by creating an autonomous driving route of the own vehicle based on movement data of surrounding objects detected by the sensor unit;
receiving, by the control unit, a result of probabilistic analysis of an expected movement trajectory of the surrounding object based on movement data of the surrounding object detected by the sensor unit and pre-stored big data; and
updating, by the control unit, an autonomous driving path generated based on the movement data of the surrounding objects by using the probabilistically analyzed predicted movement trajectory of the surrounding objects;
including,
The big data is a database of reference information for predicting the movement trajectory of a nearby object from the movement data of one surrounding object by collecting the movement data according to object properties,
The object properties include object type, moving speed, deceleration/acceleration information, lane change frequency information, and lane compliance information.
delete delete According to claim 6,
In the updating step, the control unit,
The expected movement path of the surrounding object is finally determined based on the movement data of the surrounding object and the expected movement trajectory of the surrounding object, and the collision with the surrounding object is avoided based on the determined expected movement path of the surrounding object. An autonomous driving device characterized in that it updates an autonomous driving route of its own vehicle.
According to claim 6,
In the step of receiving the input, the control unit,
The autonomous driving method, characterized in that receiving a result of probabilistic analysis of the expected movement trajectory of the surrounding object from a server communicating with the own vehicle from outside the own vehicle.

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