KR102568288B1 - Traffic safety system by communication with self driving cars - Google Patents

Abstract

The present invention transmits a safety-related event detected by one self-driving vehicle to another self-driving vehicle through communication between self-driving vehicles, and performs cluster display for safe response by all self-driving vehicles. Provides a traffic safety system by
Accordingly, a traffic safety system based on communication between autonomous vehicles according to an aspect of the present invention is a first autonomous vehicle detecting a specific event, and a vehicle that detects the specific event by itself or the first autonomous vehicle detects a specific event. and a second self-driving vehicle receiving a specific event, wherein the first and second self-driving vehicles perform cluster display.

Description

Traffic safety system by communication between autonomous vehicles {TRAFFIC SAFETY SYSTEM BY COMMUNICATION WITH SELF DRIVING CARS}

The present invention relates to a traffic safety system, and more particularly, to a traffic safety system based on communication between autonomous vehicles that promotes the safety of pedestrians as a whole by communication between autonomous vehicles.

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 an unmanned car is that it helps fuel efficiency by avoiding repeated stops by making the control device more even because the driving speed and traffic management data match, 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.

Furthermore, self-driving vehicles are expected to solve numerous problems related to parking by not unnecessarily occupying a parking space in the absence of a person. In particular, when an accident occurs, the self-driving vehicle can move smartly and play a role of easily assisting in coping with the accident.

However, since discussions on additional user experiences using autonomous vehicles have not yet been actively conducted, there is a problem that pedestrians may have vague safety fears that autonomous vehicles are not controlled. Therefore, it is time to discuss in detail how to communicate with autonomous vehicles and pedestrians for safety.

Korean Patent Publication No. 2019-0049221 (2019. 05. 09.)

The present invention is to solve the above problems of the prior art, and an object of the present invention is to transmit a safety-related event detected by one autonomous vehicle to other autonomous vehicles by communicating between autonomous vehicles, and to transmit all autonomous vehicles. It provides a traffic safety system by communication between self-driving vehicles in which vehicles perform cluster display for safe response.

According to an aspect of the present invention, a traffic safety system based on communication between autonomous vehicles includes a first autonomous vehicle detecting a specific event, and a specific event detected by the first autonomous vehicle or by itself detecting the specific event. and a second self-driving vehicle receiving , wherein the first and second self-driving vehicles perform cluster display.

In this case, the first and second self-driving vehicles may be individually driven during a cluster stop or a cluster stop to perform a cluster display.

In addition, the specific event is for at least one pedestrian, and the first self-driving vehicle or the second autonomous vehicle may perform the cluster display based on the detected value of the pedestrian.

Also, the display of the cluster may indicate permission or prohibition of movement of pedestrians.

In addition, when the display of the cluster is a continuous video (including images) or text, the first and second self-driving vehicles may be controlled to align the vehicles.

According to the present invention, since a plurality of self-driving vehicles output cluster indication together for the safety of pedestrians, pedestrians can safely act according to the cluster indication for all vehicles.

1 is a configuration diagram of a traffic safety system based on communication between self-driving vehicles according to an embodiment of the present invention.
FIG. 2 is a configuration diagram showing the self-driving vehicle in FIG. 1 in more detail.
FIG. 3 is a configuration diagram showing the sensing unit in FIG. 2 in more detail.
4 is a configuration diagram showing the output unit in FIG. 2 in more detail.
5 is a configuration diagram showing the control unit in FIG. 2 in more detail.
6 to 8 are diagrams illustrating an operation of a traffic safety system based on communication between self-driving vehicles according to an embodiment of the present invention.

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 traffic safety system 1000 based on communication between autonomous vehicles according to an embodiment of the present invention will be described. 1 is a configuration diagram of a traffic safety system based on communication between autonomous vehicles according to an embodiment of the present invention, FIG. 2 is a configuration diagram showing the autonomous vehicle in FIG. 1 in more detail, and FIG. 2 is a configuration diagram showing the sensing unit in more detail, FIG. 4 is a configuration diagram showing the output unit in FIG. 2 in more detail, and FIG. 5 is a configuration diagram showing the control unit in FIG. 2 in more detail.

Referring to the drawings, first, a traffic safety system 1000 based on communication between self-driving vehicles according to an embodiment of the present invention includes a server 200 that performs route management, communication management, and remote control with the self-driving vehicle 100 made including In this embodiment, at least one self-driving vehicle (first self-driving vehicle) that detects a specific event such as a pedestrian or accident transmits the event to another self-driving vehicle (second self-driving vehicle) or a second self-driving vehicle Also, when the event is detected, a specific expression is output as a whole, and the specific expression at this time is characterized in that all autonomous vehicles (here, the first autonomous vehicle and the second autonomous vehicle) are clustered and displayed.

For example, when the first self-driving vehicle detects that it is standing on the sidewalk next to the road and the intention to cross the road is determined, this content is transmitted to the second self-driving vehicle, and the first self-driving vehicle and All of the second self-driving vehicles will stop on the road before passing the pedestrian, and then display the message, “Pass safely.” At this time, “Be safe” is output to the first self-driving vehicle and “Go” is output to the second self-driving vehicle. It will stop on the right side of the vehicle or move and stop differently from where it originally stopped. That is, after cluster movement or cluster stop, detailed individual driving control signals are generated for these cluster outputs ("Please pass safely" above) (in the example above, individual driving control signals are received by the second autonomous vehicle). being).

To this end, each 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 the case of the manual mode, the autonomous vehicle 100 may include a steering input device, an acceleration input device, and a brake input device of an input unit. In addition, the input unit 110 serves to input the destination of the autonomous vehicle, receives information from the server 200 according to the input destination, and continuously sets a route.

The detector 120 may include a radar 121 and a lidar 122, and may further include a camera 123. In this embodiment, the main object, the pedestrian and the movement of the pedestrian, the stop of the pedestrian, the forward direction of the pedestrian, and the moving direction of the pedestrian are detected using the radar 121, the lidar 122, and the camera 123.

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.

Next, the lidar 122 may generate information about an object including a pedestrian 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 can detect objects such as pedestrians around the autonomous vehicle 100. there is. 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.

Meanwhile, the camera 123 may generate information about an object such as a pedestrian 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 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 10 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 so that the occupant, in addition to the guardian, may intervene in autonomous driving by voice or the like even if the occupant does not perform a steering operation. Furthermore, the biometric information sensor 126 not only senses the heart rate, blood pressure, and brain waves of passengers to prepare for emergencies, but additionally performs a function to prevent erroneous boarding by sensing fingerprint and iris information when entering and exiting the vehicle. can Utilizing the biometric information sensor 126, the self-driving vehicle 100 can detect that a passenger has boarded or alighted.

Meanwhile, the output unit 130 includes a driving information output module 131 and an event output module 132. The driving information output module 131 is normally disposed inside or outside the self-driving vehicle 100 and displays the driving-related situation in a way of guiding. For example, conditions such as driving direction, driving speed, stop schedule, start schedule, and turn schedule may be displayed. Furthermore, the driving information output module 131 may provide predictability to pedestrians or people around by outputting any one of shape, shape, color, text, and sound to be viewed from the outside of the vehicle.

The event output module 132 outputs a video or image that performs or prevents a pedestrian's predicted action. Here, although crossing the road is most important as the pedestrian's predicted behavior, it goes without saying that other behaviors may be further included. At this time, the control unit 140, which will be described later, controls the event output module 132 when the predicted behavior of the pedestrian is crossing the road and permits or disallows it to output a display such as "pass safely" as described above, or A display such as “Please stop because the vehicle is moving” can be output.

However, as described above, the present embodiment is characterized in that a plurality of autonomous vehicles perform such a display as a whole. Accordingly, the event output module 132 may distribute and receive output target images or texts according to the order of vehicles, or distribute them on its own to output only images or texts according to their arrangement order. In addition, the same display may be repeatedly output by all vehicles. In any case, as a pedestrian, the greatest effect is to feel extreme safety by outputting the same or continuous display of the vehicles clustered as a whole.

Meanwhile, the control unit 140 may be configured as a main ECU and controls the driving unit 160 of the self-driving vehicle 100.

In particular, the control unit 140 may include a power train driving control device, a chassis driving control device, a door/window driving control device, a safety device driving control device, a lamp driving control device, and an air conditioning driving 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.

The controller 140 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 controller 140 may control a power train, a steering device, and a brake device based on a signal received from the sensor 120 .

Furthermore, the controller 140 further includes an event judgment module 141, a group drive control module 142, and an individual display control module 143.

The event judgment module 141 receives signals detected by the radar 121 and the lidar 122 to classify information, and the camera 123 converts color information input as an image into black and white. At this time, the lidar 122 converts the received information into a coordinate plane, and the camera 123 normalizes the histogram (frequency distribution table) in the converted information. As a result, the end of the road and the pedestrians disposed at the end of the road are determined with priority. Thereafter, the event judgment module 142 sets the ROI (region of interest) through the coordinate system converted by the lidar 122 and the histogram obtained from the camera, and converts the ROI obtained in the setting step to HOG to obtain pedestrian recognition information and lidar ( 122) obtains a distance value from information transmitted as an RF signal. Thereafter, the two pieces of information obtained by measuring the region of interest and the distance value are combined, and the pedestrian's intention to cross the road is determined through SVM classification from the combined information.

Through classification in this classification step, pedestrians are classified, and information is stored in case of pedestrians, and if pedestrians can be classified, additionally return to the normalization step, and if there is no pedestrian, the algorithm is terminated. Accordingly, the self-driving vehicle operates the brake while traveling slowly, and then the cluster drive control module 142 operates.

The cluster drive control module 142, according to the present embodiment, in order to control the cluster display when an event occurs, causes the entire vehicle, including other self-driving vehicles that have transmitted or received the event, to cluster to stop or decelerate, and further to continuously In order to perform cluster display, even after stopping in detail, each vehicle is controlled to be slightly driven according to the alignment signal individually received. Accordingly, even in the case of a display consisting of a series of sentences, it is possible to continuously output from a vehicle stopped in parallel.

At this time, the individual display control module 143 controls to output itself when the objects to be output in a cluster are overlapped so that the objects to be output are common as a whole, but as above, when continuous phrases or images are divided and output, After calculating the order and dividing consecutive phrases or images according to the order, control to output a part of the phrase or a part of the image that fits the order. Therefore, the pedestrian can view the entire phrase in a form in which the entire phrase is sequentially and naturally output in the entire vehicle.

On the other hand, the communication unit 150 may exchange signals between the self-driving vehicles 100 or with devices located outside, exchanging signals with at least one of infrastructure (eg, server, broadcasting station), other vehicles, and terminals. can do. The communication unit 150 may include at least one of a transmission antenna, a reception antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication. For example, the communication device may exchange signals with an external device based on C-V2X (Cellular V2X) technology. In addition, the communication unit 150 transmits external devices and signals based on Dedicated Short Range Communications (DSRC) technology based on IEEE 802.11p PHY/MAC layer technology and IEEE 1609 Network/Transport layer technology or Wireless Access in Vehicular Environment (WAVE) standard. can be exchanged.

Hereinafter, the operation of the present invention is exemplified and described. 6 to 8 are diagrams illustrating an operation of a traffic safety system based on communication between self-driving vehicles according to an embodiment of the present invention.

Referring to FIG. 6 , the self-driving vehicle recognizing the pedestrian and the pedestrian's behavior transmits such an event to the surroundings, and the received vehicle stops as a whole and is partially aligned even after the vehicle stops to display a cluster.

Subsequently, as shown in FIG. 7 , successive texts are sequentially allocated and displayed in order for all vehicles to display clusters so that pedestrians feel safe. Pedestrians can see this and cross with a feeling of extreme safety. After that, as shown in FIG. 8 , when a pedestrian is remotely detected, predictability may be shown by sequentially displaying clusters only in the location area where the corresponding pedestrian is located.

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: Traffic safety system by communication between autonomous vehicles
100: autonomous vehicle
110: input unit
120: sensing unit
130: output unit
140: control unit
150: communication department
160: driving unit
200: server

Claims (5)

In a traffic safety system based on communication between autonomous vehicles,
A first self-driving vehicle that detects a specific event; and
a second self-driving vehicle that detects the specific event itself or receives the specific event detected by the first autonomous vehicle;
including,
The first and second self-driving vehicles perform cluster display, and when the cluster display is continuous video (including images) or text, the first and second autonomous vehicles display the output target video or text. A traffic safety system based on communication between self-driving vehicles, characterized in that a portion is distributed according to the order of vehicles, received, and a portion of video or text is output according to the order of arrangement.
According to claim 1,
The traffic safety system by communication between autonomous vehicles, characterized in that the first and second self-driving vehicles are individually driven during cluster stops or cluster stops to perform cluster display.
According to claim 1,
The specific event is for at least one pedestrian,
The first autonomous vehicle or the second autonomous vehicle traffic safety system by communication between autonomous vehicles, characterized in that for performing the clustering display based on the detected value of the pedestrian.
According to claim 3,
The cluster display is a traffic safety system based on communication between autonomous vehicles, characterized in that the movement of pedestrians is permitted or prohibited.
According to claim 1,
Traffic by communication between autonomous vehicles, characterized in that when the cluster display is a continuous video (including images) or text, the first and second self-driving vehicles drive to align the vehicles are controlled. safety system.