KR102658924B1 - Retaliatory driving reporting system for autonomous vehicles - Google Patents

Abstract

The present invention provides a retaliatory driving control system for autonomous vehicles that detects retaliatory driving vehicles, automatically imposes penalty points on retaliatory driving vehicles, and retrieves control of the retaliatory driving vehicles to create a healthy autonomous driving environment. do.
Accordingly, the retaliatory driving control system for an autonomous vehicle according to one aspect of the present invention includes a detection unit that detects vehicles in front, rear, and sides, a control unit that determines whether driving of the vehicle is retaliatory driving, and driving of the vehicle. It includes a control server that re-determines whether the driving of the vehicle is retaliatory driving, and determines whether the driving of the vehicle is retaliatory driving based on whether or not it causes a disturbance to the driving control signal of another vehicle.

Description

Retaliatory driving reporting system for autonomous vehicles}

The present invention relates to an autonomous vehicle control system, and more specifically to a retaliatory driving control system for an autonomous vehicle.

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. Driverless cars drive autonomously by simply recognizing the surrounding environment using radar, LIDAR (light detection and ranging), GPS, and cameras and specifying a destination. Driverless cars that are already in 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 technologies for these self-driving vehicles are the unmanned vehicle system and the Actual System. It is a technology that not only simulates in the laboratory but also actually builds an unmanned car system. It implements the driving devices such as accelerator, decelerator, and steering device to suit unmanned operation, and enables control using computers, software, and hardware installed in the unmanned car. do.

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 driverless cars 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 a camera installed inside detects lanes and informs the driver of unintentional deviations. In driverless cars, 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, various problems are expected to arise due to the popularization of self-driving vehicles. In particular, since autonomous vehicles can be driven manually, the possibility of retaliatory driving cannot be ruled out. However, related research is still insufficient.

Korean Patent Publication No. 2019-0070693 (2019. 06. 21.), Title of invention: Autonomous driving device and control method thereof {APPARATUS AND METHOD FOR CONTROLLING AUTONOMOUS DRIVING OF VEHICLE}

The present invention is intended to solve the problems of the prior art described above. The purpose of the present invention is to detect retaliatory driving vehicles in autonomous vehicles, automatically impose penalty points on retaliatory driving vehicles, and retrieve control of the retaliatory driving vehicles to ensure a healthy vehicle. It provides a retaliatory driving control system for autonomous vehicles that implements an autonomous driving environment.

A retaliatory driving control system for an autonomous vehicle according to an aspect of the present invention includes a detection unit that detects vehicles in front, rear, and sides, a control unit that determines whether driving of the vehicle is retaliatory driving, and a control unit that determines whether driving of the vehicle is retaliatory driving. It includes a control server that re-determines whether the driving of the vehicle is retaliatory driving based on whether or not it causes a disturbance to the driving control signal of another vehicle.

At this time, causing a disturbance in the drive control signal of the other vehicle may be determined from at least one of the vehicle's proximity to the other vehicle, deceleration of the vehicle, cutting in, and honking of the vehicle's horn.

Additionally, the control server may immediately add penalty points to the retaliatory driving vehicle.

Additionally, the control server can regain control of the vehicle when it determines that driving the vehicle is retaliatory driving.

Additionally, when the control server determines that the driving of the vehicle is retaliatory driving, the control server can control the output unit of the vehicle to display related content.

The present invention not only promotes safe driving by having an autonomous vehicle detect a retaliatory driving vehicle, the control server confirms this, immediately adds a penalty point to the vehicle, and announces the retaliatory driving vehicle to the outside, and furthermore, the retaliatory driving vehicle's By taking back control, a healthy autonomous driving environment can be created.

1 is a configuration diagram of a retaliatory driving control system for an autonomous vehicle according to an embodiment of the present invention.
FIG. 2 is a configuration diagram showing the autonomous vehicle in FIG. 1 in more detail.
Figure 3 is a configuration diagram showing the detection unit in Figure 2 in more detail.
FIG. 4 is a configuration diagram showing the control unit in FIG. 2 in more detail.
Figure 5 is a configuration diagram showing the control server in Figure 1 in more detail.

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, a retaliatory driving control system for an autonomous vehicle according to an embodiment of the present invention will be described. FIG. 1 is a configuration diagram of a retaliatory driving control system for an autonomous vehicle according to an embodiment of the present invention, FIG. 2 is a configuration diagram showing the autonomous vehicle in FIG. 1 in more detail, and FIG. 3 is a configuration diagram of the autonomous vehicle in FIG. 2. This is a configuration diagram showing the detection unit in more detail, FIG. 4 is a configuration diagram showing the control unit in FIG. 2 in more detail, and FIG. 5 is a configuration diagram showing the control server in FIG. 1 in more detail.

Referring to the drawings, first, the retaliatory driving control system 1000 for an autonomous vehicle according to an embodiment of the present invention communicates with at least one autonomous vehicle (100_1, 100_2, 100_3?? 100_n) and determines whether retaliatory driving is performed. It includes a control server 200 that determines availability and performs route management and remote control of each vehicle.

At this time, the autonomous vehicle 100 consists of an input unit 110, a detection unit 120, an output unit 130, a control unit 140, a communication unit 150, and a drive unit 160.

In this case, the autonomous vehicles 100_1 to 100_n and the retaliatory driving vehicle 100a all have an input unit 110, a detection unit 120, an output unit 130, a control unit 140, a communication unit 150, and a drive unit 160. ), including. Hereinafter, the same reference numerals are used for the input unit, detection unit, output unit, control unit, communication unit, and drive unit of the operating vehicles (100_1 to 100_n) and the retaliatory driving vehicle (100a) that are subject to retaliatory driving, and any differences in configuration or effect are used. Each part must separately indicate which vehicle it is comprised of.

The input unit 110 is a device that receives user input for driving. In the manual mode, the input unit of the autonomous vehicle 100 may include a steering input device (not shown), an acceleration input device, and a brake input device. In addition, the input unit 110 serves to input the destination of the autonomous vehicle and receives information from the control server 200 according to the input destination to continuously set the route.

The detection unit 120 includes a radar 121 and LIDAR 122, and may further include a camera 123. In this embodiment, the speed and direction of movement of other vehicles, which are major objects, are detected using the radar 121, lidar 122, and camera 123, and retaliatory driving during the driving process is determined.

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. 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.

Next, the LIDAR 122 can generate information about objects outside the autonomous vehicle 100 using laser light. 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 such as vehicles around the autonomous vehicle 100. there is. 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. 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 may generate information about objects such as vehicles outside the autonomous vehicle 100 using images. 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 obtain position information of an object, distance information to the object, or relative speed information to the object using various image processing algorithms.

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 to an object based on disparity information in a stereo image acquired from a stereo camera. The camera 123 may be mounted in a position in the vehicle to secure a field of view (FOV) 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. 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. Furthermore, the biometric information sensor 126 not only prepares for emergency situations by sensing the passenger's heart rate, pressure, brain waves, etc., but also additionally performs a separate function to prevent erroneous boarding by sensing fingerprint and iris information when entering and exiting the vehicle. You can. Using this biometric information sensor 126, the autonomous vehicle 100 can detect whether a passenger has boarded or disembarked.

The radar 121, lidar 122, and camera 123 as described above detect the location of surrounding vehicles, which are major objects. They detect the distance to surrounding vehicles, the speed of surrounding vehicles, and the direction of movement of surrounding vehicles, and detect the locations of surrounding vehicles accordingly. Data will be collected to determine whether surrounding vehicles are speeding, violating red lights, retaliatory driving, not wearing a license plate, or poor parking.

The output unit 130 is normally placed inside or outside the autonomous vehicle 100 to display driving-related situations. Furthermore, one of the shapes, shapes, and colors can be displayed on the exterior of the vehicle to provide predictability to the owner of the vehicle and people around it.

In more detail, when the control server 200 determines that the driving of the vehicle is retaliatory driving, the output unit 130 may display information that a penalty point has been assigned on the outside of the vehicle. In this case, the control server 200 can control the output unit of the retaliatory driving vehicle according to a prior protocol.

In addition, when a plurality of autonomous vehicles (100_1 to 100_n) drive around the retaliatory driving vehicle (100a), the output unit 130 detects the retaliatory driving vehicle and, when it is determined to be retaliatory driving, the control server 200 Controlled from , the exterior of the vehicle can be expressed identically to inform other vehicles located remotely that this is the section in which the retaliatory driving vehicle 100a has occurred.

Meanwhile, the control unit 140 may be configured as a main ECU and controls the driving and driving of the autonomous vehicle 100. In more detail, the control unit consists of a drive control module 141, an input/output control module 142, and a retaliatory driving vehicle judgment module 143.

First, 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 can control the power train, steering device, and brake device based on the signal received from the sensing unit 120.

The input/output control module 142 controls the above-mentioned output unit 130, and the vehicles that detect retaliatory driving are grouped together to control the display inside the vehicle or the external display. Additionally, the input/output control module 142 can control the output unit 130 of the retaliatory driving vehicle 100a to indicate whether operation of the retaliatory driving vehicle continues or is stopped.

The retaliatory driving vehicle determination module 143 determines whether the retaliatory driving vehicle is based on the data received from the detection unit. In particular, it is determined whether it is a retaliatory driving vehicle based on whether it causes a disruption in the normal driving signal generated by the driving control module 141.

More specifically, by comparing all data related to driving and stopping, such as speed, direction, and turn signals, of the vehicle suspected of retaliatory driving with the default control signal in the current section, it is determined whether the vehicle is subject to retaliatory driving, and the retaliatory driving operation is determined. By factoring in the time, it is ultimately determined whether it is a retaliatory driving vehicle.

As a more detailed aspect of retaliatory driving, it can be determined whether the retaliatory driving vehicle is abnormally close, sudden deceleration in front, lane cutting, or abnormal driving output.

Additionally, the determination of whether the vehicle 100a is a retaliatory driving vehicle may be performed separately from a plurality of vehicles 100_1 to 100_n. Accordingly, a plurality of retaliatory driving judgment information for one retaliatory driving vehicle is transmitted to the control server 200.

Meanwhile, the control server 200 includes a retaliatory operation confirmation module 210, a drive control module 220, and a communication control module 230.

The retaliatory driving confirmation module 210 re-determines the retaliatory driving state determined by the control unit 140 to finalize it and grants a penalty point to the retaliatory driving vehicle 100a. Therefore, the retaliatory driving confirmation module 210 is preferably placed at the National Police Agency, etc., and may be provided with a separate input unit to assist manpower in receiving administrative dispositions.

At this time, the retaliatory driving confirmation module 210 determines whether the vehicle 100a subject to the retaliatory driving was driven in autonomous driving, semi-autonomous driving, or manual driving when the retaliatory driving act occurred. In this case, if the vehicle was operated in semi-autonomous or manual driving, the penalty points are confirmed as is, and if the vehicle was driven only in autonomous driving, the driver is exempted from liability and history information indicating that retaliatory driving has been activated is transmitted to the vehicle manufacturer's server (not shown). . Accordingly, it is desirable for the manufacturer to immediately modify the driving algorithm and transmit it to the control server 200, and for the control server 200 to update driving data not only in the section where retaliatory driving occurred, but also in vehicles of the same manufacturer operating in other areas. .

Additionally, the drive control module 220 controls each vehicle when an offending vehicle occurs. In particular, the drive control module 220 can control the arrangement of a plurality of autonomous vehicles close to the offending vehicle. In this case, since each has different path information, the control server adjusts the spacing and speed of multiple autonomous vehicles close to the offending vehicle by reflecting each path information. As a result, it is possible to fundamentally prevent safety problems that may arise in the future from violating vehicles.

Meanwhile, the communication control module 230 is responsible for communication between the autonomous vehicles 100_1 to 100_n around the retaliatory driving vehicle 100a or between the autonomous vehicle and the control server 200. In the retaliatory driving control system according to this embodiment, overall control by the control server is essential for safety, so there is a need to always maintain communication between the vehicles (100_1 to 100_n) and between the vehicles (100_1 to 100_n) and the control server (200). . Therefore, the communication control module 230 enables communication between each vehicle via the control server 200 even when each vehicle is not connected through short-distance communication. Additionally, the communication control module 230 can control the output unit of the retaliatory driving vehicle to display related content when it is determined that it is retaliatory driving. At this time, any method of notifying the outside of the vehicle that retaliatory driving is taking place will be possible.

Meanwhile, the communication unit 150 may exchange signals with at least one of a control server located outside the autonomous vehicle 100, another vehicle, or a terminal. 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.

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 addition, the specification and drawings disclose preferred embodiments of the present invention, and although specific terms are used, these are merely used in a general sense to easily explain the technical content of the present invention and aid understanding of the present invention. It is not intended to limit the scope of the invention. It is obvious to those skilled in the art that in addition to the embodiments disclosed herein, other modifications based on the technical idea of the present invention can be implemented.

1000: Retaliatory driving control system for autonomous vehicles
100: Self-driving vehicle
110: input unit
120: detection unit
130: output unit
140: control unit
150: Department of Communications
200: Control server

Claims (5)

A detection unit that detects vehicles in the front, rear, and sides;
a control unit that determines whether driving the vehicle is retaliatory driving; and
a control server that re-determines whether driving the vehicle is retaliatory driving;
Including,
Determining whether the driving of the vehicle is retaliatory driving is determined based on whether it causes interference with the drive control signals of other vehicles,
When a retaliatory driving act occurs, the control server determines whether the vehicle was driven in autonomous driving, semi-autonomous driving, or manual driving, and determines penalty points if the vehicle was driving in semi-autonomous driving or manual driving. A retaliatory driving control system for an autonomous vehicle, characterized in that it transmits history information when the vehicle is operated in autonomous mode.
According to paragraph 1,
Autonomous, characterized in that the occurrence of a disturbance in the driving control signal of the other vehicle is determined from at least one of the vehicle's proximity to the other vehicle, deceleration of the vehicle, cutting in of the vehicle, and honking of the horn of the vehicle. Retaliatory driving control system for driving vehicles.
According to paragraph 1,
A retaliatory driving control system for an autonomous vehicle, wherein the control server adds penalty points to the vehicle.
According to paragraph 1,
A retaliatory driving control system for an autonomous vehicle, characterized in that the control server can regain control of the vehicle when it is determined that the driving of the vehicle is retaliatory driving.
According to paragraph 1,
A retaliatory driving control system for an autonomous vehicle, characterized in that when the control server determines that the driving of the vehicle is retaliatory driving, it controls the output unit of the vehicle to display related content.