KR102658916B1 - Safety support and extension system for self driving cars - Google Patents

Abstract

In the present invention, when using an autonomous vehicle, a safety support vehicle escorts the self-driving vehicle to support the safety of the autonomous vehicle, while providing expanded support for safety from other vehicles and surrounding sensing devices or output devices operating on a real-time path. Provides autonomous vehicle safety support and expansion systems that expand width and output.
Accordingly, the autonomous vehicle safety support and expansion system according to one aspect of the present invention includes a server that controls safety support, a driving vehicle that is an autonomous vehicle, and a safety support vehicle that is another autonomous vehicle, and the safety support vehicle It operates together with the operating vehicle, and the server communicates with at least one of other vehicles, sensing devices, and output devices operating close to the real-time operating path of the operating vehicle or safety support vehicle.

Description

Self-driving vehicle safety support and extension system {SAFETY SUPPORT AND EXTENSION SYSTEM FOR SELF DRIVING CARS}

The present invention relates to a vehicle safety support system, and more specifically, to a safety support and expansion system for autonomous vehicles that supports safety when driving an autonomous vehicle and extends it to the surrounding area.

Depending on the type of motor used, automobiles can be classified as internal combustion engine vehicles, external combustion engine vehicles, gas turbine vehicles, or electric vehicles.

Self-driving vehicles are cars that can drive automatically without human driving. Self-driving vehicles recognize the surrounding environment using radar, LIDAR (light detection and ranging), GPS, and cameras and drive autonomously by simply specifying a destination. Autonomous vehicles that are already being put into practical use include unmanned vehicles that patrol preset routes operated by the Israeli military and unmanned operation systems such as dump trucks that are operated in overseas mines and construction sites.

The first core technology of these self-driving vehicles is the self-driving vehicle system and Actual System. It is a technology that not only simulates in the laboratory but also actually builds an autonomous vehicle system. It implements driving devices such as accelerators, decelerators, and steering devices to suit unmanned operation, and controls them using computers, software, and hardware installed in the autonomous vehicle. Make it possible.

The second core technology is vision, which uses sensors to receive and process visual information. It is the basis of autonomous driving for unmanned operation, and is a technology that accepts video information and extracts necessary information from this video. This uses sensors such as ultrasonic sensors and range filters as well as CCD (charge-coupled device) cameras to fuse the information required for distance and driving, enabling obstacle avoidance and coping with unexpected situations through analysis and processing.

The third core technology is the integrated control system and operation monitoring and fault diagnosis system technology. This technology establishes a driving monitoring system that monitors vehicle operation and issues appropriate commands according to frequently changing situations, and analyzes various situations occurring in individual processors and sensors to diagnose system failures and provide appropriate information to the operator. or perform the function of notifying an alarm.

The fourth core technology is intelligent control and intelligent operation devices. This technology is an unmanned operation technique that generates control commands based on mathematical analysis using an actual vehicle model. The first application technology currently being applied to autonomous vehicles is the intelligent cruise control (ACC: Adaptive Cruise Control) system. Intelligent forward control is a system based on radar guide technology that automatically adjusts the speed without the driver having to operate the pedal to maintain the distance from the vehicle in front or obstacles. When the driver inputs the distance to the car in front, the long-distance radar attached to the front of the car detects the position of the car in front and maintains a constant speed or slows down or accelerates, and stops completely when necessary, making it useful in weather where visibility is difficult.

The fifth applied technology is the lane departure prevention system. This is a technology in which an internal camera detects lanes and notifies the driver of unintentional deviations. In autonomous vehicles, it distinguishes between walking and the center line, allowing the car to drive safely along the lane.

The sixth applied technology is the parking assistance system. This is a system that assists reverse parallel parking by adjusting the steering system when the driver presses the assist button, puts the vehicle in reverse gear, and presses the brake pedal. Based on vehicle-mounted sensors as well as infrastructure, it automatically guides the vehicle from the starting point to the parking space, saving unnecessary time and energy when parking, minimizing costs and environmental pollution.

The seventh applied technology is the automatic parking system. This is a technology that allows the driver to stop the car in front of the parking lot, turn off the engine, get out, and press the remote control lock switch twice in succession. The camera installed in the car detects the reflector previously attached to the opposite wall of the garage, calculates the appropriate approach route, and parks on its own. am.

The eighth applied technology is the blind spot information guidance system. This is because sensors mounted on both sides of the car determine whether there are other vehicles in the blind spot that are not visible through the side mirror and warn the driver. It is used to change lanes by checking obstacles and vehicles on both sides in complex road situations. .

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

However, recently, the popularization of autonomous driving is accelerating, and it is predicted that various problems will arise due to autonomous driving. In particular, when autonomous driving is carried out at night in a quiet place, there is a risk of becoming a target of crime because there is no public supervision. Therefore, it is predicted that more improved safety measures will be needed.

Korean Patent Publication No. 10-2020-0116610 (2020. 10. 13.), Name of invention: Relief Home Escort Drones

The present invention is intended to solve the problems of the prior art described above, and the purpose of the present invention is to have a safety support vehicle escort the self-driving vehicle to support the safety of the self-driving vehicle when using an autonomous vehicle, and to communicate with other vehicles running on a real-time route. The goal is to provide an autonomous vehicle safety support and expansion system that expands the range of detection and output to support expanded safety in surrounding sensing devices or output devices.

The autonomous vehicle safety support and expansion system according to one aspect of the present invention includes a server that controls safety support, a driving vehicle that is an autonomous vehicle, and a safety support vehicle that is another autonomous vehicle, and the safety support vehicle is the above-described safety support vehicle. It operates together with the operating vehicle, and the server communicates with at least one of other vehicles, sensing devices, and output devices operating close to the real-time operating path of the operating vehicle or safety support vehicle.

At this time, if the operating vehicle inputs whether or not to support the safety support vehicle, the safety support vehicle can drive to the destination together with the operating vehicle.

In addition, the server can control to output a temporary safety support display to another vehicle or output device operating close to the real-time driving path of the operating vehicle or safety support vehicle.

In addition, when the safety support vehicle is driven to the destination together with the operating vehicle, the safety support vehicle and the operating vehicle may output to the outside a display identical to the temporary safety assistance display output by the other vehicle or output device. .

In addition, the server temporarily operates the operating vehicle, the safety support vehicle, and the other vehicle while the safety support vehicle and the operating vehicle output to the outside a display identical to the temporary safety support display output by the other vehicle or output device. A control signal can be sent to enable platooning.

In the present invention, when using an autonomous vehicle, a safety support vehicle escorts the autonomous vehicle to support the safety of the vehicle, and detects and outputs information to further expand safety from other vehicles and surrounding sensing devices or output devices operating on a real-time route. As it expands, safety when operating autonomous vehicles is significantly guaranteed.

1 is a configuration diagram of an autonomous vehicle safety support and expansion system according to an embodiment of the present invention.
FIG. 2 is a configuration diagram showing the autonomous vehicle in FIG. 1 in more detail.
Figure 3 is a configuration diagram showing the detection unit in Figure 2 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.
FIG. 6 is a configuration diagram showing the server in FIG. 1 in more detail.
7 to 10 are diagrams illustrating the operation of the autonomous vehicle safety support and expansion system according to an embodiment of the present invention.

Hereinafter, embodiments disclosed in the present specification will be described in detail with reference to the attached drawings. However, identical or similar components will be assigned the same reference numbers regardless of reference numerals, and duplicate descriptions thereof will be omitted.

The suffixes “module” and “part” for components used in the following description are given or used interchangeably only for the ease of preparing the specification, and do not have distinct meanings or roles in themselves.

Additionally, in describing the embodiments disclosed in this specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in this specification, the detailed descriptions will be omitted.

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

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

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

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

In this application, terms such as “comprise” or “have” 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 other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, an autonomous vehicle safety support and expansion system according to an embodiment of the present invention will be described. FIG. 1 is a configuration diagram of an autonomous vehicle safety support and expansion system 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. 3 is a configuration diagram of an autonomous vehicle in FIG. 2. is a configuration diagram showing the detection 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. 6 is a configuration diagram showing the server in FIG. 1 in more detail.

Referring to the drawing, first, the autonomous vehicle safety support and expansion system 1000 according to an embodiment of the present invention provides safety support for a driving vehicle 100_1, which is an autonomous vehicle 100, and another autonomous vehicle 100. It consists of a vehicle (100_2). Additionally, as shown, it may further include a server 200 that overall controls the safety support system.

Furthermore, the autonomous vehicle safety support and expansion system 1000 according to this embodiment can be used to control other vehicles 300 operating in the path of the safety operation vehicle or safety support vehicle, and CCTVs similarly placed in the path of the operation vehicle or safety support vehicle. Alternatively, it may further include a sensing device 400 such as a camera, and an output device 500 such as a display device disposed in the path of the operating vehicle or safety support vehicle.

In this case, the operating vehicle 100_1, which is an autonomous vehicle 100, and the safety support vehicle 100_2, which is another autonomous vehicle 100, all include an input unit 110, a detection unit 120, an output unit 130, It includes a control unit 140, a communication unit 150, and a driving unit 160.

Hereinafter, for convenience, the input unit, detection unit, output unit, control unit, communication unit, and drive unit of the operating vehicle (100_1) and the safety support vehicle (100_2) will all use the same reference numerals, and any parts that differ in configuration or effect will be separated from each other. Please specify whether it is a composition of .

First, the input unit 110 is a device that receives user input for driving. In the 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 or route of the autonomous vehicle, and the control unit 140 controls driving or receives information from the server 200 according to the input destination and continuously sets the route. . In this embodiment, the input unit 110 is mainly used in the operating vehicle 100_1. Additionally, when whether or not to support the safety support vehicle 100_2 is inputted in the input unit 120 of the operating vehicle 100_1, the safety support vehicle 100_2 drives to the destination together with the operating vehicle 100_1.

The detection unit 120 includes a radar 121 and LIDAR 122, and may further include a camera 123. First, the radar 121 can generate information about objects outside the autonomous vehicle 100 using radio waves. The radar 121 may include an electromagnetic wave transmitting unit, an electromagnetic wave receiving unit, and at least one processor that is electrically connected to the electromagnetic wave transmitting unit and the electromagnetic wave receiving unit, processes the received signal, and generates data about the object based on the processed signal. there is.

The radar 121 may be implemented as a pulse radar or continuous wave radar based on the principle of transmitting radio waves. The radar 121 may be implemented in a frequency modulated continuous wave (FMCW) method or a frequency shift keyong (FSK) method depending on the signal waveform among the continuous wave radar methods. The radar 121 detects an object based on a time of flight (TOF) method or a phase-shift method using electromagnetic waves, and determines the location of the detected object, the distance to the detected object, and the relative speed. It can be detected. In particular, the radar 21 detects the distance and relative speed with a preceding vehicle traveling very close in real time.

At this time, the radar 121 may be placed at an appropriate location outside the vehicle to detect objects located in front, behind, or on the sides of the vehicle.

The LIDAR 122 can use laser light to generate information about obstacles such as objects outside the autonomous vehicle 100 and other vehicles blocking parking or exit. Lidar 122 is electrically connected to the light transmitter (not shown), the light receiver (not shown), and the light transmitter and light receiver, processes the received signal, and generates data about the object based on the processed signal. It may include at least one processor.

LiDAR 122 may be implemented in a time of flight (TOF) method or a phase-shift method. LiDAR 122 may be implemented in a driven or non-driven manner. When implemented in a driven manner, LiDAR 122 is rotated by a motor and can detect objects around the autonomous vehicle 100. When implemented in a non-driven manner, the LIDAR 122 can detect objects located within a predetermined range based on the vehicle by optical steering. The autonomous vehicle 100 may include a plurality of non-driven LIDARs. LiDAR 122 detects an object based on a time of flight (TOF) method or a phase-shift method using laser light, and determines the position of the detected object, the distance to the detected object, and the relative speed. It can be detected. In particular, the LIDAR 122 can detect the position of the preceding vehicle and the distance and relative speed with the following vehicle to ensure the same control between both.

At this time, the LIDAR 122 may be placed at an appropriate location outside the vehicle to detect objects located in front, behind, or on the sides of the vehicle.

Meanwhile, the camera 123 can generate information about objects and obstacles outside the autonomous vehicle 100 using images. At this time, the camera 123 can capture images 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 that is electrically connected to the image sensor, processes a received signal, and generates data about the object based on the processed signal. You can.

The camera 123 may be at least one of a mono camera, a stereo camera, and an Around View Monitoring (AVM) camera. The camera 123 may use various image processing algorithms to obtain location information of the object, distance information to the object, relative speed information to the object, motion information of the object, etc.

For example, the camera 123 may obtain distance information and relative speed information with an object based on changes in the size of the object over time in the acquired image. Additionally, the camera 123 can obtain distance information and relative speed information with an object through a pinhole model, road surface profiling, etc.

Additionally, the camera 123 may obtain distance information and relative speed information from the preceding vehicle based on disparity information in the stereo image obtained from the stereo camera. This further assists in controlling extremely close driving with the preceding vehicle.

The camera 123 may be mounted in a position in the vehicle where a field of view (FOV) can be secured in order to photograph the exterior of the vehicle. The camera 123 may be placed close to the front windshield inside the vehicle to obtain an image of the front of the vehicle. Furthermore, the camera 123 may be placed around the front bumper or radiator grill. The camera 123 may be placed close to the rear glass inside the vehicle to obtain an image of the rear of the vehicle. At this time, the camera 123 may be placed around the rear bumper, trunk, or tailgate. In order to obtain an image of the side of the vehicle, the camera 123 may be placed close to at least one of the side windows inside the vehicle. Alternatively, the camera 123 may be placed around a side mirror, fender, or door.

In addition, since the detection unit 120 must utilize the location information of the autonomous vehicle, it necessarily further includes the GPS 124. Additionally, the GPS 124 generates location data of the autonomous vehicle 100 and may include at least one of a general Global Positioning System (GPS) and a Differential Global Positioning System (DGPS). Location data of the autonomous vehicle 100 may be generated based on signals generated from at least one of GPS and DGPS.

At this time, 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 detection unit 120. Additionally, the GPS 124 may be named GNSS (Global Navigation Satellite System).

Meanwhile, the sensing unit 120 may further be equipped with a microphone 125 so that passengers in addition to the guardian can intervene in autonomous driving through voice, etc. even if the passenger does not perform a steering operation. Additionally, the microphone 125 according to this embodiment acquires information about the voices of others outside the vehicle. This is to collect commands made by other people's voices.

Furthermore, the biometric information sensor 126 detects the passenger's heart rate, pressure, brain waves, etc. to determine an emergency situation. At this time, the biometric information sensor 126 operates periodically to detect passengers, and if the signal is maintained for more than a set time after detecting an abnormal signal, the communication unit 150 transmits the biometric information to the server 200 to determine whether it is an emergency situation. You can. Meanwhile, the biometric information sensor 126 can additionally perform a function of preventing erroneous boarding by sensing fingerprint and iris information when entering and exiting the vehicle. Using this biometric information sensor 126, the autonomous vehicle 100 can detect whether a passenger has boarded or disembarked.

Additionally, in this embodiment, it is desirable for the detection unit 120 of the safety support vehicle to expand its detection range to include not only roads but also pedestrian paths. This is to detect the risk of suddenly approaching a moving vehicle on the road when the vehicle is stopped.

Meanwhile, the output unit 130 is disposed inside or outside the autonomous vehicle 100 to display driving-related situations and further displays any one of the shapes, shapes, and colors on the outside of the vehicle to inform the passengers and surrounding people of the vehicle. You can provide predictability to others.

In more detail, the output unit 130 according to this embodiment includes a patrol display module 131 and a safety support display module 132.

In the case of the safety support vehicle (100_2), it can be used to support road patrol and crime prevention in normal times, so the output unit of the safety support vehicle is equipped with a patrol display module (131) to patrol the night road without street lights and illuminate the surrounding area. It can enhance the safety of the autonomous driving environment by playing a role in illuminating the environment.

The safety support display module 132 is provided in both the safety support vehicle (100_2) and the operating vehicle (100_1) when the safety support vehicle (100_2) and the operating vehicle (100_1) drive to the destination together and displays a display related to safety support. It performs the role of outputting to the outside. In more detail, the safety support display module 132 illuminates the lower part of the vehicle with light to display a predetermined lighting area to indicate that it is safely escorted, or the current safety support vehicle (100_2) communicates with the server 200 and displays the surrounding situation in detail. Print the information that is being monitored to the outside to draw attention.

Meanwhile, the above-mentioned server 200 is connected to at least one of another vehicle 300, a detection device 400, and an output device 500 that run close to the real-time operation path of the operating vehicle 100_1 or the safety support vehicle 100_2. Communication is possible, and at this time, the output device 500 displays that not only the safety support vehicle 100_2 but also the output device 500 is being escorted, or that the surroundings are being photographed by the detection device 400 or another vehicle 300. Safety support can be further strengthened by displaying the

Meanwhile, the control unit 140 includes a drive control module 141 and an input/output control module 142. First, the drive control module 141 may be configured as a main ECU and controls the drive unit 160 of the autonomous vehicle 100. At this time, 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 drive control device may include a power source drive control device and a transmission drive 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 drive control device may include a seat belt drive control device for seat belt control.

Additionally, 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 can be controlled based on the received signal. For example, the drive control module 141 may control the power train, steering device, and brake device based on a signal received from the detection unit 120, a drive signal from a server, or a drive signal from a safety support vehicle.

In addition, when the safety support vehicle (100_2) is driven to the destination together with the operating vehicle (100_1), the drive control module 141 of each of the safety support vehicle (100_2) and the operating vehicle (100_1) is configured to control the driving by platooning. can do.

The input/output control module 142 controls the above-mentioned output unit 130. In the case of a running vehicle, it controls to output a safety support indication when traveling together with a support vehicle, and in the case of a support vehicle, it controls the normal patrol status. You can control the display.

Additionally, the control unit 140 may further include a path safety determination module 143. The input unit of the above-described operating vehicle (100_1) can input the route or destination. In this case, the route safety judgment module 143 determines whether there are risk factors on the route, and in such case, the input unit 120 returns to the safety support vehicle ( You can control whether to call or input 100_2).

The communication unit 150 may exchange signals with at least one of the server 200 located outside the autonomous vehicle 100, another vehicle 300, and a user terminal (not shown). In particular, the communication unit 150 of the operating vehicle may perform short-range communication (or direct communication) with the communication unit 150 of the support vehicle.

The communication unit 150 may include at least one of a transmitting antenna, a receiving antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

For example, a communication device can exchange signals with an external device based on C-V2X (Cellular V2X) technology. In addition, the communication unit 150 communicates with external devices and signals based on DSRC (Dedicated Short Range Communications) technology based on IEEE 802.11p PHY/MAC layer technology and IEEE 1609 Network/Transport layer technology or WAVE (Wireless Access in Vehicular Environment) standard. can be exchanged.

Meanwhile, the server 200 includes a support call reception module 210, a support vehicle dispatch module 220, a driving signal generation module 230, and a temporary support output control module 240.

The support call reception module 210 serves to receive information when the operating vehicle 100_1 inputs that a support vehicle is needed. The support vehicle dispatch module 220 is responsible for recruiting adjacent public service autonomous vehicles, confirming them as safety support vehicles, and dispatching them to the location of the operating vehicle (100_1).

When the safety support vehicle (100_2) drives to the destination together with the operating vehicle and the safety support vehicle and the operating vehicle are controlled by platooning, the driving signal generation module 230 sends a driving control signal to the safety support vehicle. Please send it. At this time, the operating vehicle follows the safety support vehicle and operates. However, in this case, of course, the drive control signal can be generated by the safety support vehicle alone.

The temporary assistance output control module 240 controls to output a temporary safety assistance indication to another vehicle 300 or output device 400 that operates close to the real-time operation path of the operating vehicle 100_1 or the safety support vehicle 100_2. do.

That is, when the safety support display module 132 of the above-described output unit 130 drives to the destination together with the safety support vehicle 100_2 and the operating vehicle 100_1, the safety support vehicle 100_2 and the operating vehicle 100_1 In addition to being provided in all devices and performing the role of outputting a display related to safety support to the outside, the temporary support output control module 240 operates close to the real-time operation path of the operating vehicle (100_1) or the safety support vehicle (100_2). The same content can be output to other vehicles 300 or output devices 400 to indicate that extensive escort or safety support is being provided.

For example, the operating vehicle 100_1, the safety support vehicle 100_2, other vehicles 300, and the output device 400 can all temporarily output the same color, image, or text. Alternatively, the same color can be output on the lower part of the operating vehicle (100_1), safety support vehicle (100_2), other vehicles (300), and output device (400) to give pedestrians the feeling that a specific part of the road while driving is continuously occupied. Therefore, it can create a feeling of enhanced safety.

On the other hand, in the case where the temporary safety assistance display is output in this way, it is desirable for the safety support vehicle and the operating vehicle to externally output the same display as the temporary safety assistance display output by the other vehicle or output device to create an overall sense of unity. .

Also, in this case, it is preferable that the driving signal generation module 320 transmits a control signal to temporarily platoon the operating vehicle, the safety support vehicle, and the other vehicles. This is because when the speed is temporarily matched, the safety assistance display can be viewed externally and stably as a whole.

Hereinafter, the operation of the autonomous vehicle safety support and expansion system according to an embodiment of the present invention will be described. 7 to 10 are diagrams illustrating the operation of an autonomous vehicle safety support and expansion system according to an embodiment of the present invention.

First, referring to FIG. 7, the safety support vehicle displays that it is on regular patrol and can operate while patrolling an area without street lights. Afterwards, when safety support is requested from another vehicle, the vehicle approaches the operating vehicle according to a drive signal from the server as shown in Figure 8, and the safety of driving can be supported by escorting the vehicle by illuminating the lower part of the road as shown in Figure 9. there is. Meanwhile, as shown in FIG. 10, the perception that safety support is provided can be further expanded by using not only support vehicles but also temporary support vehicles (other vehicles) and displays of surrounding buildings.

As such, a person skilled in the art to which the present invention pertains will understand that the present invention can be implemented in other specific forms without changing its technical idea or essential features.

In this specification and drawings, preferred embodiments of the present invention are disclosed, and although specific terms are used, they are used only in a general sense to easily explain the technical content of the present invention and aid understanding of the present invention. There is no intention to limit the scope. It is obvious to those skilled in the art that in addition to the embodiments disclosed herein, other modifications based on the technical idea of the present invention can be implemented.

1000: Autonomous vehicle safety support and expansion system
100: Self-driving vehicle
100_1: Operating vehicle
100_2: Safety support vehicle
110: input unit
120: detection unit
130: output unit
140: control unit
150: Department of Communications
160: driving unit
200: server
300: Other vehicles
400: Sensing device
500: Output device

Claims (5)

Server controlling safety support;
Operational vehicles, which are self-driving vehicles; and
Safety support vehicle, another autonomous vehicle;
Including,
The safety support vehicle operates together with the operating vehicle,
The server communicates with at least one of other vehicles, sensing devices, and output devices operating close to the real-time operating path of the operating vehicle or safety support vehicle,
The server is a self-driving vehicle safety support and expansion system, characterized in that the server outputs a temporary safety support display to other vehicles or output devices operating close to the real-time operation path of the operating vehicle or safety support vehicle.
According to paragraph 1,
An autonomous vehicle safety support and expansion system, wherein when the operating vehicle inputs whether or not to support the safety support vehicle, the safety support vehicle travels to the destination together with the operating vehicle.
delete According to paragraph 1,
When the safety support vehicle is driven to the destination together with the operating vehicle, the safety support vehicle and the operating vehicle output to the outside a display identical to the temporary safety support display output by the other vehicle or output device. Autonomous vehicle safety support and expansion system.
According to paragraph 4,
The server temporarily groups the operating vehicle, the safety support vehicle, and the other vehicles while the safety support vehicle and the operating vehicle output to the outside a display identical to the temporary safety support display output by the other vehicle or output device. An autonomous vehicle safety support and expansion system characterized by transmitting control signals to drive.