KR102568294B1 - Emergency route generation system for self driving cars - Google Patents

Abstract

The present invention provides an emergency route generation system for an autonomous vehicle capable of supporting rapid and safe movement of an emergency vehicle by generating and displaying an emergency route using nearby autonomous vehicles for an emergency transport vehicle. Therefore, the system for creating an emergency route for an autonomous vehicle according to an aspect of the present invention includes a server for determining an emergency situation and setting a route for the emergency vehicle to move, and at least one autonomous driving device receiving an emergency driving signal separated from the route. A vehicle, wherein the self-driving vehicle outputs an emergency route display on the route.

Description

Emergency route generation system for autonomous vehicles {EMERGENCY ROUTE GENERATION SYSTEM FOR SELF DRIVING CARS}

The present invention relates to a route generation system, and more particularly, to an autonomous vehicle that supports the rapid and safe movement of an emergency vehicle by generating and displaying an emergency route using nearby autonomous vehicles for an emergency transport vehicle. It is for an emergency route generation system.

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.

Recently, research on how to drive such an autonomous vehicle in an emergency has been conducted. However, as in the prior art literature, it is still limited to driving control of the self-driving vehicle itself in an emergency.

Korea Patent No. 10-2184598 (2020. 12. 3.), Driving Prediction and Safety Driving System Based on Judgment of Driver Emergency Situation of Autonomous Driving Vehicle}

The present invention is to solve the above problems of the prior art, and an object of the present invention is to create an emergency route using nearby autonomous vehicles for an emergency transport vehicle and display it to support the rapid and safe movement of the emergency vehicle. It is to provide an emergency route generation system for autonomous vehicles.

An emergency route creation system for an autonomous vehicle according to an aspect of the present invention includes a server for determining an emergency situation and setting a route for an emergency vehicle to move, and at least one autonomous vehicle receiving an emergency driving signal separated from the route. Including, the self-driving vehicle outputs an emergency route display on the route.

In this case, the emergency route display may be projected to be output on the road.

In addition, the self-driving vehicle is formed in plurality, and the self-driving vehicle that has received the emergency driving signal may be arranged and driven to form a row or a row spaced apart from the emergency route.

In addition, the emergency route generation system of the self-driving vehicle further includes a traffic signal device, and the server controls the traffic signal device to display another emergency route that is continuous or adjacent to the emergency route display output from the autonomous vehicle. can be output.

In this case, the self-driving vehicle may detect an external object and change the emergency route display.

According to the present invention, in the event of an emergency, the server sets the route of the emergency vehicle and controls the driving of the self-driving vehicle running on the route to keep it away from the route while outputting a route check mark on the route so that the emergency vehicle can move quickly and safely. there is.

1 is a configuration diagram of an emergency route generation system for an autonomous vehicle 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 is a configuration diagram showing the server in FIG. 1 in more detail.
7 to 11 are diagrams illustrating an operation of an emergency route generation system for an autonomous vehicle 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, an emergency route generation system for an autonomous vehicle according to an embodiment of the present invention will be described. 1 is a configuration diagram of an emergency route generation system for an autonomous vehicle 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. It 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, FIG. 5 is a configuration diagram showing the control unit in FIG. 2 in more detail, and FIG. It is a configuration diagram showing the server in 1 in more detail.

Referring to the drawings, first, the system 1000 for creating an emergency route for an autonomous vehicle according to an embodiment of the present invention includes a server 200 for setting a route for an emergency vehicle to move through traffic control in an emergency situation and driving on the set route. It is made including the self-driving vehicle 100 doing. In this embodiment, it is characterized in that the server 200 generates and transmits an emergency driving signal so that the plurality of self-driving vehicles 100_1 to 100_n are spaced apart from the path for the movement of the emergency vehicle. Meanwhile, the emergency driving signal may propagate the emergency driving signal not only to the server 200 but also to autonomous vehicles adjacent to the vehicle (at least one of 100_1 to 100_n) receiving the emergency driving signal through short-range communication.

To this end, the self-driving vehicle 100 for emergency control 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. Furthermore, in this embodiment, after the server determines that there is an emergency in an emergency situation, autonomous driving driving on or adjacent to the path may be controlled to be slightly separated from the path so as not to hinder the rapid movement of the emergency vehicle.

The detector 120 may include a radar 121 and a lidar 122, and may further include a 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.

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.

Meanwhile, the camera 123 may generate information about an object outside the self-driving vehicle 100 by using an image. At this time, the camera 123 may capture an image of a target outside the vehicle.

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 to the object, relative speed information to the object, and motion information of 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 basic information about motion, such as distance information to an object, relative speed information, and other people's hand gestures, based on disparity information from a stereo image obtained from a stereo camera. there is.

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 exterior 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, the sensing unit 120 necessarily further includes a GPS 124 because the location information of the route or self-driving vehicles disposed adjacent to the route must be utilized in order to urgently separate the route or autonomous vehicle from the route in an emergency. In this embodiment, after the location information of the emergency vehicle is collected, the server 200 transmits identification information of the emergency vehicle, such as a license plate number, to a vehicle within a set distance (approximately 5 km in radius) from the location.

In addition, the GPS 124 may include at least one of a general GPS (Global Positioning System) and DGPS (Differential Global Positioning System) 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 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. In addition, the microphone 125 according to the present embodiment acquires voice information of another person outside the vehicle. This is to collect commands made by other people's voices.

Furthermore, the biometric information sensor 126 senses the passenger's heart rate, blood pressure, brain waves, etc. to determine an emergency situation. At this time, the biometric information sensor 126 is operated periodically to detect passengers, and when the signal is maintained for a set time or more after detecting an abnormal signal, the communication unit 150 transmits biometric information to the server 200 to determine whether it is an emergency. do.

Meanwhile, the biometric information sensor 126 may additionally perform a function of preventing erroneous boarding by sensing fingerprint and iris information when entering and exiting a vehicle. Utilizing the biometric information sensor 126, the self-driving vehicle 100 can detect that a passenger 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 the shape, shape, and color on the outside of the vehicle to the passengers of the vehicle and others around. It can provide predictability.

In more detail, the output unit 130 according to this embodiment includes an emergency route display module 131 and a route change module 132.

As described above, when the self-driving vehicle 100 receives an emergency driving signal to be separated from the set emergency route, the self-driving vehicle 100 not only simply separates from the route, but also outputs an emergency route display on the set route at the same time. can

At this time, the emergency route display module 131 projects an emergency route display onto the road (on the ground). At this time, it is preferable that the emergency route display has a rectangular shape with an area corresponding to approximately one lane on the road and a length equal to or greater than the length of the vehicle. That is, from the perspective of the emergency vehicle 300, if there is a vehicle traveling away from the route and the vehicle displays a rectangular shape on the route, it is possible to more intuitively confirm that the route is yielded and reconfirm the route. . Therefore, the emergency vehicle 300 can be driven more easily in the case of manual driving.

In addition, at this time, the driving of the self-driving vehicles that are urgently separated may be controlled by the control unit 140 to form a row or a row at the same time that they are separated from the emergency route. In this case, the emergency route display may also be displayed so as to form one line as a whole by each self-driving vehicle constituting a column or a row. Therefore, from the perspective of the emergency vehicle 300, a more intuitive emergency driving route recognition is possible with the naked eye in real time.

The route change display module 132 serves to change the output form of this emergency route. The size and shape of the emergency route output for each vehicle 100 may change according to the driving environment. In other words, in the case of a congested section, the width of a path may be smaller than one lane due to a large number of vehicles, and vice versa. Therefore, the route change display module 132 changes the size of the output of the basic emergency route currently output in real time based on the detected value of the vehicle or other object outside the vehicle detected by the sensor 120 . Therefore, intuitive deceleration or acceleration of the emergency vehicle 300 is induced to support more smooth movement.

Meanwhile, the controller 140 includes a drive control module 141 and an input/output control module 142. First, the driving control module 141 may be configured as a main ECU and controls the driving unit 160 of the self-driving 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 .

However, the driving control module 141 according to the present embodiment controls the driving to be separated from the emergency route by a set distance according to the control signal propagated from the server or surrounding vehicles, and maintains the distance in the case of a vehicle that is already separated. control the drive.

The input/output control module 142 controls the above-described output unit 130 to display the emergency route on the set emergency route, and determines the width of the route or the distance between the front and rear vehicles to change the length of the route. control the output.

The communication unit 150 may exchange signals with at least one of other self-driving vehicles 100, servers 200, and terminals located outside the self-driving vehicle 100. In particular, the communication unit 150 may perform short-range communication with other nearby vehicles in order to extend the display of an emergency situation to surrounding vehicles.

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.

Meanwhile, the server 200 in this embodiment includes an emergency determination module 210, a route creation module 220, a control range setting module 230, and a traffic signal device control module 240 in more detail.

The emergency determination module 210 serves to determine an emergency situation. This is because, in this embodiment, driving of the autonomous vehicle is controlled as a whole, and therefore, when an emergency situation is determined only by the vehicle itself, a danger to the traffic system may occur. Accordingly, the emergency determination module 210 receives the emergency situation of the passenger based on the data collected from the camera 123 or the biometric information sensor 126, or receives an emergency situation based on the emergency situation confirmed from the emergency server (not shown). confirm the occurrence of the situation.

At this time, the path creation module 220 creates a path of the vehicle to be moved according to an emergency situation. At this time, the route is set according to the characteristics of the emergency transport. In the case of emergency patient transport, it may be set according to the location of the hospital, and in the case of rapid movement to a specific area, the shortest distance route may be set. At this time, it is preferable that the path generation module 220 sets a path in the center of the road so that the emergency vehicle can be driven at a slight distance even when another vehicle is driving in front. Also, at this time, the path generation module 220 may directly control the output unit 130 of each autonomous vehicle 100 so that the emergency path of the emergency vehicle is displayed.

The control range setting module 230 sets the range of autonomous vehicles to be driven apart according to the emergency drive control signal. Since there is no need to cause traffic congestion by driving all vehicles apart in advance, the control range setting module 230 detects the distance between the emergency transport vehicle and the autonomous vehicle to be driven, and sends an emergency drive control signal when the distance is within the set distance. After generating and passing a certain section, the emergency drive control signal of that section is released.

Meanwhile, the emergency route generation system 1000 according to this embodiment further includes a traffic signal device 50. Therefore, the traffic signal device control module 240 controls the traffic signal device 50 disposed in the area where the emergency drive control signal is transmitted to display a signal allowing the movement of the emergency vehicle, and at the same time, the emergency displayed by the autonomous vehicle. Control to output another emergency route indication consecutive or adjacent to the route indication. In other words, the traffic signal device 50 according to the present embodiment is characterized by having an output device displayed on the road as well as traffic lights displayed from the front and rear. In order to do so, another emergency route display is output at the intersection by the traffic signal device control module 240. Accordingly, the emergency vehicle 300 checks the route displayed on the general road and the entire intersection to drive without stopping.

The operation of the present invention is exemplified below. 7 to 11 are diagrams illustrating an operation of an emergency route generation system for an autonomous vehicle according to an embodiment of the present invention.

First, referring to FIG. 7, an emergency vehicle determines an emergency situation, obtains permission for temporary emergency driving of a traffic signal device and an autonomous vehicle as shown in FIG. 8, and vehicles and traffic driven separately as shown in FIG. The signaling device displays an emergency route, and an emergency vehicle moves along the emergency route as shown in FIG. 10 . Furthermore, as shown in FIG. 11, vehicles and roads on which emergency routes are output are exemplified.

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: Emergency route generation system for autonomous vehicles
50: traffic signal device
100: autonomous vehicle
110: input unit
120: sensing unit
130: output unit
140: control unit
150: communication department
160: driving unit
200: server
300: emergency vehicle

Claims (5)

A server that determines an emergency situation and sets a route for emergency vehicles to move; and
at least one self-driving vehicle receiving an emergency drive signal separated from the path;
including,
The self-driving vehicle outputs an emergency route display on the route,
The emergency route generation system for an autonomous vehicle, characterized in that the self-driving vehicle can change the size of the output emergency route display by detecting an external object.
According to claim 1,
The emergency route generation system for an autonomous vehicle, characterized in that the emergency route display is projected to be output on the road.
According to claim 1,
The self-driving vehicle is formed in plurality,
The emergency route generation system for an autonomous vehicle, characterized in that the autonomous vehicles receiving the emergency drive signal are arranged and driven to form a row or a row spaced apart from the emergency route.
According to claim 1,
The emergency route generation system of the self-driving vehicle further includes a traffic signal device, and the server controls the traffic signal device to output another emergency route indication that is continuous or adjacent to the emergency route indication output by the autonomous vehicle. An emergency route generation system for an autonomous vehicle, characterized in that to do so.
delete