KR102642747B1 - Route information providing method for autonomous driving and electronic device supporting the same - Google Patents

Abstract

The present invention includes the steps of detecting lanes around which a vehicle is moving, placing a virtual vehicle between the lanes and setting a virtual line based on the vehicle, virtual lines based on the vehicle and the lanes, calculating intersection points, calculating a turning range of the vehicle based on the intersection points, calculating the next moving position of the vehicle using the calculated turning range and the intersection points, and calculating the next moving position of the vehicle. A method of providing route information for an autonomous vehicle, including calculating route information including a steering angle of the vehicle and a distance traveled by the vehicle based on the route information, and performing autonomous driving of the vehicle based on the route information. and an electronic device supporting the same.

Description

Route information providing method for autonomous driving and electronic device supporting the same}

The present invention relates to autonomous driving, and more specifically, to a method of supporting provision of route information through trajectory control of an autonomous vehicle and an electronic device supporting the same.

Various research on self-driving cars is being conducted because traffic density can be stably controlled, driver errors can be reduced during vehicle driving, and energy use efficiency can be improved through efficient vehicle control.

GPS (Global Positioning System) is a system that can track a vehicle's location and is most widely used in autonomous vehicles because it provides an inexpensive and easily accessible solution. However, GPS can be blocked by topographical influences such as tall buildings, tunnels, and mountain roads, and can provide inaccurate routes during the autonomous driving process, resulting in low reliability. Accordingly, there is a need to provide an optimal route in providing a route for autonomous vehicles.

Therefore, the present invention provides a method for providing route information for autonomous driving that enables more accurate and reliable trajectory control in relation to providing optimal route information for autonomous vehicles, and an electronic device that supports the same.

However, the object of the present invention is not limited to the above object, and other objects not mentioned may be clearly understood from the description below.

In order to achieve the above-described purpose, the method of providing route information for an autonomous vehicle of the present invention includes the steps of detecting lanes around which a vehicle is moving, placing a virtual vehicle between the lanes, and placing a virtual vehicle based on the vehicle. Setting a line, calculating intersections between virtual lines based on the vehicle and the lanes, calculating a turning range of the vehicle based on the intersections, using the calculated turning range and the intersections calculating the next moving location of the vehicle, calculating route information including a steering angle of the vehicle and a distance traveled by the vehicle based on the next moving location of the vehicle, and calculating route information including the distance the vehicle moves based on the route information. It is characterized in that it includes the step of performing autonomous driving.

Here, the step of setting the virtual line is setting a virtual line corresponding to the minimum left turning radius at which the vehicle can turn in the left direction, and the step of setting a virtual line corresponding to the minimum right turning radius at which the vehicle can turn in the right direction. Setting a virtual line, setting a virtual line corresponding to a vehicle driving radius with a size corresponding to the speed of the vehicle based on the center point of the front of the vehicle.

Additionally, the method further includes the step of changing the size of the vehicle's driving radius when the driving speed of the vehicle changes.

Meanwhile, calculating the intersection points includes calculating a left intersection point where the left minimum turning radius and the left lane meet, and calculating a right intersection point where the right minimum turning radius and the right lane meet. do.

Alternatively, the step of calculating the intersection points may be performed when the first point where the vehicle driving radius meets the left lane among the lanes is ahead of the second point where the left minimum turning radius and the left lane meet in the forward direction of the vehicle. Calculating the first point as a left intersection point and calculating a right intersection point where the right minimum turning radius and the right lane meet.

Alternatively, the step of calculating the intersection points may be performed when the first point where the vehicle driving radius meets the right lane among the lanes is further ahead in the forward direction of the vehicle than the second point where the right minimum turning radius and the right lane meet. Calculating the first point as a right intersection and calculating a left intersection where the left minimum turning radius and the left lane meet.

In relation to the above-described steps, the step of calculating the next moving position of the vehicle is the point where an imaginary line connecting the midpoint of the left intersection point and the right intersection point and the rear axle center point of the vehicle meets the vehicle travel radius. It is characterized in that it includes the step of determining the next movement location of the vehicle.

An electronic device that provides autonomous driving route information according to an embodiment of the present invention includes a communication circuit that communicates with a vehicle through a base station, and a processor functionally connected to the communication circuit, wherein the processor operates in lanes around the moving vehicle. Receive information from the vehicle, place a virtual vehicle between the lanes and set a virtual line based on the vehicle, calculate intersections between the virtual lines based on the vehicle and the lanes, and calculate the intersections. Calculate the turning range of the vehicle based on these points, and determine the point where an imaginary line connecting the midpoint between the intersection points and the center point of the rear axle of the vehicle meets the driving radius of the vehicle as the next moving position of the vehicle, Path information including the steering angle of the vehicle and the distance traveled by the vehicle is calculated based on the next moving location of the vehicle and provided for autonomous driving of the vehicle.

Here, in connection with setting the virtual line, the processor corresponds to a left minimum turning radius at which the vehicle can turn in the left direction and a virtual line corresponding to a right minimum turning radius at which the vehicle can turn in the right direction. A virtual line is set, and a virtual line corresponding to the vehicle driving radius is set with a size corresponding to the speed of the vehicle based on the center point of the front of the vehicle.

In addition, in relation to calculating the intersection points, the processor calculates a left intersection point where the left minimum turning radius and the left lane meet and a right intersection point where the right minimum turning radius and the right lane meet, or the vehicle driving radius is calculated as If the first point among the lanes that meets the left lane is further ahead of the left minimum turning radius and the second point where the left lane meets, the first point is calculated as the left intersection and the right minimum turning radius is calculated. Calculate the right intersection point where the right lane and the right lane meet, or the vehicle driving radius is calculated so that the first point where the right lane meets the right lane is located in a forward direction of the vehicle than the right minimum turning radius and the second point where the right lane meets the right lane. In case of further ahead, the first point is calculated as the right intersection point and the left intersection point where the left minimum turning radius and the left lane meet is calculated.

According to the present invention, it is possible to create and use a route according to the road environment in real time, thereby supporting more accurate autonomous driving.

In addition, the present invention improves the low reliability of the GPS-based autonomous driving function, enabling accurate autonomous driving in areas where GPS is not received or areas with low accuracy, thereby supporting safe driving.

In addition, various effects other than the effects described above may be disclosed directly or implicitly in the detailed description according to embodiments of the present invention, which will be described later.

1 is a diagram illustrating an example of an environment providing a path for an autonomous vehicle according to an embodiment of the present invention.
Figure 2 is a diagram showing an example of an electronic device configuration supporting autonomous driving according to an embodiment of the present invention.
Figure 3 is a diagram showing an example of an autonomous vehicle configuration according to an embodiment of the present invention.
Figure 4 is a diagram showing virtual lines and intersections related to providing an autonomous driving route according to the present invention.
Figure 5 is a diagram showing an example of a method for providing an autonomous driving route according to an embodiment of the present invention.
Figure 6 is a diagram for explaining the calculation of intersection points in a straight section in relation to intersection point detection according to an embodiment of the present invention.
FIG. 7 is a diagram illustrating an example of intersection point calculation in a curved section in relation to intersection point detection according to an embodiment of the present invention.
Figure 8 is a diagram for explaining another example of intersection point calculation in a curved section in relation to intersection point detection according to an embodiment of the present invention.
FIG. 9 is a diagram illustrating an example of calculating an intersection when a portion of a curved lane is not detected according to an embodiment of the present invention.
Figure 10 is a diagram showing an example of a diagram related to calculating the next movement position in a curved lane according to an embodiment of the present invention.
FIG. 11 is a diagram illustrating an example of calculating the intersection point in a curved section and calculating the vehicle's next movement position in relation to intersection detection according to an embodiment of the present invention.
FIG. 12 is a diagram illustrating an example of calculating the intersection point in a curved section and calculating the vehicle's next movement position in relation to intersection detection according to an embodiment of the present invention.
Figure 13 is a diagram showing a simplified vehicle as a bicycle model.
Figure 14 is a diagram to explain a method of controlling an autonomous vehicle based on the pure pursuit model.

In order to make the characteristics and advantages of the problem-solving means of the present invention clearer, the present invention will be described in more detail with reference to specific embodiments of the present invention shown in the attached drawings.

However, detailed descriptions of known functions or configurations that may obscure the gist of the present invention are omitted in the following description and attached drawings. Additionally, it should be noted that the same components throughout the drawings are indicated by the same reference numerals whenever possible.

Terms or words used in the following description and drawings should not be construed as limited to their usual or dictionary meanings, and the inventor may appropriately define the concept of the term to explain his or her invention in the best way. It must be interpreted with meaning and concept consistent with the technical idea of the present invention based on the principle that it is. Therefore, the embodiments described in this specification and the configuration shown in the drawings are only one of the most preferred embodiments of the present invention, and do not represent the entire technical idea of the present invention, so at the time of filing the present application, various alternatives may be used to replace them. It should be understood that equivalents and variations may exist.

In addition, terms containing ordinal numbers, such as first, second, etc., are used to describe various components, and are used only for the purpose of distinguishing one component from other components and to limit the components. Not used. For example, the second component may be referred to as the first component without departing from the scope of the present invention, and similarly, the first component may also be referred to as the second component.

Additionally, the terms used in this specification are only used to describe specific embodiments and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly dictates otherwise. In addition, terms such as "comprise" or "have" used in the specification are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more of the features, numbers, steps, operations, components, parts, or combinations thereof described in the specification. It should be understood that this does not exclude in advance the presence or addition of other features, numbers, steps, operations, components, parts, or combinations thereof.

Additionally, terms such as “unit,” “unit,” and “module” used in the specification refer to a unit that processes at least one function or operation, and may be implemented as hardware, software, or a combination of hardware and software. In addition, the terms "a or an", "one", "the", and similar related terms are used in the context of describing the invention (particularly in the context of the claims below) as used herein. It may be used in both singular and plural terms, unless indicated otherwise or clearly contradicted by context.

In addition to the terms described above, specific terms used in the following description are provided to aid understanding of the present invention, and the use of these specific terms may be changed to other forms without departing from the technical spirit of the present invention.

Additionally, embodiments within the scope of the present invention include computer-readable media having or transmitting computer-executable instructions or data structures stored on the computer-readable media. Such computer-readable media may be any available media that can be accessed by a general-purpose or special-purpose computer system. By way of example, such computer-readable media may include RAM, ROM, EPROM, CD-ROM or other optical disk storage, magnetic disk storage or other magnetic storage, or in the form of computer-executable instructions, computer-readable instructions or data structures. It may be used to store or transmit certain program code means, and may include, but is not limited to, a physical storage medium such as any other medium that can be accessed by a general purpose or special purpose computer system. .

Figure 1 is a diagram showing an example of an environment that provides a path for an autonomous vehicle according to an embodiment of the present invention, and Figure 2 is an example of an electronic device configuration supporting autonomous driving according to an embodiment of the present invention. 3 is a diagram showing an example of the configuration of an autonomous vehicle according to an embodiment of the present invention.

Referring to FIG. 1, the route information providing environment 10 for an autonomous vehicle according to the present invention may include a road 40, an electronic device 100, a base station 200, and a vehicle 300. The autonomous driving path information providing environment 10 configured in this way detects the lanes 41 and 42 of the road 40 while the vehicle 300 capable of autonomous driving is driving on the road 40, and detects the lanes 41 and 42 of the road 40. It supports autonomous driving based on trajectory control based on fields 41 and 42. The route information providing environment 10 for an autonomous vehicle of the present invention supports autonomous driving based on the lanes 41 and 42, and provides information based on GPS information received based on the Global Positioning System (GPS). It can support autonomous driving. For example, the electronic device 100 (or vehicle 300), which provides route information related to autonomous driving to the vehicle 300, provides route information for vehicle autonomous driving based on GPS, and then moves to an area where GPS is not received or when the GPS signal is weak. In the electric field area, provision of route information based on lanes 41 and 42 can be supported. Alternatively, while the electronic device 100 (or the vehicle 300) performs autonomous driving based on GPS signals at its own discretion, while driving on an area of the road 40 that is below a specified reliability value, the lanes 41 of the present invention, 42) Based route information calculation and driving can be performed.

The electronic device 100 forms a communication channel with the vehicle 300 through the base station 200, calculates route information so that the vehicle 300 can drive based on the lanes 41 and 42, and 300). The electronic device 100 receives vehicle 300 specification information (e.g., identification information that can confirm the type of vehicle 300, or horizontal and vertical lengths of the vehicle 300) through the base station 200. ), information about the lanes 41 and 42 collected by the vehicle 300 (e.g., image information taken of the lanes 41 and 42), and operation information of the vehicle 300 (e.g., current vehicle A movement speed of (300) can be received. The electronic device 100 may calculate and provide driving path information of the vehicle 300 based on the lanes 41 and 42 based on the received information. The driving path information may include control information for controlling the vehicle 300 so that the vehicle 300 can drive (eg, steering angle information and moving distance of the vehicle 300). Meanwhile, in the autonomous driving route information providing environment 10 of the present invention, the electronic device 100 provides route information to the vehicle 300 through the base station 200, but the present invention is not limited to this. For example, calculation and application of route information of the present invention may be performed within the vehicle 300 itself, and accordingly, configuration of the electronic device 100 may be omitted. If the configuration of the electronic device 100 is omitted, the configuration of the base station 200 for forming a communication channel with the vehicle 300 may also be omitted. In the following description, calculation and provision of route information using the electronic device 100 and calculation and application of route information in the vehicle 300 will be explained.

Meanwhile, referring to FIG. 2 , the electronic device 100 may include a communication circuit 110, a display 120, a memory 130, and a processor 150. The communication circuit 110 forms a communication channel with the vehicle 300 through the base station 200, and receives various information (e.g., vehicle 300 identification information, vehicle 300 identification information) for calculating route information from the vehicle 300. vertical and horizontal lengths, moving speed and direction information of the vehicle 300, and information detecting the surrounding lanes 41 and 42 of the vehicle 300) can be received. The communication circuit 110 may provide route information calculated in response to control by the processor 150 to the vehicle 300. The display 120 can output various screens related to the operation of the electronic device 100. For example, the display 120 responds to a request from the administrator of the electronic device 100 by providing list information of vehicles 300 that support route provision based on the current lanes 41 and 42, driving-related information of the vehicle 300, etc. You can print it out. The display 120 may be omitted from the electronic device 100. The memory 130 may store data and programs necessary for driving the electronic device 100. For example, the memory 130 is designed to form a communication channel with the vehicle 300, receive information necessary for calculating autonomous driving from the vehicle 300, and calculate autonomous driving path information based on the received information. You can save the program. In this process, the memory 130 may store information received from the vehicle 300. The processor 150 may perform signal processing and transmission necessary for operating the electronic device 100. For example, when the vehicle 300 enters the communication range of the base station 200, the processor 150 forms a communication channel with the vehicle 300 and requests information related to calculating autonomous driving path information of the vehicle 300. can be performed. When information necessary for calculating autonomous driving path information is received from the vehicle 300, the processor 150 provides autonomous driving path information (e.g., the steering angle of the vehicle 300 and the distance to be moved in a steered state) based on the received information. can be calculated and provided to the vehicle 300. As another example, the processor 150 provides information for calculating autonomous driving path information to the vehicle 300 for driving through trajectory control in a section where the vehicle 300 cannot drive autonomously based on GPS information. You can also request them.

The vehicle 300 can autonomously drive at least a portion of the road 40. In this regard, when the vehicle 300 enters the communication range of the base station 200, it forms a communication channel with the electronic device 100 connected to the base station 200 and provides information necessary for calculating autonomous driving route information, such as , lanes 41 and 42 information, and size information of the vehicle 300 may be provided to the electronic device 100. When the vehicle 300 receives autonomous driving path information from the electronic device 100, it can determine steering in response to the received autonomous driving path information and autonomously drive for a distance included in the path information. The vehicle 300 provides information about the lanes 41 and 42 in real time to the electronic device 100, receives route information in real time from the electronic device 100, and continuously performs autonomous driving to the target point. You can. Referring to FIG. 3 , such vehicle 300 may include a vehicle communication circuit 310, a transportation means 320, a vehicle memory 330, a sensor unit 340, and a vehicle control unit 350.

The vehicle communication circuit 310 may form a communication channel with the electronic device 100 through the base station 200. The vehicle communication circuit 310 of the present invention does not limit the type or type of communication, and as an example, the vehicle communication circuit 310 may support a wireless method for communication with the electronic device 100. The vehicle communication circuit 310 may receive a request for information related to calculating autonomous driving route information from the electronic device 100 and transmit the corresponding information to the electronic device 100 in response to control of the vehicle control unit 350. The vehicle communication circuit 310 may receive autonomous driving route information from the electronic device 100 and store it in the vehicle memory 330. The moving means 320 is a means for moving the vehicle 300 and includes, for example, a plurality of wheels, a power source that generates the power necessary to rotate the wheels, at least one axle that transmits the power generated by the power source to the wheels, or It may contain at least one gear. The power source is not limited in any particular way and may include, for example, a battery or a combustion engine. Additionally, the moving means 320 may include a steering device capable of controlling the direction of the vehicle 300. The moving means 320 may move the vehicle 300 according to the steering direction and distance included in the path information in response to the control of the vehicle control unit 350. The vehicle memory 330 can store various information necessary for driving the vehicle 300. For example, the vehicle memory 330 may include a navigation program that provides a vehicle route by entering information on the starting point and destination, a program that receives GPS information to calculate its current location, and controls the direction and speed of movement of the vehicle 300. can be saved. In particular, the vehicle memory 330 may store an autonomous driving program that performs trajectory control of the vehicle 300 by calculating the steering angle and moving distance of the vehicle 300 based on the lanes 41 and 42. Meanwhile, the vehicle memory 330 contains information necessary for calculating autonomous driving path information to be provided to the electronic device 100 (e.g., information on sensing lanes 41 and 42, size information of the vehicle 300, Information on the direction of travel of the vehicle 300, etc.) can be temporarily stored, and path information for autonomous driving of the vehicle 300 can be received and stored from the electronic device 100. The sensor unit 340 can collect various information around the vehicle 300. In this regard, the sensor unit 340 includes a location information collection device (e.g., GPS) capable of collecting current location information of the vehicle 300, a speed sensor capable of detecting the moving speed of the vehicle 300, and a vehicle ( A geomagnetic sensor capable of detecting the direction of movement of the vehicle 300, at least one image sensor capable of detecting images of the surrounding lanes 41 and 42 of the vehicle 300, obstacles or other surrounding structures around the vehicle 300 It may include a lidar sensor, a laser sensor, etc. that can collect information about. After being activated in response to control by the vehicle control unit 350, the sensor unit 340 may provide the collected sensing information to the electronic device 100 as information for calculating autonomous driving route information. The vehicle control unit 350 may process and transmit various signals related to the operation of the vehicle 300. For example, when a driver or a passenger is on board and destination information is input, the vehicle control unit 350 can control autonomous driving of the vehicle 300 according to settings. In this process, the vehicle control unit 350 activates the sensor unit 340 to detect information about the lanes 41 and 42 and transmits it to the electronic device 100, and transmits the information about the lanes 41 and 42 to the electronic device 100. Route information for autonomous driving can be received. The vehicle control unit 350 calculates steering angle information and moving distance information from the received path information, and based on this, can adjust the steering angle and control the moving speed and moving distance of the vehicle 300.

Meanwhile, the vehicle 300 may independently calculate route information for autonomous driving without the assistance of the electronic device 100 and perform autonomous driving based on the calculated route information. In this case, the vehicle control unit 350 may perform self-processing without performing the operations of transmitting sensing information and receiving route information for calculating autonomous driving route information. For example, the vehicle control unit 350 may calculate route information through detection of lanes 41 and 42 when GPS information is not received according to user settings or programmed schedule information or when the GPS signal is below a designated weak electric field. there is. Alternatively, the vehicle control unit 350 may perform route information calculation for autonomous driving by default. The calculation of the route information will be described in more detail based on the drawings below.

Figure 4 is a diagram showing virtual lines and intersections related to providing an autonomous driving route according to the present invention, and Figure 5 is a diagram showing an example of a method for providing an autonomous driving route according to an embodiment of the present invention.

Referring to FIG. 4, virtual lines and intersections related to providing an autonomous driving route of the present invention can be defined as shown in Table 1 below.

item explanation Vehicle driving radius depending on speed Minimum turning radius on the left side reduced by 1/2 the vehicle width Minimum turning radius on the right side reduced by 1/2 the vehicle width Left lane (41) and left turning radius ( ) and the intersection with Right lane (42) and right turning radius ( ) and the intersection with Two intersection points between the lanes 41, 42 and the two minimum turning radii ( and )'s midpoint Vehicle driving radius ( ) and right minimum turning radius ( ) intersection point Vehicle driving radius ( ) and left minimum turning radius ( ) intersection point Straight , and vehicle driving radius ( ) intersection point.
The steering angle of the vehicle must be changed in the direction of this point. Midpoint of vehicle width at front of vehicle Next move location based on rear axle Midpoint of rear axle

1 to 5, in relation to the method for providing an autonomous driving path of the present invention, the processor 150 of the electronic device 100 (or the vehicle control unit 350 of the vehicle 300, hereinafter referred to as the processor 150) ) can perform lane detection in step 510. Regarding lane detection, the processor 150 of the electronic device 100 requests lane detection from the vehicle 300, and the vehicle 300 detects the lanes 41 and 42 using the sensor unit 340. Information may be collected and provided to the electronic device 100. Information about the lanes 41 and 42 is provided to the electronic device 100, and the processor 150 of the electronic device 100 can display the lanes 41 and 42 as shown in FIG. 4. . The processor 150 of the electronic device 100 may perform virtual line drawing in step 520. The processor 150 of the electronic device 100 collects information related to the vehicle 300, such as size information of the vehicle 300 (or pre-stores the vehicle 300 through identification information of the vehicle 300). ) Size information of the vehicle 300 is detected through matching size information and identification information, and an object corresponding to the vehicle 300 can be displayed on the lanes 41 and 42. The processor 150 of the electronic device 100 provides virtual minimum turning radii ( , ) and vehicle driving radius ( ) can be shown. Here, the minimum turning radii ( , ) means the radius of the outer front wheel trajectory of the vehicle 300 when the steering wheel is turned at the maximum steering angle. In the present invention, the outer front wheels of the vehicle 300 are reduced to 1/2 of the width of the vehicle 300, and the minimum turning radii ( , ) is drawn. And the vehicle driving radius ( ) is defined as the distance that can be moved within a reference time depending on the speed of the vehicle 300.

The processor 150 of the electronic device 100 may perform intersection calculation in step 530. Road 40 may be composed of straight lines and curves. Accordingly, the processor 150 of the electronic device 100 applies an equation for finding the intersection of a line and a circle when the road is made of a straight line, and applies an equation for finding the intersection between two circles when the road is made of a curve. Lanes 41, 42 and minimum turning radii ( , ) The intersection point mainly occurs at the intersection of two points in one lane direction, and the processor 150 selects the intersection point existing in the front part of the vehicle 300 as the center.

Here, in relation to how to find the intersection of a straight line and a circle, the straight line equation is Define as , and the circular equation When defined, it is equivalent to the following equations 1 and 2.

[Equation 1]

[Equation 2]

Regarding the method of finding the intersection point of two circles, the two circle equations are , If defined as , and are the center of the circle, and is the radius of each circle. is an arbitrary point on a circle. The distance between two circles can be calculated through Equation 3:

[Equation 3]

The intersection of two circles can be calculated through the following equations 4 and 5.

[Equation 4]

[Equation 5]

The two intersection points detected here and An intersection point close to the front part of the vehicle 300 is selected. The intersection point selected here is in Figure 2. and It is defined as

The processor 150 of the electronic device 100 may calculate the rotation range in step 540. The turning range of the vehicle 300 is the left and right minimum turning radius ( , ) and vehicle driving radius ( ) is calculated based on The vehicle turning range is the vehicle driving radius ( ) is the intersection point of and It is an arc between. In general, the vehicle driving radius ( ) and minimum left and right turning radius ( , ) The rotation range of the vehicle 300 is determined between the intersection points.

The processor 150 of the electronic device 100 may calculate the next movement location in step 550. Lanes 41, 42 and minimum turning radii ( , ) is the intersection point with and The midpoint of the line segment connecting and the center of the rear axle The line connecting the vehicle driving radius ( ), the intersection point with If so, this intersection point This becomes the moving position of the center of the front part of the next vehicle 300 (or after the vehicle 300 is moved). The next location information of this vehicle 300 is Based on , the front part of the vehicle 300 moves in this direction by changing the steering angle of the vehicle 300.

The processor 150 of the electronic device 100 may calculate the rear axle movement position in step 560. When the vehicle 300 wants to move to the next movement location, a trajectory tracking algorithm is used. At this time, since the trajectory tracking algorithm is calculated based on the actual movement position of the rear axle, the movement position centered on the rear axle must be calculated instead of calculating the movement position based on the front part of the vehicle 300 calculated above. Therefore, the rear axle movement position must be calculated, and this rear axle movement position ( ) is calculated considering the yaw angle based on global coordinates.

Figure 6 is a diagram for explaining the calculation of intersection points in a straight section in relation to intersection point detection according to an embodiment of the present invention.

Referring to FIG. 6, if the lanes 41 and 42 are straight, the processor 150 of the electronic device 100 sets the minimum turning radii ( , ) and the intersection with the lanes 41 and 42 can be detected in the manner shown. In this process, the processor 150 can detect the intersection point using Equations 1 and 2 described above. Minimum turning radii ( , ) and the straight lanes 41 and 42 are selected, the processor 150 determines that the line passing through the center line of the vehicle 300 at the midpoint of the intersection points is the vehicle driving radius ( ) and the point where it meets ( ) may be the next target of the vehicle 300.

FIG. 7 is a diagram illustrating an example of intersection point calculation in a curved section in relation to intersection point detection according to an embodiment of the present invention.

Referring to FIG. 7, if the lanes 41 and 42 are curved, the processor 150 of the electronic device 100 sets the minimum turning radii ( , ) and the intersection points between the lanes 41 and 42 in front of the vehicle 300 can be detected. Minimum turning radii ( , ) and the intersection point selection process with the curved lanes 41 and 42, the vehicle driving radius ( ) and the intersection of the lane (e.g. the left lane 41) with the minimum turning radius ( ) and the left lane 41, the processor 150 of the electronic device 100 sets the vehicle driving radius ( ) and the intersection of the left lane (41) can be selected. Vehicle driving radius ( ) increases with speed. Since the vehicle must move a certain distance depending on the speed, the vehicle driving radius ( ) and the first intersection of the lanes have minimum turning radii ( , ) and the second intersection between the lanes 41 and 42, the processor 150 may determine the next location of the vehicle 300 by selecting the first intersection.

Figure 8 is a diagram for explaining another example of intersection point calculation in a curved section in relation to intersection point detection according to an embodiment of the present invention.

Referring to FIG. 8, lanes 41 and 42 including a certain curvature and minimum turning radii ( , In a situation where the intersection of ) is selected, the vehicle driving radius ( ) and the lanes 41 and 42, the processor 150 of the electronic device 100 creates two circles (e.g., minimum turning radii ( , )) and the intersection between the lanes 41 and 42 can be calculated. The processor 150 sets the minimum turning radii ( , ) and the lanes 41 and 42 are calculated, the virtual line crossing the center point between the corresponding intersection points and the center line of the vehicle 300 and the vehicle driving radius ( ) can be determined as the next movement location of the vehicle 300.

FIG. 9 is a diagram illustrating an example of calculating an intersection when a portion of a curved lane is not detected according to an embodiment of the present invention.

Referring to FIG. 9, as shown, even if the vehicle 300 collects sensors according to the operation of the sensor unit 340 for detecting lanes, lanes (e.g., at least part of the left lane) in a specific area are detected. It may not work. In this case, the processor 150 of the electronic device 100 draws a virtual extension line 41a of the detected left lane 41, and divides the extension line 41a and the minimum turning radius (e.g., the minimum left turning radius ( )) can detect the left intersection point with . In addition, the processor 150 configures the right lane 42 and the right minimum turning radius ( Detect the right intersection point of ), the left intersection point and right intersection point and the vehicle driving radius ( ) can be used to calculate the next moving location point of the vehicle 300. The above-described non-detected lane area may exist at an exit from a highway, for example, and the non-detected area may occur due to various other environmental factors.

Figure 10 is a diagram showing an example of a diagram related to calculating the next movement position in a curved lane according to an embodiment of the present invention.

Referring to FIG. 10, in relation to calculating the next movement position, the processor 150 of the electronic device 100 receives size information, movement speed information, and information about the lanes 41 and 42 of the vehicle 300. , Based on this, the vehicle 300 can be shown on the lanes 41 and 42, and virtual lines can be shown based on the vehicle 300. For example, the processor 150 corresponds to the speed of the vehicle 300 and the vehicle driving radius ( ), and the left minimum turning radius ( ) and right minimum turning radius ( ) can be shown. The processor 150 has a left minimum turning radius ( ) and the first intersection between the left lane 41 and the right minimum turning radius ( ) and the second intersection between the right lane 42 and the center line of the vehicle 300 and the vehicle driving radius ( ) can be used to calculate the vehicle's next movement position value. For example, an imaginary line connecting the center of the rear axle of the vehicle 300 to the midpoint between the first and second intersections is the vehicle driving radius ( ) can be determined as the next movement location point of the vehicle 300.

FIG. 11 is a diagram illustrating an example of calculating the intersection point in a curved section and calculating the vehicle's next movement position in relation to intersection detection according to an embodiment of the present invention.

Referring to FIG. 11, the center position of the vehicle 300 is the vehicle driving radius ( ), so it is not the center position but the vehicle driving radius ( ) and vehicle minimum turning radii ( , ) can be selected as the next movement position. In particular, as shown, the moving speed of the vehicle 300 is above a certain value, so as shown, the vehicle driving radius is relatively large ( ) is shown, the right lane 42 and the vehicle driving radius ( The point where ) meets is the minimum turning radius on the right ( ) When the vehicle 300 is ahead of the point where the right lane 42 meets, the processor 150 of the electronic device 100 determines the right lane 42 and the vehicle driving radius ( ) can be determined as the right intersection point. The processor 150 configures the left lane 41 and the left minimum turning radius ( The point where ) meets is the vehicle driving radius ( ) When the vehicle 300 is ahead of the intersection point where the left lane 41 meets, the left lane 41 and the left minimum turning radius ( ) can be determined as the left intersection point. Accordingly, the processor 150 configures the left lane 41 and the left minimum turning radius ( ), the left intersection point, and the vehicle driving radius ( ) and the right intersection point where the right lane 42 meets can be used to determine the next movement location point of the vehicle 300.

FIG. 12 is a diagram illustrating an example of calculating the intersection point in a curved section and calculating the vehicle's next movement position in relation to intersection detection according to an embodiment of the present invention.

Referring to FIG. 12, as shown, the moving speed of the vehicle 300 is above a certain value, so as shown, a relatively large vehicle driving radius ( ) is shown, and the left lane 41 and the vehicle driving radius ( ) is the point where the left minimum turning radius ( ) When the vehicle 300 is ahead of the point where the left lane 41 meets, the processor 150 of the electronic device 100 determines the left lane 41 and the vehicle driving radius ( ) can be determined as the left intersection point. The processor 150 determines the right lane 42 and the right minimum turning radius ( The point where ) meets is the vehicle driving radius ( ) When the vehicle 300 is ahead of the intersection point where the right lane 42 and the right lane 42 meet, the right lane 42 and the right minimum turning radius ( ) can be determined as the right intersection point. That is, the turning range of the vehicle is defined as the arc between the contact point of the minimum turning radius and the vehicle driving radius and the contact point of the vehicle driving radius and the road. Accordingly, the processor 150 configures the right lane 42 and the right minimum turning radius ( ), the right intersection point, and the vehicle driving radius ( ) and the left intersection point where the left lane 41 meets can be used to determine the next moving location point of the vehicle 300. That is, the processor 150 uses a virtual line connecting the center point of the line connecting the right intersection point and the left intersection point and the rear axle center point of the vehicle 300 and the vehicle driving radius ( ) can be determined as the next movement position of the vehicle 300 (e.g., calculating the rear axle movement position).

FIG. 13 is a diagram illustrating a simplified vehicle using a bicycle model, and FIG. 14 is a diagram illustrating a method of controlling an autonomous vehicle based on a pure pursuit model.

Referring to Figures 13 and 14, in relation to the calculation of the rear axle movement position previously described in Figures 10 to 12, the Pure pursuit algorithm selected as the trajectory tracking algorithm uses sine and cosine functions for the distance from the front of the vehicle to the target point to be moved. The product of can be used. For example, in an autonomous car, path generation and trajectory control are necessary for the vehicle to move along an accurate path. Therefore, autonomous vehicle driving is possible by controlling the vehicle's trajectory through an existing trajectory tracking algorithm based on the path generated by the proposed next location path generation method.

Based on the next position generated above, trajectory control is performed using the Pure Pursuit algorithm, one of the most common and powerful trajectory tracking algorithms in vehicle control. This pure pursuit algorithm simplifies and expresses the vehicle as a bicycle model, as shown in Figure 13. The bicycle model simplifies the four-wheeled vehicle by combining two front wheels and two rear wheels to create a two-wheeled model. This simplification creates a simple geometric relationship between the front wheel steering angle and the rear axle. δ represents the steering angle of the front axle wheel, and L represents the distance between the front and rear axles of the wheel base. Additionally, R refers to the radius of the circle along which the rear axle moves when the vehicle moves along a given steering angle. When moving to the destination in this way, it can be expressed as a simple geometric relationship as shown in Equation 6 below.

[Equation 6]

The vehicle's steering angle (δ) is the target moving position It is determined using the angle (α) between the direction vector of the vehicle and the vector to the target moving position. By applying the sine law, equations 7 to 9 below can be derived.

[Equation 7]

[Equation 8]

[Equation 9]

Here, if k is defined as the curvature of the arc, Therefore, the above equation 9 can be derived to 10 in the following equation.

[Equation 10]

The following equation 11 can be derived based on the k value in equation 4 above.

[Equation 11]

Additionally, the following equation 12 is derived using equations 10 and 11 above.

[Equation 12]

Applying the sine and cosine laws to calculate the position of the rear axle (or rear axle center point) is as follows:

[Equation 13]

Here, D refers to the distance between the target movement point and the front of the vehicle.

In this way, it is possible to control the vehicle's trajectory by using the next position information generated from the next position generation algorithm and then applying the pure pursuit algorithm with the axle position information. Based on this information, it is possible to route a self-driving car. In this way, the algorithm can be used to create a route based on lanes for autonomous driving. Additionally, the proposed route generation method can be used to remove route uncertainty that occurs in various situations on the existing route. Using the proposed route creation method in addition to existing route information helps vehicles travel on accurate and safe routes.

As described above, although this specification contains details of numerous specific implementations, these should not be construed as limitations on the scope of any invention or what may be claimed, but rather may be specific to particular embodiments of a particular invention. It should be understood as a description of features.

Additionally, although operations are depicted in the drawings in a specific order, this should not be construed as requiring that those operations be performed in the specific order or sequential order shown or that all of the depicted operations must be performed to obtain desirable results. In certain cases, multitasking and parallel processing may be advantageous. Additionally, the separation of various system components in the above-described embodiments should not be construed as requiring such separation in all embodiments, and the described program components and systems may generally be integrated together into a single software product or packaged into multiple software products. You must understand that it is possible.

The present description sets forth the best mode of the invention and provides examples to illustrate the invention and to enable any person skilled in the art to make and use the invention. The specification prepared in this way does not limit the present invention to the specific terms presented. Accordingly, although the present invention has been described in detail with reference to the above-described examples, those skilled in the art may make modifications, changes, and variations to the examples without departing from the scope of the present invention.

Therefore, the scope of the present invention should not be determined by the described embodiments, but by the scope of the patent claims.

10: Autonomous vehicle route information provision environment
40: road
41, 42: Lane
100: electronic device
110: communication circuit
120: display
130: memory
150: processor
200: base station
300: vehicle
310: vehicle communication circuit
320: means of transportation
330: Vehicle memory
340: sensor unit
350: vehicle control unit

Claims (10)

Detecting lanes around which the vehicle is moving;
Placing a virtual vehicle between the lanes and setting a virtual line based on the vehicle;
calculating intersection points between virtual lines based on the vehicle and the lanes;
calculating a rotation range of the vehicle based on the intersection points;
calculating the next moving position of the vehicle using the calculated rotation range and the intersection points;
calculating route information including a steering angle of the vehicle and a distance traveled by the vehicle based on the next movement location of the vehicle;
A method of providing route information for an autonomous vehicle, comprising: performing autonomous driving of the vehicle based on the route information. According to paragraph 1,
The step of setting the virtual line is
Setting a virtual line corresponding to the minimum left turning radius at which the vehicle can turn in the left direction;
Setting a virtual line corresponding to the minimum right turning radius at which the vehicle can turn in the right direction;
Setting a virtual line corresponding to the vehicle driving radius with a size corresponding to the speed of the vehicle based on the center point of the front part of the vehicle. According to paragraph 2,
A method of providing route information for an autonomous vehicle, further comprising: changing the size of the vehicle's driving radius when the driving speed of the vehicle changes. According to paragraph 2,
The step of calculating the intersection points is
calculating a left intersection point where the left minimum turning radius and the left lane meet; and
A method of providing route information for an autonomous vehicle, comprising: calculating a right intersection point where the right minimum turning radius and the right lane meet. According to paragraph 2,
The step of calculating the intersection points is
If the first point where the vehicle driving radius meets the left lane among the lanes is further ahead in the forward direction of the vehicle than the second point where the left minimum turning radius and the left lane meet, the first point is calculated as the left intersection point. steps; and
A method of providing route information for an autonomous vehicle, comprising: calculating a right intersection point where the right minimum turning radius and the right lane meet. According to paragraph 2,
The step of calculating the intersection points is
If the first point where the vehicle driving radius meets the right lane among the lanes is further ahead in the forward direction of the vehicle than the second point where the right minimum turning radius and the right lane meet, the first point is calculated as the right intersection point. steps; and
A method for providing route information for an autonomous vehicle, comprising: calculating a left intersection point where the left minimum turning radius and the left lane meet. According to any one of claims 4 to 6,
The step of calculating the next moving location of the vehicle is
determining a point where an imaginary line connecting the midpoint of the left intersection point and the right intersection point and the center point of the rear axle of the vehicle meets the vehicle travel radius as the next movement location of the vehicle; autonomous driving comprising a. A method of providing route information for vehicles. a communication circuit that communicates with the vehicle through a base station;
Including a processor functionally connected to the communication circuit,
The processor is
Receiving information about lanes around the moving vehicle from the vehicle,
Placing a virtual vehicle between the lanes and setting a virtual line based on the vehicle,
Calculate intersections between the vehicle-based virtual lines and the lanes,
Calculate the rotation range of the vehicle based on the intersection points,
Determine the point where an imaginary line connecting the midpoint between the intersection points and the center point of the rear axle of the vehicle meets the driving radius of the vehicle as the next moving position of the vehicle,
Providing route information for an autonomous vehicle, wherein route information including the steering angle of the vehicle and the distance traveled by the vehicle is calculated based on the next moving position of the vehicle and provided for autonomous driving of the vehicle. Electronic devices. According to clause 8,
In connection with setting the virtual line, the processor:
Setting a virtual line corresponding to the minimum left turning radius at which the vehicle can turn in the left direction and a virtual line corresponding to the minimum right turning radius at which the vehicle can turn in the right direction,
An electronic device that provides route information for an autonomous vehicle, characterized in that setting a virtual line corresponding to the vehicle driving radius with a size corresponding to the speed of the vehicle based on the center point of the front of the vehicle. According to clause 9,
In connection with calculating the intersection points, the processor
Calculate the left intersection point where the left minimum turning radius and the left lane meet and the right intersection point where the right minimum turning radius and the right lane meet, or
If the first point where the vehicle driving radius meets the left lane among the lanes is further ahead in the forward direction of the vehicle than the second point where the left minimum turning radius and the left lane meet, the first point is calculated as the left intersection point. Calculate the right intersection point where the right minimum turning radius and the right lane meet, or
If the first point where the vehicle driving radius meets the right lane among the lanes is further ahead in the forward direction of the vehicle than the second point where the right minimum turning radius and the right lane meet, the first point is calculated as the right intersection point. An electronic device that provides route information for an autonomous vehicle, characterized in that it calculates a left intersection point where the left minimum turning radius and the left lane meet while doing so.

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