KR102512081B1 - Bus station context information collection system for based on sensor convergence technology for autonomous large bus rapid transit - Google Patents

Abstract

Self-driving high-capacity that enables accurate detection of stop situation information (precise stop, vehicle entry/exit, road obstacles, passengers getting on and off, number of people waiting at the stop, etc.) It relates to a sensor convergence technology-based stop situation information collection system for an express bus on the main line. The self-driving main express bus terminal receiving the information and the situation information of the stop are acquired and transmitted to the control system, and after receiving the vehicle situation information transmitted from the control system, it is displayed through the display device to provide vehicle-related information to passengers waiting at the stop. Including the control system that collects the situation information of the stop from the provided stop system and stop system, analyzes the collected information with sensor fusion technology, generates passenger safety information, and transmits it to the self-driving main line express bus terminal and stop system, Implement a sensor convergence technology-based bus stop situation information collection system for self-driving large-capacity mainline express buses.

Description

Bus station context information collection system for based on sensor convergence technology for autonomous large bus rapid transit}

The present invention relates to a sensor convergence technology-based bus stop situation information collection system for an autonomous high-capacity trunk express bus, and in particular, a bus stop situation information (precise stop status, It relates to a stop situation information collection system based on sensor convergence technology for an autonomous high-capacity mainline express bus that can accurately detect vehicle entry and exit, obstacles on the road, passengers getting on and off, the number of people waiting at the stop, etc.

The bus, which has become the most important means of transportation for the common people in urban life, is an indispensable and precious means of transportation in urban life. Recently, in a situation where bus stops on the side of the road are being moved to the middle of the road, such as the Bus Information System (BIS), Bus Rapid Transit (BRT), and the implementation of the central bus lane system, buses and people inevitably In between, safety accidents, large and small, occur frequently. Side effects caused by this often occur at bus stops installed on central bus lanes with a small occupied space, and roadside bus stops are also exposed to safety accidents 24 hours a day because passengers waiting to use the bus are overcrowded.

Here, the bus express bus (BRT) refers to an express bus system in which bus-only lanes are installed on major roads and buses are operated by express. The BRT is a public transportation system with significantly improved punctuality, promptness, and transport capacity compared to the existing bus operation method, equipped with an arrival information system, a bus priority signal system, and a transfer terminal.

All major arterial roads connecting the city center and the outskirts or a dedicated road for buses only will be installed in the center of the road, and the toll collection system, platform, transfer station, transfer terminal, and information system will be applied like a subway. In other words, all bus lanes, vehicles, and stops are integrated and managed into one system.

As the use of these express buses increases, safety accidents are also increasing, and the problem of securing passenger safety is emerging as a major issue.

In order to ensure the safety of a public transportation system station and to induce a vehicle to stop at a station, a conventionally proposed technique is disclosed in <Patent Document 1> below.

The prior art disclosed in <Patent Document 1> enables a driver to accurately and safely stop a vehicle in a fixed space inside a station in a new transportation system such as a trunk express bus, a bimodal tram, a wireless tram, and a streetcar. Provides a vehicle stop guidance system of a station that induces a vehicle stop.

However, this prior art has a disadvantage in that it cannot automatically recognize an unexpected situation or emergency situation at a stop due to a falling object or a dangerous situation for passengers and provide a vehicle scheduled to arrive at the corresponding stop. Here, if information on an unexpected situation (traffic light failure, etc.) or an emergency situation at a stop is delivered to a bus scheduled to arrive at the stop, the bus can drive with care based on this information to prevent safety accidents in advance.

Korean Registered Patent No. 10-1489808 (registered on January 29, 2015) (vehicle stop guidance system for public transportation systems)

Therefore, the present invention is proposed to solve various problems occurring in the prior art as described above, and uses sensor convergence technology at the bus stop of the main line express bus vehicle (BRT bus) to use the stop situation information (precise stop, vehicle entry/exit, The purpose is to provide a stop situation information collection system based on sensor convergence technology for self-driving large-capacity mainline express buses that can accurately detect obstacles on the road, passengers getting on and off, the number of people waiting at the stop, etc.).

In order to achieve the above object, the "sensor convergence technology-based stop situation information collection system for autonomous high-capacity trunk express bus" according to the present invention includes basic vehicle information, vehicle occupant information, and vehicle emergency situation information. an autonomous driving mainline express bus terminal that transmits vehicle information to a control system and receives situation information of the next stop from the control system; A bus stop system that obtains and transmits situation information of the bus stop to the control system, receives vehicle situation information transmitted from the control system, and displays the information through a display device to provide vehicle-related information to passengers waiting at the bus stop; It is characterized by including a control system that collects situation information of the stop from the stop system, analyzes the collected information with sensor fusion technology, generates passenger safety information, and transmits it to the self-driving main line express bus terminal and the stop system. .

The self-driving main line express bus terminal is mounted on the self-driving main line express bus, and the vehicle identification number, current location information, vehicle speed information, vehicle occupant information, vehicle emergency situation information, stop arrival information, and stop departure information are provided as vehicle information. It is characterized in that it is created by.

The bus stop system includes a space detection sensor for measuring the vehicle stop position and the distance to the road surface, detecting passengers getting on and off, detecting obstacles on the road, and detecting people waiting at the bus stop; A scan laser sensor for detecting a stop position of an autonomous driving express bus, detecting entry and exit of a vehicle at a stop, and detecting a passenger's approach to a driving path; It is characterized in that it includes a camera that obtains image information of the stop and provides the acquired image information as information for monitoring the number of people waiting at the stop and for detecting passengers getting on/off.

The stop system is characterized in that it comprises a stop controller for promoting passenger safety by controlling the rope barrier based on the event information and passenger safety information transmitted from the control system.

The control system includes a traffic information receiver for receiving traffic information from the self-driving trunk express bus terminal and the bus stop system; a database manager for storing each traffic information received by the traffic information receiver in a database; a bus stop situation information analyzer for generating event information and passenger safety information by processing and analyzing the bus stop situation information transmitted from the bus stop system among the traffic information stored in the database; a control information display unit displaying event information generated by the stop situation information analysis unit and displaying passenger safety information; and a passenger safety information providing unit that transmits the passenger safety information generated by the bus stop situation information analysis unit to an autonomous driving trunk express bus terminal and a bus stop system.

In the above, the stop situation information analysis unit measures the vehicle stop position and the distance to the road surface collected through the space detection sensor (ToF sensor) among the stop situation information, and the passenger at the door position from the 3D coordinate data obtained from the space detection sensor However, when determining whether a passenger exists at the door position in the 3D coordinate data, different weights are given according to the measured value of the distance between the vehicle stop position and the road surface to improve the accuracy of determining the presence of a passenger. It is characterized by doing

In the above, the stop situation information analysis unit processes the image collected by the camera among the stop situation information with a deep learning algorithm to detect an obstacle at the stop position, and detects an obstacle at the stop position area of the vehicle. It is characterized in that the presence or absence of an obstacle detection is determined using the accuracy of the detection object.

In the above, the bus stop situation information analysis unit calculates the measurement data obtained from the scan laser sensor among the bus stop situation information as measurement angle and measurement distance values, converts them into plane coordinate values, and measures the stop position of the bus based on the plane coordinate values. The location of the door is calculated using the financial information of the bus, and the location of the door is matched with the location information of the passenger detected by the scan laser sensor to determine the passenger around the door. It is characterized in that it calculates proportional accuracy.

In the above, the bus stop situation information analyzer determines whether the scan laser sensor, the space detection sensor, and the camera are normally operating among the bus stop situation information received from the bus stop system. It is characterized in that the detection value of the sensor where the detection value is generated is used as a detection value in a normal state.

In the above, the bus stop situation information analyzer determines whether the scan laser sensor, space detection sensor, and camera are normally operating among the bus stop situation information received from the bus stop system, and if only two of the three sensors operate normally, sensor fusion technology is used. Thus, among the two normally operating sensors, the value of the sensor whose detection accuracy is detected as the first accuracy or higher is used as situation judgment information, and the sensor value whose detection accuracy of the two sensors is detected as the second accuracy or higher is used as situation judgment It is characterized by the use of information.

In the above, the bus stop situation information analyzer analyzes the information transmitted from the bus stop system, and if it is determined to be an unexpected situation, it generates event information about the unexpected situation, displays it on the control information display unit, stores it in a database, and stores the driving route of the autonomous vehicle and After selecting a target vehicle for information transmission by analyzing the location, emergency situation information is transmitted as passenger safety information to the selected vehicle.

In the above, the bus stop situation information analyzer checks the boarding and alighting information when receiving boarding and alighting information from the bus stop system, generates boarding and alighting event information when an event situation occurs, displays it on the control information display unit, and stores it in a database, and stores it in a database. After selecting a target vehicle for information delivery by analyzing the driving route and location of the vehicle, boarding and alighting information is transmitted as passenger safety information to the selected vehicle.

In the above, when receiving vehicle emergency information including takeover or vehicle breakdown from the self-driving mainline express bus terminal, the stop situation information analysis unit determines the priority of the emergency situation using a preset emergency priority decision criterion, Event information for emergency situations is generated, displayed on the control information display unit, stored in the database, and after analyzing the route and location of the self-driving vehicle to select a stop for information transmission, the selected stop system is used to determine the status of the self-driving vehicle. It is characterized in that the information is transmitted as passenger safety information.

According to the present invention, at the bus stop of the main line express bus (BRT bus), using sensor fusion technology, the stop situation information (precise stop status, vehicle entry and exit, road obstacles, passengers getting on and off, the number of people waiting at the stop, etc.) can be accurately detected The purpose is to provide a sensor convergence technology-based stop situation information collection system for an autonomous high-capacity trunk express bus.

Another object of the present invention is to acquire the situation information of the bus stop by replacing the failed sensor by using sensor information that operates normally even when some sensor failures occur, by using sensor convergence technology when collecting situation information of the bus stop. It is to provide a sensor convergence technology-based stop situation information collection system for self-driving large-capacity trunk express buses.

1 is a schematic configuration diagram of a sensor convergence technology-based stop situation information collection system for an autonomous large-capacity trunk express bus according to the present invention;
2 is a conceptual diagram of a stop situation information collection system based on sensor convergence technology for an autonomous high-capacity trunk express bus according to the present invention;
3 is a structural diagram of an embodiment of each part of a sensor convergence technology-based stop situation information collection system for an autonomous large-capacity trunk express bus according to the present invention;
4A to 4C are examples of collecting stop situation information using sensors installed at stops in the present invention;
5 to 9 are diagrams illustrating a process of processing situation information obtained from a bus stop in the present invention;
10 is an example of detecting the presence or absence of an object such as a falling object, pedestrian, or vehicle, or detecting the location of a door of a bus using information of a scan laser sensor in the present invention.

Hereinafter, a sensor convergence technology-based stop situation information collection system for an autonomous high-capacity trunk express bus according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

The terms or words used in the present invention described below should not be construed as being limited to a conventional or dictionary meaning, and the inventor may appropriately define the concept of the term in order to explain his/her invention in the best way. It should be interpreted as a meaning and concept consistent with the technical spirit of the present invention based on the principle that it can be.

Therefore, the embodiments described in this specification and the configurations shown in the drawings are only preferred embodiments of the present invention, and do not represent all of the technical spirit of the present invention, so various equivalents and equivalents that can replace them at the time of the present application It should be understood that variations may exist.

1 is a schematic configuration diagram of a stop situation information collection system based on sensor convergence technology for a self-driving large-capacity trunk express bus according to a preferred embodiment of the present invention, and FIG. 2 is a sensor for an autonomous large-capacity trunk express bus according to the present invention. 3 is a conceptual diagram of a convergence technology-based bus stop situation information collection system, and FIG. 3 is a structural diagram of each part of the sensor convergence technology-based bus stop situation information collection system for an autonomous high-capacity trunk express bus according to the present invention. It includes the terminal 10, the station system 100 and the control system 200.

The self-driving main line express bus terminal 10 obtains current traffic light information in conjunction with the traffic light system, and vehicle information including basic vehicle information, vehicle occupant information, and vehicle emergency situation information and traffic light recognition information are transmitted to the control system (200 ) and serves to receive situation information of the next stop from the control system 200.

The self-driving trunk express bus terminal 10 means a terminal mounted on the autonomous driving trunk express bus.

Preferably, the self-driving main line express bus terminal 10 is mounted on a self-driving main line express bus (BRT bus), and the intersection name, intersection ID, status information, current signal status, pedestrian signal status and signal from the traffic light system installed at the stop Remaining time information is acquired to generate traffic light recognition information, vehicle identification number, current location information, vehicle speed information, vehicle occupant information, vehicle emergency situation information, stop arrival information, and stop departure information as vehicle information.

To this end, the self-driving trunk express bus terminal 10 may include a vehicle information generator 11 that generates vehicle information and a vehicle information transmitter 12 that transmits vehicle information. The vehicle information transmission unit 12 receives the control information transmitted from the control system 200 and utilizes the safe operation information of the self-driving trunk express bus.

Here, the traffic light system serves to transmit traffic light recognition information to the self-driving trunk express bus terminal 100 and the control system 200.

The bus stop system 100 acquires the situation information of the bus stop, transmits it to the control system 200, receives the vehicle situation information transmitted from the control system 200, and displays it through a display device to inform passengers waiting at the bus stop. It provides related information and serves to control the opening and closing of the rope barrier according to the rope barrier control signal transmitted from the control system 200.

This stop system 100 measures the vehicle stop position and the distance to the road surface, and includes a space detection sensor 130 for detecting passengers getting on and off, detecting obstacles on the road, and detecting people waiting at the stop, and an autonomous driving express bus ( 10) The scan laser sensor 120 detects the stop location, vehicle entry and exit at the stop, and the approaching of the passenger to the driving path, acquires image information of the stop, and transmits the obtained image information to the number of people waiting at the stop It may include a camera 110 that provides monitoring and passenger getting on/off detection information.

In addition, the bus stop system 100 includes a bus stop situation information collector 151 that collects bus stop situation information from each of the sensors 110, 120, and 130, and based on the detected information obtained from the bus stop situation information collector 151. A bus stop information generation unit 152 for generating bus stop information, a bus stop information transmission unit 153 for transmitting the generated bus stop information to the control system 200, event information and passenger safety information transmitted from the control system 200 Based on, it may include a stop controller 154 that controls the rope barrier 160 to promote passenger safety.

The control system 200 collects situation information of the stop from the stop system 100, analyzes the collected information with sensor convergence technology, and generates passenger safety information to generate the self-driving main line express bus terminal 10 and the stop system. It serves to transmit to (100).

The control system 200 includes a traffic information receiving unit 201 that receives traffic information from the self-driving main line express bus terminal 10 and the stop system 100, and each traffic information received from the traffic information receiving unit 201. A database management unit 202 for storing in a database, a bus stop situation information analysis unit 203 for generating event information and passenger safety information by processing and analyzing the station situation information transmitted from the bus stop system 100 among the traffic information stored in the database ), a control information display unit 205 displaying event information generated by the bus stop situation information analyzer 203 and displaying passenger safety information, and passenger safety information generated by the bus stop situation information analyzer 203 autonomously It may include a passenger safety information providing unit 204 that transmits to the main line express bus terminal 10 and the bus stop system 100.

The bus stop situation information analyzer 203 measures the vehicle stop location collected through the space detection sensor (ToF sensor) 130 and the distance to the road surface among the bus stop situation information, and obtains the information from the space detection sensor 130. In one 3D coordinate data, it is determined whether there is a passenger at the door position, but when determining whether there is a passenger at the door position in the 3D coordinate data, different weights are given according to the measured value of the distance between the vehicle stop position and the road surface. Improve accuracy in determining the presence or absence of passengers.

In addition, the bus stop situation information analyzer 203 processes the image collected by the camera 110 from among the bus stop situation information with a deep learning algorithm to detect an obstacle at the stop position, and detects an obstacle in the stop position area of the vehicle. For , the presence or absence of obstacle detection is determined using the accuracy of the detection object calculated by the deep learning algorithm.

In addition, the bus stop situation information analyzer 203 calculates the measurement data acquired from the scan laser sensor 120 among the bus stop situation information as measurement angle and measurement distance values and converts them into plane coordinate values, The location of the bus stop is measured based on the plane coordinates, the location of the door is calculated using the financial information of the bus, and the location of the door is matched with the location information of the passenger detected by the scan laser sensor 120 to match the passenger around the door. While determining, the measurement area of the detected object is calculated to calculate the accuracy proportional to the distance.

In addition, the bus stop situation information analyzer 203 determines whether the scan laser sensor 120, the space detection sensor 130, and the camera 110 are normally operating among the bus stop situation information received from the bus stop system 100. , If all three sensors operate normally, the detection value of the sensor whose detection value exceeds the reference value among the three sensors is used as the detection value in the normal state.

In addition, the station situation information analysis unit 203 determines whether the scan laser sensor 120, space detection sensor 130, and camera 110 are normally operating among the station situation information received from the station system 100, and If only two sensors out of the two sensors operate normally, using sensor fusion technology, the value of the sensor whose detection accuracy is detected as higher than the first accuracy among the normally operating two sensors is used as situation judgment information, and the detection of the two sensors A sensor value whose accuracy is detected as higher than the second accuracy is used as situation judgment information as it is.

In addition, the bus stop situation information analyzer 203 analyzes the information transmitted from the bus stop system 100 and generates event information about the unexpected situation when it is determined to be an emergency situation and displays it on the control information display unit 205. After saving the database, analyzing the route and location of the self-driving vehicle, and selecting the target vehicle for information transmission, emergency situation information is transmitted to the selected vehicle as passenger safety information.

In addition, the bus stop situation information analyzer 203 checks the boarding and alighting information when receiving the boarding and alighting information from the bus stop system 100, and generates boarding and alighting event information when an event occurs and displays it on the control information display unit 205. At the same time, it is stored in the database, and after analyzing the driving route and location of the self-driving vehicle, selecting a vehicle for information transmission, boarding and disembarking information is transmitted as passenger safety information to the selected vehicle.

In addition, when receiving vehicle emergency information including takeover or vehicle failure from the self-driving mainline express bus terminal 10, the bus stop situation information analyzer 100 uses a preset emergency situation priority decision criterion to determine an emergency situation. Determine the priority of the situation, generate event information for emergency situations, display it on the control information display unit and store it in the database, analyze the driving route and location of the autonomous vehicle, select a stop for information transmission, and then select the selected stop The system transmits the situation information of the autonomous vehicle as passenger safety information.

The operation of the sensor convergence technology-based stop situation information collection system for the autonomous driving large-capacity trunk express bus according to the present invention configured as described above will be described in detail as follows.

First, the traffic light system installed at the intersection or the self-driving interference express bus stop provides traffic light recognition information to the self-driving trunk express bus terminal 10 and the control system 200 in real time.

That is, the self-driving trunk express bus terminal 10 provides intersection name, intersection ID, manual/stop/auto traffic light status information, current signal status information, pedestrian signal status information, and signal remaining time information.

In addition, the control system 200 includes status information such as fixed/responsive/transition/passive, direction information for the direction of an intersection, output information including signal display and traffic light status, display time information such as the current total signal time, and current display time. Provides remaining time information such as remaining time.

The self-driving main line express bus terminal 10 obtains traffic light display information from the traffic light system, vehicle basic information including vehicle identification number, current location information (latitude, longitude), vehicle speed, etc., vehicle occupant information, and vehicle Vehicle information including vehicle emergency information such as breakdown or takeover and traffic light recognition information are transmitted to the control system 200 together.

Meanwhile, the bus stop system 100 installed at the stop where the self-driving trunk express bus stops acquires information about the stop and transmits it to the control system 200.

That is, the space detection sensor 130 of the bus stop system 100 measures the vehicle stop position and the distance to the road surface, detects passengers getting on and off, detects obstacles on the road, and detects people waiting at the bus stop. To this end, the space detection sensor 130 may use a TOF sensor. The information (TOF image/data) detected in this way is transmitted to the /station situation information collecting unit 151 through Ethernet communication.

That is, as shown in FIG. 5 , the TOF sensor 130 receives space sensing data and generates background data through it. Next, the background data is updated, and the object is detected from the background data. When an object is detected, the type of the detected object is classified. Subsequently, the object detection area for the location of the stop where the object was detected is checked. Next, the object detection information is transmitted to the stop situation information collection unit 151 as obstacle detection information.

The scan laser sensor 120 installed at a predetermined location of the bus stop system 100 detects the stop position of the self-driving mainline express bus 10, detects vehicle entry and exit from the bus stop, and detects the approach of passengers to the driving route. The detected information (laser detection data) is transmitted to the stop situation information collection unit 151 through RS485 communication.

That is, as shown in FIG. 6 , the scan laser sensor 120 acquires sensing data and converts the acquired sensing data into point-by-point distance data. Next, the distance data for each point is converted into 2D location data, and object types are classified using the 2D location data. When the object type is classified, the area where the object is detected is checked. When the object detection area is confirmed, obstacle detection information is generated based on this.

In addition, the camera 110 installed at a predetermined location of the bus stop system 100 acquires video information of the bus stop, and converts the obtained image information into monitoring the number of people waiting at the bus stop and information on detecting passengers getting on/off the bus stop through Ethernet communication. It is delivered to the collection unit 151.

The bus stop situation information collection unit 151 collects the detection information detected from the camera 110, the scan laser sensor 120, and the space detection sensor 130, respectively, and transmits the information to the bus stop information generation unit 152. do.

The bus stop information generating unit 152 converts the three sensor information collected by the bus stop situation information collection unit 151 into a preset data format and transmits it to the bus stop information transmission unit 153 as bus stop situation information.

The station information transmitter 153 converts the station situation information into a set data transmission format under the control of the station controller 154 and transmits it to the control system 200 .

The traffic information receiving unit 201 of the control system 200 receives traffic information and stop situation information from the self-driving trunk express bus terminal 10 and the bus stop system 100 . The database management unit 202 stores each traffic information and stop situation information received by the traffic information receiving unit 201 in a database.

4A to 4C are examples of bus stop situation information obtained using three sensors at a bus stop as described above.

Next, the bus stop situation information analyzer 203 of the control system 200 processes and analyzes the bus stop situation information transmitted from the bus stop system 100 among the traffic information stored in the database to generate event information and passenger safety information. .

The bus stop situation information analyzer 203 measures the vehicle stop location collected through the space detection sensor (ToF sensor) 130 and the distance to the road surface among the bus stop situation information, and obtains the information from the space detection sensor 130. In one 3D coordinate data, it is determined whether there is a passenger at the door position. At this time, when determining whether a passenger is present at the door position in the 3D coordinate data, different weights are assigned according to the measured value of the distance between the vehicle stop position and the road surface to improve the accuracy of determining the presence or absence of a passenger.

In addition, the bus stop situation information analysis unit 203 detects an obstacle at the stop position by processing the image collected by the camera 110 among the bus stop situation information with a deep learning algorithm. At this time, it is determined whether or not the obstacle is detected using the accuracy of the detection object calculated by the deep learning algorithm for the obstacle detected in the area where the vehicle stops.

In addition, the bus stop situation information analyzer 203 calculates the measurement data acquired from the scan laser sensor 120 among the bus stop situation information as measurement angle and measurement distance values and converts them into plane coordinate values. Then, based on the converted plane coordinate value, the stop position of the bus is measured, and the door position is calculated using the financial information of the bus. Next, the door position is matched with the location information of the passenger detected by the scan laser sensor 120 to determine the passenger around the door. At this time, the measurement area of the detected object is calculated to calculate the accuracy proportional to the distance.

10A is an example of determining a location of a door of a bus using detection information of a scan laser sensor. For the same object, the number of detected detections is different depending on the measurement angle and the detection distance. Usually, the closer the number is, the larger the number of detection fingers is.

10B is an example of determining an object such as a falling object, a pedestrian, or a vehicle using detection information of a scan laser sensor. For the same object, the number of detected detections is different depending on the measurement angle and the detection distance. Usually, the closer the number is, the larger the number of detection fingers is.

In addition, as shown in FIG. 7, the bus stop situation information analysis unit 203 analyzes the information detected by the three sensors using sensor convergence technology, and when it is determined that it is unexpected information, it generates event information about the unexpected situation to display the control information. (205) is displayed and the database is saved at the same time. Subsequently, the passenger safety information providing unit 204 analyzes the driving route and location of the autonomous vehicle to select a vehicle to which information is transmitted, and then transmits emergency situation information to the selected vehicle as passenger safety information. Here, the sensor fusion technology does not use only one sensor information, but means comprehensively using and analyzing the sensing information of three sensors.

As shown in FIG. 10, the self-driving interference express bus terminal 10 receiving the unexpected situation information, when receiving the unexpected situation information of a stop where a falling object exists or a passenger danger situation is received, displays it through a display device, or displays it through a display device. It is used for driving control to prevent traffic accidents from falling objects or passengers in danger.

In addition, as shown in FIG. 8, the bus stop situation information analysis unit 203 analyzes the information transmitted from the three sensors of the bus stop system 100 using sensor fusion technology and determines that it is boarding and alighting information. , Boarding and alighting information is checked, and when an event situation occurs, boarding and alighting event information is generated, displayed on the control information display unit 205, and stored in the database. Next, after selecting a target vehicle for information delivery by analyzing the driving route and location of the self-driving vehicle, boarding and alighting information is transmitted as passenger safety information to the selected vehicle.

The self-driving interfering express bus terminal 10 receiving the boarding and alighting information determines boarding completion using the boarding information, and uses this for control to close the door to automatically close the door according to the passenger boarding in unmanned autonomous driving. In addition, when alighting is completed based on the alighting information, this information is also used as information to automatically control the door according to the passenger alighting. Here, the control system 200 also transmits stop location information to the self-driving main line express bus terminal 10, and the self-driving main line express bus terminal 10 can utilize the stop location information as information for opening a door.

In addition, when the bus stop situation information analysis unit 203 receives vehicle emergency situation information including takeover or vehicle breakdown from the autonomous driving trunk express bus terminal 10, as shown in FIG. 9, a preset emergency Determine the priority of emergency situations using the situation prioritization criteria. Subsequently, event information on an emergency situation is generated and displayed on the control information display unit 205 and stored in a database at the same time. Next, after analyzing the driving route and location of the autonomous vehicle and selecting a stop for information transmission, the situation information of the autonomous vehicle is transmitted as passenger safety information through the selected stop system.

The bus stop system 100 displays the information of the autonomous vehicle through the display unit based on the situation information of the autonomous vehicle. For example, vehicle identification number, estimated vehicle arrival time information, vehicle current location information, vehicle occupant information, stop arrival information, stop departure information, and vehicle emergency information are displayed through the display unit. To control the station system 100, the station system 100 is provided with a station controller 154 such as a controller.

On the other hand, when the control system 200 analyzes the situation information at the stop as described above, generates unexpected situations or other event information, and passenger safety information and transmits them to the stop system 100, the stop controller 154 based on this information By controlling the low rope barrier, the rope barrier 160 is opened so that the waiting passengers can board the vehicle, or the rope barrier 160 is closed to prevent passengers from approaching the vehicle in an unexpected situation.

In addition, in a situation where the rope blocking film 160 is opened and the passenger boards the self-driving bus, when receiving information that the passenger has completed boarding the self-driving vehicle, the open rope blocking film 160 is closed to ensure the safety of the passengers. promote

On the other hand, as another feature of the sensor fusion technology of the present invention, the operating states of the three sensors installed in the bus stop system 100, that is, the camera 110, the scan laser sensor 120, and the empathy detection sensor 130 are checked, Optimum control information is generated using sensor fusion technology for a situation in which all three sensors operate normally or when a failure occurs in some of the sensors.

For example, the bus stop situation information analyzer 203 determines whether or not the scan laser sensor 120, the space detection sensor 130, and the camera 110 are normally operating among the bus stop situation information received from the bus stop system 100. , If all three sensors operate normally, the detection value of the sensor whose detection value exceeds the reference value among the three sensors is used as the detection value in the normal state. That is, when all three sensors generate a detection value of 50% or more of the reference value, the generated detection value is used as a detection value in a normal state to analyze the situation information at the stop. Unlike this, the detection value of the sensor in which the detection value is less than the reference value is discarded. Whether or not the three sensors normally operate can be determined by providing detection values. That is, when all three sensor values are generated, it is considered that the three sensors are normally operating, and when there is a sensor that does not generate sensor values, the corresponding sensor is regarded as having a failure. In addition, even when the three sensors normally generate detection values but generate detection values below the reference value, it is considered that a failure has occurred in the corresponding sensor.

In addition, the station situation information analysis unit 203 determines whether the scan laser sensor 120, the space detection sensor 130, and the camera 110 are normally operating among the station situation information received from the station system 100, If only two of the three sensors operate normally, sensor fusion technology is used to utilize the value of the sensor whose detection accuracy is higher than the first accuracy (70%) among the two normally operating sensors as the optimal situation judgment information. , The sensor values whose detection accuracy of the two sensors is detected as the second accuracy (50%) or higher are combined and used as situation judgment information. Accordingly, even when situation information detection is impossible due to a failure of any one sensor among the three sensors, data from the remaining two sensors can be combined to replace data from one sensor having a failure.

The present invention described above can improve the accuracy of station situation analysis by detecting the situation information of the bus stop using three sensors having different characteristics and analyzing the situation by fusing the detected information.

In addition, even when a failure occurs in any one of the three sensors, the other two sensors are fused to replace the detection value of the failed sensor, so that even when a failure occurs in some of the sensors, situation information detection and analysis of the bus stop are normally performed. will be able to do it

Although the invention made by the present inventors has been specifically described according to the above embodiments, the present invention is not limited to the above embodiments, and it is common knowledge in the art that various changes can be made without departing from the gist of the present invention. It is self-evident to those who have

10: Self-driving trunk express bus terminal
100: stop system
110: camera
120: scan laser sensor
130: empathy detection sensor (ToF sensor)
151: Station situation information collection unit
152: stop information generating unit
153: stop information transmitter
154: stop controller
200: control system
201: traffic information receiver
202: database management unit
203: Station situation information analysis unit
204: passenger safety information provision unit
205: control information display unit

Claims (10)

As a system for collecting stop situation information with sensor fusion technology for self-driving large-capacity trunk express buses,
An autonomous driving trunk express bus terminal that transmits vehicle information including basic vehicle information, vehicle occupant information, and vehicle emergency information to a control system and receives situation information of the next stop from the control system; A bus stop system that obtains and transmits situation information of the bus stop to the control system, receives vehicle situation information transmitted from the control system, and displays the information through a display device to provide vehicle-related information to passengers waiting at the bus stop; And a control system that collects situation information of the stop from the stop system, analyzes the collected information with sensor fusion technology, generates passenger safety information, and transmits it to the self-driving main express bus terminal and the stop system,
The control system includes a traffic information receiver for receiving traffic information from the self-driving trunk express bus terminal and the bus stop system; a database manager for storing each traffic information received by the traffic information receiver in a database; a bus stop situation information analyzer for generating event information and passenger safety information by processing and analyzing the bus stop situation information transmitted from the bus stop system among the traffic information stored in the database; a control information display unit displaying event information generated by the stop situation information analysis unit and displaying passenger safety information; A passenger safety information providing unit that transmits the passenger safety information generated by the stop situation information analysis unit to an autonomous driving trunk express bus terminal and a stop system,
The bus stop situation information analyzer calculates the measurement data obtained from the scan laser sensor among the bus stop situation information as a measurement angle and a measurement distance value, converts it into a plane coordinate value, and measures the stop position of the bus based on the plane coordinate value. , The location of the door is calculated using the financial information of the bus, and the location of the door and the location information of the passenger detected by the scan laser sensor are matched to determine the passenger around the door, but the measured area of the detected object is calculated and proportional to the distance. A sensor fusion technology-based stop situation information collection system for an autonomous large-capacity trunk express bus, characterized in that it calculates one accuracy.
In claim 1, the self-driving main line express bus terminal is mounted on the self-driving main line express bus, and the vehicle identification number, current location information, vehicle speed information, vehicle occupant information, vehicle emergency situation information, stop arrival information, and stop departure A sensor convergence technology-based stop situation information collection system for an autonomous high-capacity trunk express bus, characterized in that information is generated as vehicle information.
In claim 1, the bus stop system comprises: a space detection sensor for measuring a vehicle stop position and a distance to a road surface, detecting passengers getting on and off, detecting road obstacles, and detecting people waiting at a stop; A scan laser sensor for detecting a stop position of an autonomous driving express bus, detecting entry and exit of a vehicle at a stop, and detecting a passenger's approach to a driving path; Sensor convergence technology-based stop situation information for a self-driving large-capacity mainline express bus, characterized in that it includes a camera that acquires video information of the stop and provides the obtained video information as information for monitoring the number of people waiting at the stop and detecting passengers getting on / off. collection system.
The autonomous driving large-capacity trunk express bus of claim 1, wherein the stop system includes a stop controller that promotes passenger safety by controlling a rope barrier based on event information and passenger safety information transmitted from the control system. Sensor convergence technology-based station situation information collection system for
delete The method of claim 1, wherein the stop situation information analyzer measures the vehicle stop location and the distance to the road surface collected through a space detection sensor (ToF sensor) among the stop situation information, and determines the location of the door from the 3D coordinate data obtained from the space detection sensor. It is determined whether there is a passenger at the position, but when determining whether there is a passenger at the door position in the 3D coordinate data, different weights are given according to the measured value of the distance between the vehicle stop position and the road surface to determine the presence of a passenger. A sensor convergence technology-based stop situation information collection system for an autonomous large-capacity trunk express bus characterized by improving accuracy.
The method of claim 1, wherein the bus stop situation information analysis unit processes an image collected by a camera from among the bus stop situation information with a deep learning algorithm to detect an obstacle at a stop position, and detects an obstacle at a stop position area of a vehicle using a deep learning algorithm. A sensor convergence technology-based stop situation information collection system for an autonomous high-capacity trunk express bus, characterized in that it determines whether or not an obstacle is detected using the accuracy of the detection object calculated in.
delete The method of claim 1, wherein the bus stop situation information analyzer determines whether a scan laser sensor, a space detection sensor, and a camera are normally operating among the bus stop situation information received from the bus stop system, and if all three sensors operate normally, a criterion among the three sensors is determined. Sensor fusion for autonomous high-capacity trunk express bus, characterized in that the detection value of the sensor whose detection value exceeds the value is used as the detection value of the normal state, and the detection value of the sensor where the detection value is less than the reference value is discarded Technology-based bus stop situation information collection system.
The method of claim 1, wherein the bus stop situation information analysis unit determines whether a scan laser sensor, a space detection sensor, and a camera are normally operating among the bus stop situation information received from the bus stop system, and if only two of the three sensors operate normally, sensor fusion is performed. Using the technology, the sensor value whose detection accuracy is detected as the first accuracy or higher among the two normally operating sensors is first used as situation judgment information, and the sensor value whose detection accuracy of the two sensors is detected as the second accuracy or higher. A sensor convergence technology-based stop situation information collection system for autonomous large-capacity trunk express buses, characterized in that the combination is used as situation judgment information.

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