KR102568277B1 - Rescue system for self driving cars - Google Patents

Abstract

The present invention provides a rescue system for an autonomous vehicle that uses an autonomous vehicle to identify a missing person, reassure the missing person, and safely move the missing person to a related destination. Accordingly, a rescue system for an autonomous vehicle according to an aspect of the present invention includes a sensor for detecting a missing person, an output unit for displaying or outputting a sound for prompting a missing person to board, and a control unit or server for setting a destination for the missing person.

Description

Self-driving vehicle rescue system {RESCUE SYSTEM FOR SELF DRIVING CARS}

The present invention relates to a rescue system, and relates to a rescue system of an autonomous vehicle in which the autonomous vehicle safely moves a missing person such as an infant to a target point.

Vehicles may be classified into internal combustion engine vehicles, external combustion engine vehicles, gas turbine vehicles, electric vehicles, and the like, depending on the type of prime mover used.

Autonomous vehicles are vehicles that can drive automatically without human intervention. Driverless cars drive autonomously by recognizing the surrounding environment with radar, LIDAR (light detection and ranging), GPS, and camera and designating a destination. Unmanned vehicles that are already in practical use include unmanned vehicles operated by the Israeli military that patrol preset routes and unmanned operation systems such as dump trucks that are operated at overseas mines or construction sites.

The first core technologies of these self-driving vehicles are the unmanned car system and the actual system. It is a technology that builds an unmanned car system in reality as well as simulation in the laboratory. It implements driving devices such as accelerators, decelerators, and steering devices to suit unmanned operation, and enables control using computers, software, and hardware installed in unmanned cars. do.

The second key technology is to receive and process visual information using vision and sensors. It is the basis of autonomous driving for unmanned operation, and it is a technology that accepts image information and extracts necessary information from the image. This uses not only a CCD (charge-coupled device) camera, but also sensors such as ultrasonic sensors and range filters to fuse information necessary for distance and driving, allowing obstacle avoidance and unexpected situations to be dealt with through analysis and processing.

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

The fourth key technology is intelligent control and intelligent driving devices. This technology generates control commands based on mathematical analysis using actual vehicle models as an unmanned driving technique. Intelligent forward control is a system based on radar guide technology that maintains the distance from the vehicle in front or obstacles by adjusting the speed on its own without the driver manipulating the pedals. When the driver inputs the distance to the vehicle in front, the long-range radar attached to the front of the vehicle detects the location of the vehicle in front, maintains a constant speed, decelerates or accelerates, and comes to a complete stop if necessary, which is useful in poor visibility weather.

The fifth applied technology is the lane departure prevention system. This is a technology in which a camera installed inside detects the lane and informs the driver of an unintended deviation situation.

The sixth applied technology is a parking assist system. When the driver searches for the assist button, puts the reverse gear in and presses the brake pedal, the car adjusts the steering to assist in parallel parking in reverse. It automatically guides the vehicle from the starting point to the parking space based on infrastructure as well as vehicle-mounted sensors to save unnecessary time and energy when parking, thereby minimizing cost and environmental pollution.

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

The eighth applied technology is a blind spot information guidance system. Sensors mounted on both sides of the car determine if there is another vehicle in the blind spot that is not visible through the side mirror and warn the driver. .

The biggest advantage of autonomous driving is that driving speed and traffic management data match, so it helps fuel efficiency by avoiding repeated stops by adjusting the control device more evenly, and that it can be used by people who cannot drive, such as the elderly, children, and the disabled. will be. In addition, it has the advantage of solving fatigue caused by long-time driving, greatly reducing the risk of traffic accidents, speeding up traffic flow on the road and reducing traffic congestion.

As such, the use of self-driving vehicles is expected to exponentially increase new user experiences. In addition, it is possible to think of an autonomous vehicle that normally performs transportation according to autonomous driving, but performs another additional function in special situations. For example, the method of finding a lost child using a smartphone, as in the prior art literature, can also be diverted to identifying a lost child using autonomous driving and transporting the lost child.

Korean Patent Publication No. 10-2004999 (2017. 2. 9.), Apparatus and Method For Finding Lost Child Using Smart Phone {Apparatus and Method For Finding Lost Child Using Smart Phone}

As described above, the present invention provides a rescue system for an autonomous vehicle that uses the autonomous vehicle to identify a missing person, reassure the missing person, and safely move the missing person to a related destination.

A rescue system for an autonomous vehicle according to an aspect of the present invention includes a detection unit for detecting a missing person, an output unit for outputting a display or sound for prompting the missing person to board, and a control unit or server for setting a destination for the missing person.

At this time, the sensor may collect biometric information of the missing person, and the control unit or server may compare information stored in the server with the biometric information.

In addition, the output unit may output a boarding guidance display or sound so that the missing person can be browsed in the area where the missing person is located.

In addition, when the missing person is on board, the sensing unit may obtain an image of the missing person and the output unit may output a safety-inducing image or sound to the inside.

In addition, the output unit may output information that the missing person was found or that the missing person boarded the vehicle in at least one of color, shape, shape, and text, or output as sound.

In addition, the missing person information is stored in the server, and the destination may be set according to the missing person information.

The present invention has the effect of identifying a missing person by using an autonomous vehicle, reassuring the missing person, and safely moving the missing person to a related destination.

1 is a block diagram of a rescue system for an autonomous vehicle according to an embodiment of the present invention.
FIG. 2 is a configuration diagram showing the sensing unit in FIG. 1 in more detail.
FIG. 3 is a configuration diagram showing the output unit in FIG. 1 in more detail.
4 to 7 are diagrams illustrating what the output unit outputs.
8 is a configuration diagram showing the control unit in FIG. 1 in more detail.
9 is a configuration diagram showing the server in FIG. 1 in more detail.

Hereinafter, the embodiments disclosed in this specification will be described in detail with reference to the accompanying drawings, but the same or similar components are given the same reference numerals regardless of reference numerals, and redundant description thereof will be omitted.

The suffixes "module" and "unit" for components used in the following description are given or used together in consideration of ease of writing the specification, and do not have meanings or roles that are distinct from each other by themselves.

In addition, in describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiment disclosed in this specification, the detailed description thereof will be omitted.

In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in this specification, the technical idea disclosed in this specification is not limited by the accompanying drawings, and all changes included in the spirit and technical scope of the present invention , it should be understood to include equivalents or substitutes.

Terms including ordinal numbers, such as first and second, may be used to describe various components, but the components are not limited by the terms. These terms are only used for the purpose of distinguishing one component from another.

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

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

Hereinafter, a rescue system for an autonomous vehicle according to an embodiment of the present invention will be described. 1 is a configuration diagram of a rescue system for an autonomous vehicle according to an embodiment of the present invention, FIG. 2 is a configuration diagram showing the sensing unit in FIG. 1 in more detail, and FIG. 3 is a configuration diagram showing the output unit in FIG. 1 in more detail. 4 to 7 are diagrams illustrating the output of the output unit, FIG. 8 is a configuration diagram showing the control unit in FIG. 1 in more detail, and FIG. 9 is the server in FIG. 1 in more detail. It is the configuration diagram shown.

Referring to the drawing, first of all, the rescue system 1000 for an autonomous vehicle according to an embodiment of the present invention includes an autonomous vehicle 100 and a missing person database (DB) and includes a server 200 that searches for a missing person in real time. It is done. To this end, the autonomous vehicle 100 includes an input unit 110, a sensing unit 120, an output unit 130, a control unit 140, a communication unit 150, and a driving unit 160.

The input unit 110 is a device that receives a user input for driving. In case of manual mode, the input unit 110 of the autonomous vehicle 100 may include a steering input device, an acceleration input device, and a brake input device. In addition, the input unit 110 serves to input the destination of the self-driving vehicle, and the control unit 140 controls driving or receives information from the server 200 according to the input destination and continuously sets a route. However, in the rescue system according to the present embodiment, since the destination is set by receiving the destination related to the missing person from the server 200, input of the destination through the input unit 110 can be omitted.

On the other hand, the detector 120 includes a radar 121 and a lidar 122 to detect a missing person, and may further include a camera 123, and mainly detects people who are objects outside the road and their movements. .

First, the radar 121 may generate information about an object outside the self-driving vehicle 100 by using radio waves. The radar 121 may include an electromagnetic wave transmitter, an electromagnetic wave receiver, and at least one processor electrically connected to the electromagnetic wave transmitter and electromagnetic wave receiver, processing a received signal, and generating data about an object based on the processed signal. there is.

The radar 121 may be implemented in a pulse radar method or a continuous wave radar method in terms of radio wave emission principles. The radar 121 may be implemented in a frequency modulated continuous wave (FMCW) method or a frequency shift keyong (FSK) method according to a signal waveform among continuous wave radar methods. The radar 121 detects an object based on a Time of Flight (TOF) method or a phase-shift method through electromagnetic waves, and measures the position of the detected object, the distance to the detected object, and the relative speed. can be detected. In this case, the radar 121 may be disposed at an appropriate location outside the vehicle to detect an object located in front, rear or side of the vehicle.

The lidar 122 may generate information about an object outside the self-driving vehicle 100 by using laser light. The LIDAR 122 is electrically connected to the light transmitter (not shown), the light receiver (not shown), and the light transmitter and the light receiver, processes the received signal, and generates data for an object based on the processed signal. It may include at least one processor that

The lidar 122 may be implemented in a Time of Flight (TOF) method or a phase-shift method. The lidar 122 may be implemented as a driven or non-driven type. When implemented as a driven type, the lidar 122 is rotated by a motor and may detect objects around the autonomous vehicle 100. When implemented as a non-driving type, the lidar 122 may detect an object located within a predetermined range with respect to the vehicle by light steering. The autonomous vehicle 100 may include a plurality of non-driven lidars. The lidar 122 detects an object based on a time of flight (TOF) method or a phase-shift method using a laser light medium, and calculates the position of the detected object, the distance to the detected object, and the relative speed. can be detected. At this time, the lidar 122 may be disposed at an appropriate location outside the vehicle to detect an object located in the front, rear, or side of the vehicle.

The radar 121 and lidar 122 as described above detect a person outside the sidewalk or road. In the case of a missing person such as a lost child, considering that the missing person is alone and excited, the relative movement speed is determined by determining whether the missing child is alone or not. intensively detecting the slow points compared to other people who do.

Meanwhile, the camera 123 may generate information about an object outside the self-driving vehicle 100 by using an image. The camera 123 may include at least one lens, at least one image sensor, and at least one processor electrically connected to the image sensor to process a received signal and to generate object data based on the processed signal. can The image of the missing person collected by the camera is compared with the database equipped with the server 200 to determine whether it is a missing person, and if the image is not registered in the database, a query is output and confirmed by the output unit 130 as will be described later. Thus, the missing persons are judged.

In this case, the camera 123 may be at least one of a mono camera, a stereo camera, and an AVM (Around View Monitoring) camera. The camera 123 may obtain position information of an object, distance information with respect to the object, or relative speed information with the object by using various image processing algorithms.

For example, the camera 123 may obtain distance information and relative speed information with respect to the object based on a change in the size of the object over time in the obtained image. In addition, the camera 123 may obtain distance information and relative speed information with an object through a pinhole model, road profiling, and the like.

In addition, the camera 123 may obtain distance information and relative speed information with respect to an object based on disparity information in a stereo image obtained from a stereo camera. The camera 123 may be mounted in a position where a field of view (FOV) can be secured in the vehicle in order to photograph the outside of the vehicle.

The camera 123 may be disposed close to the front windshield inside the vehicle to obtain an image of the front of the vehicle. Furthermore, the camera 123 may be disposed around a front bumper or a radiator grill. The camera 123 may be disposed close to the rear glass inside the vehicle to obtain an image behind the vehicle. In this case, the camera 123 may be disposed around a rear bumper, a trunk, or a tailgate. The camera 123 may be disposed close to at least one of the side windows in the interior of the vehicle in order to acquire an image of the side of the vehicle. Alternatively, the camera 123 may be disposed around side mirrors, fenders, or doors.

In addition, since the sensing unit 120 needs to utilize the location information of the self-driving vehicle, the GPS 124 is essentially further included. The GPS 124 may include at least one of a general Global Positioning System (GPS) and a Differential Global Positioning System (DGPS) to generate location data of the autonomous vehicle 100 . Location data of the self-driving vehicle 100 may be generated based on a signal generated by at least one of the GPS and DGPS.

In this case, the GPS 124 may correct the location data based on at least one of an Inertial Measurement Unit (IMU) and the camera 123 of the sensing unit 120 . Also, the GPS 124 may be referred to as a Global Navigation Satellite System (GNSS).

Meanwhile, the sensing unit 120 may further include a microphone 125 to intervene in autonomous driving by voice or the like even if the occupant does not perform a steering operation.

The biometric information sensor 126 detects body information of the missing person in order to confirm whether the self-driving vehicle 100 has previously confirmed the missing person and transmits the information to the server to confirm whether or not the missing person has been registered. At this time, the heartbeat, blood pressure, brain waves, fingerprint, iris, etc. of the lost child are sensed. In addition, by utilizing the biometric information sensor 126, the self-driving vehicle 100 can detect that a missing person, such as a lost child, has boarded or alighted.

The output unit 130 is disposed inside or outside the self-driving vehicle 100 to display a driving-related situation, and furthermore, to display any one of shape, shape, and color on the outside of the vehicle to the owner of the vehicle and people around. It can provide predictability.

In more detail, the output unit 130 according to this embodiment further includes an external output module 131 and an internal output module 132 .

First of all, the external output module 131 may change the color of the vehicle according to the driving purpose as shown in FIG. 4 . The external output module 131 does not separately output to the outside of the vehicle in the case of general operation as shown in FIG. 4A, but may indicate a special situation as shown in FIG. 4B in the case of finding a lost child or transporting a lost child. . At this time, the external output module 131 may output information that the missing person was found or that the missing person boarded the vehicle in a manner of at least one of color, shape, shape, and text, or output as sound.

Furthermore, the external output module 131 first outputs a boarding guide display when the above-described detection unit 120 detects a missing person. Here, the boarding guidance display is described as an example of a case where a missing person is a lost child. Since Mia is in a state of extreme tension and excitement, it is highly desirable to output a generally well-known character image as shown in FIG.

In addition, it is preferable that the external output module 131 outputs sound for inducing boarding of the vehicle using actual voice. Furthermore, as described above, there is a possibility that the child is determined to be lost based on the data collected by the sensing unit 120, but when it is not confirmed, the external output module 131 may directly query the lost child as shown in FIG. 6.

In addition, the external output module 131, as shown in FIG. 7 , when the possibility of being determined as a missing child is very high and the predicted lost child refuses to board the vehicle, the external output module 131 generates a boarding instruction display or sound for the expected lost child. A boarding guidance display or sound may be further output so that a nearby person can easily check from the area where is located within a set range. As shown in FIG. 7 , the display or sound for prompting boarding at this time may be at least one of text, image, and sound requesting assistance for boarding from people around.

In addition, the external output module 131 can connect a phone call with the parents of the lost child when it is determined that the child has been registered, so that the parent's voice and video are output in real time.

The internal display module 132 then outputs a safety-inducing video or sound to the lost child from inside the vehicle when the missing child is boarded. In this case, the image or sound may be the above-described parental image or voice, and a generally well-known character such as a boarding guidance image may be output.

Meanwhile, the controller 140 is composed of a drive control module 141, an input/output control module 142, and a real-time communication control module 143. The driving control module 141 may be configured as a main ECU and controls the driving unit 160 of the autonomous vehicle 100 .

In this case, the drive control module 141 may include a power train drive control device, a chassis drive control device, a door/window drive control device, a safety device drive control device, a lamp drive control device, and an air conditioning drive control device. The power train driving control device may include a power source driving control device and a transmission driving control device. The chassis drive control device may include a steering drive control device, a brake drive control device, and a suspension drive control device. Meanwhile, the safety device driving control device may include a seat belt driving control device for controlling seat belts.

In addition, the drive control module 141 includes at least one electronic control device (eg, a control ECU (Electronic Control Unit)). In particular, the vehicle driving device may be controlled based on the received signal. For example, the driving control module 141 may control a power train, a steering device, and a brake device based on a signal received from the sensing unit 120 .

The input/output control module 142 controls the output unit 130 described above, and controls the output of the color of the vehicle, boarding guidance video, sound, and safety guidance video. The real-time communication control module 143 detects whether the sensor 120 first detects whether or not there is a missing person or not, and the server 200 determines that there is a possibility, and transmits the detected video and audio to the server in real time. Controls the communication unit 160 to transmit.

Meanwhile, the server 200 includes an information database 210, a situation collection module 220, an identification module 230, and a route calculation module 240. The information database 210 refers to a database in which identity information of a missing person is stored. Here, identity information includes biometric information, resident registration number, circumstances at the time of disappearance, lacquer wear, and specific matters.

The situation collection module 220 serves to collect images that may be a missing person from CCTV using a control server (not shown). At this time, if the situation collection module 220 determines that it is necessary to secure a more detailed image of a lost child, etc., a request command is sent to the autonomous vehicle located in the corresponding area, and the autonomous vehicle detects the video and audio of the missing person in more detail. will do

Thereafter, the identification module 230 verifies the identity of the missing child or the like according to the data provided from the control server or the video and voice of the missing person collected in more detail. In the case of a registered missing child, the route calculation module 240 After boarding, a route is formed to the parent's house or a related location, and the operation of the autonomous vehicle is started. In this case, when the parent-related person is absent, operation is started to a hospital or a police station, and as described above, a series of situations are all stored in the server.

As such, those skilled in the art to which the present invention pertains will be able to understand that the present invention may be embodied in other specific forms without changing its technical spirit or essential features.

In addition, the present specification and drawings disclose preferred embodiments of the present invention, and although specific terms are used, they are only used in a general sense to easily explain the technical content of the present invention and help understanding of the present invention. It is not intended to limit the scope of the invention. It is obvious to those skilled in the art that other modified examples based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

1000: Self-driving vehicle rescue system
100: autonomous vehicle
110: input unit
120: sensing unit
130: output unit
140: control unit
150: communication department
160: driving unit
200: server

Claims (6)

a detector for detecting a missing person;
an output unit for outputting a display or sound for prompting the missing person to board; and
A control unit or server that sets the missing person's destination;
including,
When the missing person is on board, the output unit outputs a relief-inducing video or sound to the inside,
The rescue system for an autonomous vehicle, characterized in that the reassurance-inducing video or sound is a voice or video of a lost parent.
According to claim 1,
The sensing unit collects biometric information of the missing person,
The controller or the server compares the information stored in the server with the biometric information.
According to claim 1,
The rescue system of the autonomous vehicle, characterized in that the output unit outputs a boarding guidance display or outputs a sound so that the missing person can be browsed in the area where the missing person is located.
delete According to claim 1,
The rescue system of claim 1 , wherein the output unit outputs information that the missing person was found or that the missing person boarded the vehicle to be made of at least one of color, shape, shape, and text, or to output sound.
According to claim 1,
The server stores missing person information,
The rescue system for an autonomous vehicle, characterized in that the destination is set according to missing person information.