KR102669424B1 - Apparatus for sharing positioning information of autonomous vehicle and control method thereof - Google Patents

Abstract

The present invention discloses a positioning information sharing device for an autonomous vehicle and a control method thereof. The positioning information sharing device for an autonomous vehicle of the present invention includes a positioning detection unit that measures the location and path of the vehicle; A storage unit that stores positioning information, map information, and lane information; a vehicle communication unit for communicating with surrounding vehicles; And a control unit that provides lane information according to the map matching results to surrounding vehicles through the vehicle communication unit based on the positioning information measured from the positioning sensor according to the transmission and reception settings of the positioning information, or updates the positioning information by receiving lane information from the vehicle communication unit. It is characterized by including ;.

Description

Positioning information sharing device for autonomous vehicles and its control method {APPARATUS FOR SHARING POSITIONING INFORMATION OF AUTONOMOUS VEHICLE AND CONTROL METHOD THEREOF}

The present invention relates to a positioning information sharing device for an autonomous vehicle and a control method thereof. More specifically, the present invention relates to a positioning information sharing device for an autonomous vehicle and a method for controlling the same. More specifically, the self-driving vehicle is equipped with a low-specification positioning detection unit by sharing positioning information with surrounding vehicles and compensating according to the reliability of the positioning information. This relates to a positioning information sharing device and its control method for autonomous vehicles that enable smooth autonomous driving by expanding the control range using high-specification positioning information in one vehicle.

In general, automatic driving devices that are built into various driving means and perform automatic driving through driving position detection are mainly applied to ships, aircraft, etc., but have recently been applied to vehicles driving on roads, for example, driving routes, roads, etc. Various information, such as congestion, is provided to the user through a monitor, or the automatic driving device drives the vehicle or controls the driving status on its own.

However, automatic driving devices have not yet been commercialized. For example, in the case of a high-speed moving object such as a vehicle, the driving environment (e.g., front vehicle recognition, obstacle detection, etc.) is recognized in real time and notified to the driver. Alternatively, the driving environment must be judged in real time and each emergency function must be performed in response, and for this, a high-performance processor capable of processing a large amount of data in real time is required.

In addition, because it is necessary to recognize the driving environment and detect surrounding vehicles while in motion, errors often occur when tracking objects due to the inability to accurately segment objects such as vehicles and the background, and incorrect recognition of moving objects due to changes in lighting. This happens frequently.

Meanwhile, research on unmanned automatic driving devices has been actively conducted recently, and these unmanned automatic driving devices detect drivable sections using, for example, radar, lidar, and image sensors. After determining the current location of the unmanned automatic driving device using GPS (global positioning system, hereinafter referred to as 'GPS') and inertial sensors, the driving path of the vehicle to automatically drive to the destination is created in real time and unmanned. Automatic driving can be performed.

For such unmanned automatic driving, the function of identifying the drivable section using various sensors (e.g. radar, lidar, image sensor, etc.) is essential, and in addition, from the starting point to the destination In addition to the function of generating the entire driving path, a function of generating a detailed driving path within any one section is required, and a function for detecting and avoiding obstacles within the driving section is required.

The background technology of the present invention is disclosed in Republic of Korea Patent Publication No. 2015-0086065 (published on July 27, 2015, path-following system and method for autonomous driving of unmanned vehicles).

For such autonomous vehicles, the range in which autonomous driving is possible varies depending on sensor performance, prior information about the driving road, and the vehicle's control ability.

Meanwhile, recently, in order to improve driver convenience and assist drivers for safety, as well as autonomous vehicles, smart cruise control systems (SCC) are installed to support longitudinal and lateral control of vehicles by installing highly reliable cameras and radars. , There are vehicles equipped with the Lane Keeping Assistance System (LKA) and Lane Keeping Assistance System (LFA).

However, when autonomous driving control is performed on a vehicle equipped with a low-cost, low-specification positioning sensor, a reliable level of vehicle control is possible in general road conditions, such as roads with gently curvature and roads with clearly visible lanes, but the curvature is very high. In extreme road conditions such as large roads and complex road situations such as left and right turns at intersections and congested sections, there may be limitations in vehicle control, which not only makes driver intervention unavoidable but also hinders smooth autonomous driving.

The present invention was created to improve the problems described above, and the purpose of the present invention according to one aspect is to compensate for the low-specification positioning sensor by sharing positioning information with surrounding vehicles according to the reliability of the positioning information in an autonomous vehicle. The aim is to provide a positioning information sharing device and its control method for autonomous vehicles that enable smooth autonomous driving by expanding the control range using high-specification positioning information in equipped vehicles.

A positioning information sharing device for an autonomous vehicle according to an aspect of the present invention includes a positioning detection unit that measures the location and path of the vehicle; A storage unit that stores positioning information, map information, and lane information; a vehicle communication unit for communicating with surrounding vehicles; And a control unit that provides lane information according to the map matching results to surrounding vehicles through the vehicle communication unit based on the positioning information measured from the positioning sensor according to the transmission and reception settings of the positioning information, or updates the positioning information by receiving lane information from the vehicle communication unit. It is characterized by including ;.

In the present invention, lane information is characterized by including at least one of the vehicle's location and heading, and the curvature and curvature change rate of the road.

In the present invention, the control unit searches for nearby positioning requesting vehicles when the positioning providing vehicle is set according to the transmission and reception settings of positioning information and provides lane information according to the map matching results.

In the present invention, the control unit searches for the positioning requesting vehicle and provides lane information of the positioning requesting vehicle based on the positioning information of the positioning providing vehicle and the map matching results of the high-precision map.

In the present invention, the control unit searches for a positioning requesting vehicle and, when the positioning requesting vehicle provides route information, provides lane information generated based on the route information of the positioning requesting vehicle and the map matching results of a high-precision map. .

In the present invention, if the vehicle is a positioning request according to the transmission and reception settings of the positioning information, the control unit searches for the positioning providing vehicle according to the result of determining the reliability of the positioning information, requests the positioning information, and stores the positioning information in the storage based on the received lane information. It is characterized by updating stored positioning information.

In the present invention, the control unit is characterized in that it requests route information together with the request for positioning information.

In the present invention, the control unit stores the sharing results of positioning information in a storage unit.

A control method of a positioning information sharing device for an autonomous vehicle according to another aspect of the present invention includes the steps of: searching for a positioning requesting vehicle when the control unit is a positioning providing vehicle according to the transmission and reception settings of positioning information; And when the positioning requesting vehicle is discovered, the control unit provides lane information based on the map matching result depending on whether route information is provided from the positioning requesting vehicle.

In the present invention, lane information is characterized by including at least one of the vehicle's location and heading, and the curvature and curvature change rate of the road.

In the step of providing lane information in the present invention, when route information is not provided from the positioning requesting vehicle, the control unit provides lane information of the positioning requesting vehicle based on the positioning information of the positioning providing vehicle and the map matching result of the high-precision map. It is characterized by

In the present invention, the step of providing lane information is characterized in that, when route information is provided from the positioning requesting vehicle, the control unit provides lane information generated based on the route information of the positioning requesting vehicle and the map matching result of the high-precision map. .

The present invention is characterized in that the control unit further includes a step of storing the sharing result of the positioning information in the storage unit.

A control method of a positioning information sharing device for an autonomous vehicle according to another aspect of the present invention includes the steps of determining the reliability of the positioning information when the control unit is a positioning requesting vehicle according to the transmission and reception settings of the positioning information; A control unit searching for a positioning providing vehicle according to a determination result of reliability of positioning information; A step where the control unit requests positioning information when a positioning providing vehicle is discovered; and a step of updating the positioning information stored in the storage unit based on the received lane information after the control unit requests the positioning information.

In the present invention, the step of requesting positioning information is characterized in that the control unit requests the positioning information together with route information.

In the present invention, lane information is characterized by including at least one of the vehicle's location and heading, and the curvature and curvature change rate of the road.

The present invention is characterized in that the control unit further includes a step of storing the sharing result of the positioning information in the storage unit.

The positioning information sharing device and control method for an autonomous vehicle according to one aspect of the present invention compensates by sharing the positioning information with surrounding vehicles according to the reliability of the positioning information in the autonomous vehicle, even in vehicles equipped with a low-specification positioning sensor. Using high-specification positioning information, the control range can be expanded to enable smooth autonomous driving.

Figure 1 is a block diagram showing a positioning information sharing device for an autonomous vehicle according to an embodiment of the present invention.
Figure 2 is a diagram for explaining a sharing situation of positioning information by a positioning information sharing device for an autonomous vehicle according to an embodiment of the present invention.
Figure 3 is a flowchart illustrating a control method of a positioning information sharing device for an autonomous vehicle according to an embodiment of the present invention.
Figure 4 is a flowchart illustrating a control method of a positioning information sharing device for an autonomous vehicle according to another embodiment of the present invention.

Hereinafter, a positioning information sharing device for an autonomous vehicle and a control method thereof according to the present invention will be described with reference to the attached drawings. In this process, the thickness of lines or sizes of components shown in the drawings may be exaggerated for clarity and convenience of explanation. In addition, the terms described below are terms defined in consideration of functions in the present invention, and may vary depending on the intention or custom of the user or operator. Therefore, definitions of these terms should be made based on the content throughout this specification.

Figure 1 is a block diagram showing a positioning information sharing device for an autonomous vehicle according to an embodiment of the present invention, and Figure 2 is a block diagram showing the positioning information sharing device for an autonomous vehicle according to an embodiment of the present invention. This is a diagram to explain the sharing situation.

As shown in FIG. 1, the positioning information sharing device for an autonomous vehicle according to an embodiment of the present invention includes a positioning detection unit 10, a storage unit 30, a vehicle communication unit 40, and a control unit 20. can do.

The positioning sensor 10 is a sensor module for measuring the location and path of the vehicle and may include a camera, Lidar, radar, GPS, and an inertial sensor.

Here, the positioning detection unit 10 may be equipped with high specifications or low specifications depending on the vehicle. Therefore, if the high-specification positioning detection unit 10 is installed, it can be set as a positioning provider vehicle to transmit positioning information, and if it is low-specification, it can be set as a positioning request vehicle to receive positioning information.

The storage unit 40 can store positioning information, map information, and lane information.

Here, the map information can store a high-precision map when a high-specification positioning detection unit 10 is installed, and a high-precision map can be stored when a low-specification positioning detection unit 10 is installed.

The vehicle communication unit 40 can communicate with surrounding vehicles based on V2X to search for a positioning request vehicle and a positioning providing vehicle for sharing positioning information, and provide or receive lane information.

The control unit 20 provides lane information according to the map matching results based on the positioning information measured from the positioning detection unit 10 to surrounding vehicles through the vehicle communication unit 40 or provides lane information to surrounding vehicles through the vehicle communication unit 40 according to the transmission and reception settings of the positioning information. ), the positioning information can be updated by receiving lane information from.

Here, if the control unit 20 is a positioning providing vehicle according to the transmission/reception settings of positioning information, it can search for nearby positioning requesting vehicles and provide lane information according to the map matching results.

At this time, if the specifications of the positioning detection unit 10 are high-specification, it is set as a positioning providing vehicle and the positioning information measured through the positioning detection unit 10 is provided, so that even a vehicle equipped with a low-specification positioning detection unit 10 can provide high-specification information. Positioning information can be used.

That is, in the case of a positioning providing vehicle, the control unit 20 searches for the positioning requesting vehicle through the vehicle communication unit 40 and provides lane information for the positioning requesting vehicle based on the positioning information of the positioning providing vehicle and the map matching results of the high-precision map. You can.

Here, the lane information may include one or more of the vehicle's location and heading, and the curvature and curvature change rate of the road.

In addition, in the case of a positioning providing vehicle, the control unit 20 searches for the positioning requesting vehicle and, when the positioning requesting vehicle provides route information, lane information generated based on the route information of the positioning requesting vehicle and the map matching results of the high-precision map. can be provided.

Meanwhile, if the control unit 20 is a positioning requesting vehicle according to the transmission and reception settings of the positioning information, the control unit 20 searches for the positioning providing vehicle according to the result of determining the reliability of the positioning information, requests the positioning information, and stores the positioning information based on the received lane information. By updating the positioning information stored in (30), smooth autonomous driving and accident reduction can be expected.

That is, if data is absent or reliability is low as a result of measuring positioning information in a vehicle equipped with a low-specification positioning detection unit 10, the control unit 20 can search for a positioning providing vehicle and request positioning information.

At this time, the control unit 20 may request positioning information along with route information about the driving path of the positioning requesting vehicle.

As shown in Figure 2, in a left-right turn situation at an intersection, if positioning information data is absent or reliability is low from positioning request vehicles #1 and #2 equipped with low-specification positioning detection units 10, positioning information can be requested. , the positioning providing vehicle can search for nearby positioning requesting vehicles through the vehicle communication unit 40 and provide positioning information.

At this time, in the case of positioning request vehicle #2, as route information about the driving path is provided, the positioning providing vehicle may generate and provide lane information based on the route information of the positioning requesting vehicle and the map matching results of the high-precision map.

However, lane information for the positioning requesting vehicle #1 can be provided based on the positioning information of the positioning vehicle and the map matching results of the high-precision map.

Meanwhile, the control unit 20 stores the sharing results of the positioning information in the storage unit 30, so that the positioning requesting vehicle pays compensation for the provided positioning information through a compensation system based on the sharing results of the positioning information. The providing vehicle may be compensated for providing the positioning information.

As described above, according to the positioning information sharing device for an autonomous vehicle according to an embodiment of the present invention, the autonomous vehicle is equipped with a low-specification positioning detection unit by sharing positioning information with surrounding vehicles and compensating according to the reliability of the positioning information. Even one vehicle can use high-specification positioning information to expand the control range to enable smooth autonomous driving.

Figure 3 is a flowchart illustrating a control method of a positioning information sharing device for an autonomous vehicle according to an embodiment of the present invention.

As shown in Figure 3, the control method of the positioning information sharing device for an autonomous vehicle according to an embodiment of the present invention sets it as a positioning provision vehicle according to the transmission and reception settings of positioning information, and prior consent for provision of positioning information is obtained. It is based on the status quo.

Here, the positioning providing vehicle may be equipped with a high-specification positioning detection unit 10 and include a high-precision map.

First, the control unit 20 searches for a positioning request vehicle from surrounding vehicles based on V2X communication through the vehicle communication unit 40 (S10).

When the positioning request vehicle is searched for in step S10, the control unit 20 determines whether route information about the driving path is received from the positioning requesting vehicle (S20).

In step S20, it is determined whether route information is received together, and if a route warning is received together, the control unit 20 provides lane information generated based on the route information of the positioning requesting vehicle and the map matching result of the high-precision map (S30). .

Here, lane information may include one or more of the vehicle's location and heading, and the curvature and rate of change of curvature of the road.

Meanwhile, in step S20, it is determined whether route information is received together, and if the route warning is not received, the control unit 20 provides lane information of the positioning requesting vehicle based on the positioning information of the positioning providing vehicle and the map matching result of the high-precision map. Do it (S40).

Thereafter, the control unit 20 may store the sharing results of the positioning information in the storage unit 30.

Figure 4 is a flowchart illustrating a control method of a positioning information sharing device for an autonomous vehicle according to another embodiment of the present invention.

As shown in Figure 4, the control method of the positioning information sharing device for an autonomous vehicle according to another embodiment of the present invention sets the vehicle as a positioning request according to the transmission and reception settings of the positioning information, and prior consent for receiving the positioning information is obtained. It is based on the status quo.

Here, the positioning request vehicle may be equipped with a low-specification positioning detection unit 10 and may include a precision map.

First, the control unit 20 determines the reliability of the positioning information measured by the positioning detection unit 10 (S100).

Here, the control unit 20 can determine whether data is absent or has low reliability as a result of measuring positioning information through the low-specification positioning detection unit 10.

In step S100, the reliability of the positioning information is determined, and if the reliability is low, the control unit 20 searches for nearby positioning providing vehicles through the vehicle communication unit 40 (S110).

After searching for the positioning providing vehicle in step S110, the control unit 20 requests positioning information from the positioning providing vehicle (S120).

At this time, the control unit 20 may request positioning information along with route information about the driving path of the positioning requesting vehicle.

After requesting positioning information in step S120, the control unit 20 updates the positioning information stored in the storage unit 30 based on the lane information received, so that smooth autonomous driving and accident reduction can be expected.

Here, lane information may include one or more of the vehicle's location and heading, and the curvature and rate of change of curvature of the road.

Above, if the control unit 20 requests positioning information together with route information, lane information generated based on the route information of the positioning requesting vehicle and the map matching result of the high-precision map can be received, and if the route warning does not provide it, positioning information can be received. Based on the positioning information of the provided vehicle and the map matching results of the high-precision map, lane information of the vehicle requesting positioning can be received.

Thereafter, the control unit 20 may store the sharing results of the positioning information in the storage unit 30.

As a result of sharing the stored positioning information, the positioning requesting vehicle can be compensated for the positioning information provided through a compensation system, and the positioning providing vehicle can be compensated for providing the positioning information.

As described above, according to the control method of the positioning information sharing device for an autonomous vehicle according to an embodiment of the present invention, low-specification positioning is achieved by sharing positioning information with surrounding vehicles and compensating according to the reliability of the positioning information in the autonomous vehicle. Even vehicles equipped with a sensing unit can use high-specification positioning information to expand the control range to enable smooth autonomous driving.

Implementations described herein may be implemented, for example, as a method or process, device, software program, data stream, or signal. Although discussed only in the context of a single form of implementation (eg, only as a method), implementations of the features discussed may also be implemented in other forms (eg, devices or programs). The device may be implemented with appropriate hardware, software, firmware, etc. The method may be implemented in a device such as a processor, which generally refers to a processing device that includes a computer, microprocessor, integrated circuit, or programmable logic device. Processors also include communication devices such as computers, cell phones, portable/personal digital assistants (“PDAs”) and other devices that facilitate communication of information between end-users.

The present invention has been described with reference to the embodiments shown in the drawings, but these are merely exemplary, and those skilled in the art will recognize that various modifications and other equivalent embodiments are possible therefrom. You will understand.

Therefore, the true technical protection scope of the present invention should be determined by the claims below.

10: Positioning detection unit
20: control unit
30: storage unit
40: Vehicle communication department

Claims (17)

A positioning sensor that measures the location and path of the vehicle;
A storage unit that stores positioning information, map information, and lane information;
a vehicle communication unit for communicating with surrounding vehicles; and
Depending on the transmission and reception settings of the positioning information, the lane information according to the map matching result is provided to the surrounding vehicle through the vehicle communication unit based on the positioning information measured from the positioning detection unit, or the lane information is received from the vehicle communication unit. It includes a control unit that updates the positioning information,
The control unit
Based on the specifications of the positioning sensor, set the transmission and reception settings of the positioning information to at least one of a positioning request vehicle and a positioning providing vehicle,
An autonomous vehicle characterized in that it determines whether the vehicle is the positioning providing vehicle or the positioning requesting vehicle based on at least one of the precision of the map stored in the storage unit and the reliability of the positioning information measured by the positioning detection unit. Positioning information sharing device.
The device for sharing positioning information for an autonomous vehicle according to claim 1, wherein the lane information includes one or more of the location and heading of the vehicle, the curvature of the road, and the curvature change rate.
The self-driving vehicle according to claim 1, wherein, when the positioning providing vehicle is a positioning providing vehicle according to the transmission and reception settings of the positioning information, the control unit searches for nearby positioning requesting vehicles and provides the lane information according to a map matching result. Positioning information sharing device.
The autonomous driving method of claim 3, wherein the control unit searches for the positioning requesting vehicle and provides the lane information of the positioning requesting vehicle based on positioning information of the positioning providing vehicle and map matching results of a high-precision map. Vehicle positioning information sharing device.
The method of claim 3, wherein the control unit searches for the positioning requesting vehicle and, when the positioning requesting vehicle provides route information, the lane generated based on the route information of the positioning requesting vehicle and a map matching result of the high-precision map. A positioning information sharing device for autonomous vehicles characterized by providing information.
The method of claim 1, wherein, when the positioning request vehicle is a positioning request vehicle according to the transmission and reception settings of the positioning information, the control unit searches for a positioning providing vehicle according to a result of determining the reliability of the positioning information and requests the positioning information, and the received A positioning information sharing device for an autonomous vehicle, characterized in that the positioning information stored in the storage unit is updated based on lane information.
The device for sharing positioning information for an autonomous vehicle according to claim 6, wherein the control unit requests the positioning information together with route information.
The positioning information sharing device of claim 1, wherein the control unit stores the sharing results of the positioning information in the storage unit.
Setting the control unit to transmit and receive positioning information to at least one of a positioning request vehicle and a positioning providing vehicle based on the specifications of the positioning sensor;
If the control unit is a positioning providing vehicle according to the transmission and reception settings of positioning information, searching for a positioning requesting vehicle; and
When the positioning request vehicle is discovered, the control unit provides lane information based on a map matching result depending on whether route information is provided from the positioning requesting vehicle,
Positioning information of an autonomous vehicle, wherein the control unit determines whether the vehicle is the positioning providing vehicle based on at least one of the precision of the map stored in the storage unit and the reliability of the positioning information measured by the positioning detection unit. How to control shared devices.
The method of claim 9, wherein the lane information includes one or more of the vehicle's location and heading, the curvature of the road, and the curvature change rate.
The method of claim 9, wherein, in the step of providing the lane information, when the route information is not provided from the positioning requesting vehicle, the control unit uses the positioning information of the positioning providing vehicle and a map matching result of a high-precision map. A control method of a positioning information sharing device for an autonomous vehicle, characterized in that providing the lane information of the positioning requesting vehicle.
The method of claim 9, wherein the step of providing the lane information includes, when the route information is provided from the positioning requesting vehicle, the control unit generates the route information based on a map matching result of the high-precision map of the positioning requesting vehicle. A control method for a positioning information sharing device for an autonomous vehicle, characterized in that it provides the lane information.
The method of claim 9, further comprising the step of the control unit storing the sharing results of the positioning information in a storage unit.
Setting the control unit to transmit and receive positioning information to at least one of a positioning request vehicle and a positioning providing vehicle based on the specifications of the positioning sensor;
If the control unit is a positioning request vehicle according to the transmission and reception settings of positioning information, determining the reliability of the positioning information;
The control unit searching for a positioning providing vehicle according to a determination result of reliability of the positioning information;
the control unit requesting the positioning information when the positioning providing vehicle is discovered; and
After the control unit requests the positioning information, updating the positioning information stored in a storage unit based on the received lane information,
Positioning of an autonomous vehicle, wherein the control unit determines whether the vehicle is the positioning request vehicle based on at least one of the precision of the map stored in the storage unit and the reliability of the positioning information measured by the positioning detection unit. Control method of information sharing device.
The method of claim 14, wherein in the step of requesting the positioning information, the control unit requests the positioning information together with route information.
The control method of claim 14, wherein the lane information includes one or more of the vehicle's location and heading, the curvature of the road, and the curvature change rate.
The method of claim 14, further comprising the step of the control unit storing the sharing results of the positioning information in the storage unit.

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