KR20170026414A - How to operate autonomous vehicle with road information in the lane - Google Patents

How to operate autonomous vehicle with road information in the lane Download PDF

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KR20170026414A
KR20170026414A KR1020170021691A KR20170021691A KR20170026414A KR 20170026414 A KR20170026414 A KR 20170026414A KR 1020170021691 A KR1020170021691 A KR 1020170021691A KR 20170021691 A KR20170021691 A KR 20170021691A KR 20170026414 A KR20170026414 A KR 20170026414A
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lane
road information
data
autonomous vehicle
vehicle
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전대연
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전대연
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Priority to KR1020170037094A priority patent/KR20170040145A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/14—Adaptive cruise control
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/10—Path keeping
    • B60W30/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/181—Preparing for stopping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/07—Controlling traffic signals
    • G08G1/075—Ramp control
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/09—Arrangements for giving variable traffic instructions
    • G08G1/095—Traffic lights
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2520/00—Input parameters relating to overall vehicle dynamics
    • B60W2520/04—Vehicle stop
    • B60W2550/22—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/10—Path keeping
    • B60Y2300/12—Lane keeping
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60Y—INDEXING SCHEME RELATING TO ASPECTS CROSS-CUTTING VEHICLE TECHNOLOGY
    • B60Y2300/00—Purposes or special features of road vehicle drive control systems
    • B60Y2300/14—Cruise control

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a method for operating an autonomous vehicle according to road conditions. While driving in a lane, the autonomous vehicle changes lanes, or turns left or right, or makes a U-turn, or reverses depending on road information.

Description

차선내의 도로정보로 자율주행차량 운행방법{omitted}Method of operating an autonomous vehicle with road information in a lane {omitted)

조만간 차량의 자율주행시대가 도래할 것 같다.It is likely that the era of autonomous driving of vehicles will come soon.

차량의 자율주행방법은 많이 알려져 있다.The autonomous driving method of the vehicle is well known.

본 발명에서는 차선내의 도로정보인 색 또는 도형 또는 문자를 자율주행차량이 감지하여 차선유지, 차선변경, 정지, 좌회전, 우회전, U턴, 후진하게 하는 방법이다.In the present invention, the autonomous vehicle detects the color, the figure or the character, which is the road information in the lane, to maintain the lane, change the lane, stop the lane, turn left, turn right, turn the U, and back.

자율주행차량은 많은 센서들이 필요하여 이는 비용증가를 초래한다.Autonomous vehicles require many sensors, which leads to cost increases.

큰 공장내에서 셔틀버스운행 또는 단순한 도로구조에서는 차량을 자율주행시킬 때 많은 센서를 장착하여 여러 사물들을 감지하지 않아도 차량을 차선내 도로정보에 따라 자율주행차량을 운행하는 필요성이 제기된 점이다.In the case of a shuttle bus operation within a large plant or a simple road structure, it is necessary to operate an autonomous vehicle in accordance with the road information in the lane without sensing many objects by mounting many sensors when autonomously driving the vehicle.

등록번호 1017019010000 교통신호에 따른 자율주행차량제어를 위한 방법 및 시스템Registration number 1017019010000 Method and system for autonomous vehicle control according to traffic signal

자율주행중에 차선에 칠해진 색, 또는 도형 또는 문자를 감지하고 자율주행차량은 차선을 유지하거나 또는 차선을 변경하거나 또는 정지 또는 좌회전 또는 우회전 또는 U턴 또는 후진한다.The autonomous driving vehicle senses the color, shape or letter painted on the lane during autonomous driving, and the autonomous driving vehicle maintains the lane, changes the lane, or stops, turns left or right or turns or reverses.

차선내 도로정보로 자율주행차량을 운행시키고자 한다.We want to operate autonomous vehicle with lane information.

자율주행차량에는 이미지센서 또는 카메라가 설치되어있다.An autonomous vehicle is equipped with an image sensor or camera.

자율주행차량에는 스마트폰과 같은 기능이 내재된 스마트기기가 설치되어 있다.The autonomous vehicles are equipped with smart devices with the same functions as smart phones.

앱내에 차선색테이블이 있고 차선색데이타가 차선색테이블에 저장되어있다.There is a lane color table in the app and the lane color data is stored in the lane color table.

앱내에 도로정보DB 또는 도로정보테이블이 있다.There is a road information DB or road information table in the app.

도로정보DB데이타 또는 도로정보데이타는 변경차선색데이타, 또는 정지데이타, 또는 좌회전데이타, 또는 우회전데이타, 또는 U턴데이타, 또는 후진데이타이다. 또는 조합으로 이루어진 데이타이다.The road information DB data or the road information data are change lane color data, stop data, left turn data, right turn data, U turn data, or backward data. Or combinations thereof.

자율주행차량 출발전에 차선색테이블데이타의 특정색(예:파랑색)을 선택하고 출발하면 차선내의 차선색인 파랑색을 지속적으로 센싱하고 주행하다가 차선내의 도로정보가 나타나면 도로정보를 센싱하고 감지도로정보테이블에 저장한다.When a certain color (eg, blue) of the lane color table data is selected before starting the autonomous vehicle, if the lane index blue color in the lane is continuously sensed and the road information in the lane is displayed while sensing the road information, And stores it in a table.

감지된 도로정보데이타와 앱내 도로정보데이타를 비교하여 비교값이 같은 도로정보로 자율주행차량이 운행된다.The detected road information data is compared with the in-app road information data, and the autonomous vehicle travels with road information having the same comparison value.

앱내 도로정보데이타는 도로정보데이타명에 맞는 기능을 담당하고 있는 자율주행차량의 장치들과 연결된다.The in-app road information data is connected to the devices of the autonomous vehicle that are responsible for the function of the road information data name.

1. 큰공장내에서는 큰돈들이지 않고 자율주행 셔틀버스운행이 가능하다.1. Self-driving shuttle bus service is possible without big money in big factory.

2. 차선내의 도로정보로 자율주행차량을 제어하고 운행한다.2. Control and operate autonomous vehicles with road information in the lane.

3 도로구조가 단순한 곳에서는 비싼 센서들을 많이 설치하지 않아도 자율주행이 가능하다.3 Where the road structure is simple, autonomous driving is possible without installing a lot of expensive sensors.

도1 차선내의 도로정보로 자율주행차량 운행방법 구성도
도2 차선내의 도로정보로 자율주행차량 운행방법 단계도
도3 차선내의 도로정보로 자율주행차량 운행방법 흐름도
도4 차선내의 도로정보로 자율주행차량 운행방법의 예Road configuration information of autonomous driving vehicle with road information in 1 lane
Figure 2 is a diagram of the method of operating the autonomous vehicle using road information in the lane 2
Fig. 3 Flow chart of self-driving vehicle operation method with road information in the lane of Fig. 3
Fig. 4 Example of autonomous vehicle driving method with road information in the lane

자율주행차량에는 이미지센서 또는 카메라가 장착되어 있다.An autonomous vehicle is equipped with an image sensor or camera.

자율주행차량에는 스마트폰과 같은 기능이 내재된 스마트기기가 있다.There are smart devices that have the same functions as smart phones in autonomous vehicles.

앱내에 차선색테이블이 있고 차선색데이타가 차선색테이블에 저장되어 있다.There is a lane color table in the app and the lane color data is stored in the lane color table.

차선색데이타는 무지개색중에서 빨강색, 노랑색을 제외한 색들과 RGB중에서 선택한 색들이다.The lane color data is the rainbow color except red and yellow colors and RGB.

본발명에서는 이해를 돕기 위해 차선색데이타는 초록색, 파랑색, 보라색을 예제로 하여 기술한다.In the present invention, for the sake of understanding, the lane color data is described using green, blue, and purple as an example.

앱내에 도로정보DB 또는 도로정보데이타가 도로정보테이블에 저장되어 있다.A road information DB or road information data is stored in the road information table in the app.

도로정보DB데이타 또는 도로정보데이타는 변경차선색데이타, 정지데이타, 좌회전데이타, 우회전데이타, U턴데이타, 후진데이타이다.The road information DB data or road information data are change lane color data, stop data, left turn data, right turn data, U turn data, and backward data.

변경차선색데이타는 초록색, 보라색, RGB에서 선택한 색들이다.Change lane color data are the colors selected from green, purple, and RGB.

정지데이타는 빨강색 또는 정지도형 또는 정지문자 또는 빨강색과 정지도형 또는 빨강색과 정지문자 또는 정지도형과 정지문자의 조합이다.The stop data is a red or a still figure or a still or red and a still figure, or a red and a still or a combination of a still figure and a still character.

좌회전데이타는 노랑색 또는 좌회전도형 또는 좌회전문자 또는 노랑색과 좌회전도형 또는 노랑색과 좌회전문자 또는 좌회전도형과 좌회전문자의 조합니다.Left turn data is yellow or left turn or left turn or yellow and left turn or yellow and left turn or left turn and left turn.

우회전데이타는 노랑색 또는 우회전도형 또는 우회전문자 또는 노랑색과 우회전도형 또는 노랑색과 우회전문자 또는 우회전도형과 우회전문자의 조합이다.Right turn data is a yellow or right turn or right turn character, or a yellow and right turn figure, or a yellow and right turn character, or a right turn figure and a right turn character.

U턴데이타는 U턴도형 또는 U턴문자 또는 U턴도형과 U턴문자의 조합이다.The U-turn data is a U-turn figure or U-turn character, or a combination of a U-turn figure and a U-turn character.

후진데이타는 후진도형 또는 후진문자 또는 후진도형과 후진문자의 조합이다.The backward data is a combination of a backward figure or a backward character, or a backward figure and a backward character.

도1은 차선내의 도로정보로 자율주행차량 운행방법 구성도이다1 is a block diagram of a method of operating an autonomous vehicle with road information in a lane

도2는 차선내의 도로정보로 자율주행차량 운행방법 단계도이다Fig. 2 is a diagram showing a step of operating the autonomous vehicle with the road information in the lane

도3은 차선내의 도로정보로 자율주행차량 운행방법 흐름도이다3 is a flowchart of a self-driving vehicle driving method with road information in a lane

도4는 차선내의 도로정보로 자율주행차량 운행방법의 예이다4 is an example of a method of operating an autonomous vehicle with road information in a lane

S10은 자율주행차량 출발전에 앱내 차선색테이블데이타중에 특정차선색을 선택하는 단계이다.Step S10 is a step of selecting a specific lane color among the in-app lane color table data before the autonomous driving vehicle starts.

자율주행차량이 차선의 차선색에 따라 주행하기 위해서는 먼저 출발전에 앱내 차선색테이블데이타중에서 특정차선색을 선택한다. 이 선택한 차선색을 지정차선색테이블에 저장한다.In order for the autonomous vehicle to travel according to the lane color of the lane, a specific lane color is selected from the in-app lane color table data before departure. The selected lane color is stored in the designated lane color table.

본발명에서는 이해를 돕기위해 특정차선색을 파랑색으로 한다.In the present invention, a specific lane color is set to blue for easy understanding.

S20은 주행하면서 자율주행차량의 이미지센서로 차선의 차선색을 센싱하고 센싱한 센싱값과 선택한 차선의 차선색을 비교하는 단계이다.S20 is a step of comparing the sensing value of the lane of the lane with the image sensor of the autonomous vehicle while traveling and comparing the sensed value with the lane color of the selected lane.

자율주행차량은 주행하면서 설치된 이미지센서로 차선의 차선색을 센싱하고 이를 주행차선색테이블에 저장한다.The autonomous driving vehicle senses the lane color of the lane with the installed image sensor while driving and stores it in the driving lane color table.

주행차선색테이블데이타와 선택한 앱내 지정차선색테이블데이타와 비교한다.Compare the driving lane color table data with the designated lane color table data in the selected App.

비교값이 같으면 차선색이 같은 차선을 주행한다If the comparison values are the same, a lane of the same lane color is run

즉 차선을 유지하면서 주행한다.That is, while driving the lane.

비교값이 다르면 S30단계로 간다.If the comparison values are different, the flow goes to step S30.

S30은 주행하면서 주행차량의 이미지센서로 차선내의 도로정보를 센싱하고, 센싱한 센싱값과 앱내 도로정보데이타를 비교하는 단계이다In step S30, the road information in the lane is sensed by the image sensor of the driving vehicle while traveling, and the sensed value is compared with the in-app road information data

자율주행차량이 주행하면서 설치된 이미지센서로 차선내의 도로정보를 센싱하고, 센싱값을 감지도로정보테이블에 저장한다As the autonomous vehicle travels, the road information in the lane is sensed by the installed image sensor, and the sensed value is stored in the sensed road information table

감지도로정보테이블데이타와 앱내 도로정보데이타를 비교한다Compare the detected road information table data with the in-app road information data

S40은 센싱한 도로정보에 따라 자율주행차량을 운행하는 단계이다S40 is a step of operating the autonomous vehicle according to the sensed road information

S30단계에서In step S30

감지도로정보테이블데이타가 도로정보테이블데이타의 변경차선색데이타이면 자율주행차량은 변경된 차선색에 따라 차선을 변경하고 주행한다If the detected road information table data is change lane color data of the road information table data, the autonomous driving vehicle changes the lane according to the changed lane color and then runs

감지도로정보테이블데이타가 도로정보테이블데이타의 정지데이타이면 자율주행차량은 정지한다.If the detected road information table data is the stop data of the road information table data, the autonomous vehicle stops.

정지시간은 앱내에 정지시간테이블에 저장한다The pause time is stored in the pause time table in the app

정지하는 곳에는 신호등이 있다. 이 신호등의 빨간불의 점멸시간이 자율주행차량의 정지시간이다.There is a traffic light at the stop. The blinking time of the red light of this traffic light is the stopping time of the autonomous vehicle.

자율주행차량의 정지시간과 신호등의 빨강불의 점멸시간을 일치시키기위해 두가지 방법을 기술한다.Two methods are described to match the stop time of the autonomous vehicle with the flashing time of the red light of the traffic lights.

첫번째 방법은The first method is

자율주행차량이 도로정보데이타의 정지데이타로 정지했을 때 자율주행차량에서 신호등의 빨강불을 켜기위해 신호를 전송한다.When the autonomous vehicle is stopped with stop data of the road information data, the autonomous vehicle transmits a signal to turn on the red light of the traffic light.

수신하면 신호등의 빨강불이 켜진다When you receive it, the traffic light is red.

i) 신호등내의 점멸시간테이블의 점멸시간값을 자율주행차량의 정지시간값과 같게 한다.i) Make the blinking time value of flashing time table in signal lamp equal to the stopping time value of autonomous vehicle.

ii) 자율주행차량의 정지시간이 끝나면 자율주행차량에서 신호등으로 빨강불을 끄는 신호를 전송한다,ii) When the autonomous vehicle's stop time is over, it transmits a signal to turn off the red light from the autonomous vehicle,

수신하면 신호등의 빨강불이 꺼진다. 또는 자체적으로 점멸시간이 지나면 자체적으로 꺼진다.Upon reception, the red light of the traffic lights is turned off. Or it turns itself off after the flashing time itself.

두번째로The second

신호등에서 정지된 차량을 센싱하여 센싱값을 감지차량테이블에 저장한다. 신호등내 차량정보데이타가 차량정보테이블에 저장되어 있다Sensing the stopped vehicle at the traffic light and storing the sensed value in the sensing vehicle table. The vehicle information data in the traffic light is stored in the vehicle information table

차량정보데이타는 차량의 이미지이다.The vehicle information data is an image of the vehicle.

i) 감지차량테이블데이타와 신호등내의 차량정보테이블데이타와 비교한다.i) Compare the detected vehicle table data with the vehicle information table data in the traffic light.

비교값이 같으면 신호등의 빨강불이 켜진다.If the comparison values are the same, the traffic light is red.

자율주행차량이 일정시간 정지하고 지나가면 비교값이 다르므로 신호등의 빨강불이 꺼진다.When the autonomous vehicle stops for a certain period of time, the comparison value is different, so the red light of the traffic lights is turned off.

스마트신호등을 이용하는 방법이다It is a method to use a smart signal light

감지도로정보테이블데이타가 도로정보테이블데이타의 좌회전데이타이면 자율주행차량은 좌회전한다If the detected road information table data is the left turn data of the road information table data, the autonomous vehicle turns left

감지도로정보테이블데이타가 도로정보테이블데이타의 우회전데이타이면 자율주행차량은 우회전한다If the detected road information table data is the right turn data of the road information table data, the autonomous vehicle makes a right turn

감지도로정보테이블데이타가 도로정보테이블데이타의 U턴데이타이면 자율주행차량은 U턴한다If the detected road information table data is the U-turn data of the road information table data, the autonomous vehicle makes a U-turn

감지도로정보테이블데이타가 도로정보테이블데이타의 후진데이타이면 자율주행차량은 후진한다If the detected road information table data is the backward data of the road information table data, the autonomous vehicle is backward

비교값이 같으면If the comparison values are equal

앱내 도로정보데이타는 도로정보데이타명에 맞는 기능을 담당하고 있는 자율주행차량의 장치를 구동한다.The in-app road information data drives a device of the autonomous vehicle having a function corresponding to the road information data name.

Claims (10)

이미지센서를 갖춘 자율주행차량으로 차선위를 주행할 때 차선내에 있는 도로정보로 자율주행차량을 운행하는 방법에 있어서
자율주행차량을 출발전에 차선색을 선택하고 출발하면서 설치된 이미지센서로 차선의 차선색을 센싱한 센싱값과 선택한 차선색을 비교하는 단계;
상기 비교값이 같으면
상기 자율주행차량은 상기 차선을 주행하는 것을 특징으로 하는
차선내의 도로정보로 자율주행차량 운행방법.A method of operating an autonomous vehicle with road information in a lane when driving on a lane with an autonomous vehicle equipped with an image sensor
Selecting a lane color before starting the autonomous driving vehicle and comparing the sensed lane color of the lane with an installed image sensor and starting the selected lane;
If the comparison values are equal
Characterized in that the autonomous-traveling vehicle runs on the lane
A method of operating an autonomous vehicle using road information in a lane. 제1항에 있어서
상기 비교값이 다르면
상기 설치된 이미지센서로 상기 차선의 도로정보를 센싱한 센싱값과 앱내 도로정보데이타를 비교하는 단계;
상기 비교값이 같으면
상기 차선의 도로정보에 따라 자율주행차량이 운행되는 것을 특징으로 하는
차선내의 도로정보로 자율주행차량 운행방법.The method of claim 1, wherein
If the comparison values are different
Comparing the sensing value obtained by sensing the lane road information with the installed image sensor and the in-app road information data;
If the comparison values are equal
Characterized in that the autonomous vehicle is operated in accordance with the road information of the lane
A method of operating an autonomous vehicle using road information in a lane. 제2항에 있어서
도로정보데이타는 변경차선색데이타 또는 정지데이타 또는 좌회전데이타 또는 우회전데이타 또는 U턴데이타 또는 후진데이타 또는 조합으로 이루어진 데이타이다.The method according to claim 2, wherein
The road information data is data consisting of change lane color data or stop data or left turn data or right turn data or U turn data or backward data or a combination thereof. 제2항에 있어서
상기 설치된 이미지센서로 상기 차선의 도로정보를 센싱한 센싱값과 앱내 도로정보데이타를 비교하는 단계;는
상기 설치된 이미지센서로 상기 차선의 도로정보를 센싱한 센싱값과 앱내 도로정보데이타의 변경차선색데이타를 비교하는 단계; 또는
상기 설치된 이미지센서로 상기 차선의 도로정보를 센싱한 센싱값과 앱내 도로정보데이타의 정지데이타를 비교하는 단계; 또는
상기 설치된 이미지센서로 상기 차선의 도로정보를 센싱한 센싱값과 앱내 도로정보데이타의 좌회전데이타를 비교하는 단계; 또는
상기 설치된 이미지센서로 상기 차선의 도로정보를 센싱한 센싱값과 앱내 도로정보데이타의 우회전데이타를 비교하는 단계; 또는
상기 설치된 이미지센서로 상기 차선의 도로정보를 센싱한 센싱값과 앱내 도로정보데이타의 U턴데이타를 비교하는 단계; 또는
상기 설치된 이미지센서로 상기 차선의 도로정보를 센싱한 센싱값과 앱내 도로정보데이타의 후진데이타를 비교하는 단계;를 포함하는
차선내의 도로정보로 자율주행차량 운행방법.The method according to claim 2, wherein
Comparing the sensed value obtained by sensing the lane road information with the installed image sensor and the in-app road information data;
Comparing the sensed value obtained by sensing the lane road information with the installed image sensor and the changed lane color data of the in-app road information data; or
Comparing the sensing value obtained by sensing the lane road information with the installed image sensor and the stop data of the in-app road information data; or
Comparing the sensed value of the lane road information with the installed image sensor and the left turn data of the in-app road information data; or
Comparing the sensed value of the lane road information with the installed image sensor and the right turn data of the in-app road information data; or
Comparing the sensing value obtained by sensing the lane road information with the installed image sensor and the U-turn data of the in-app road information data; or
And comparing the sensed value of the lane road information with the backward data of the in-app road information data with the installed image sensor
A method of operating an autonomous vehicle using road information in a lane. 제4항에 있어서
상기 설치된 이미지센서로 상기 차선의 도로정보를 센싱한 센싱값과 앱내 도로정보데이타의 변경차선색데이타를 비교하는 단계;에서
상기 비교값이 같으면
자율주행차량은 변경차선색의 차선을 따라 주행하는 것을 특징으로 하는
차선내의 도로정보로 자율주행차량 운행방법The method of claim 4, wherein
Comparing the sensed value obtained by sensing the lane road information with the installed image sensor and the changed lane color data of the in-app road information data;
If the comparison values are equal
Characterized in that the autonomous driving vehicle travels along a lane of change lane color
How to operate autonomous vehicle with road information in the lane 제4항에 있어서
상기 설치된 이미지센서로 상기 차선의 도로정보를 센싱한 센싱값과 앱내 도로정보데이타의 정지데이타를 비교하는 단계;에서
상기 비교값이 같으면
자율주행차량은 주행을 정지하는 것을 특징으로 하는
차선내의 도로정보로 자율주행차량 운행방법.The method of claim 4, wherein
Comparing the sensing value obtained by sensing the lane road information with the installed image sensor and the stop data of the in-app road information data;
If the comparison values are equal
Characterized in that the autonomous traveling vehicle stops traveling
A method of operating an autonomous vehicle using road information in a lane. 제6항에 있어서
상기 비교값이 같으면
자율주행차량의 정지시간은 신호등의 빨강등의 점멸시간과 일치시키는 것을 특징으로 하는
차선내의 도로정보로 자율주행차량 운행방법.The method of claim 6, wherein
If the comparison values are equal
And the stop time of the autonomous vehicle is made to coincide with the blink time of red of the traffic lights
A method of operating an autonomous vehicle using road information in a lane. 제7항에 있어서
차량의 정지시간과 신호등의 빨강불의 점멸시간을 일치시키기 위해
상기 신호등이 정지된 차량을 센싱하여 센싱한 센싱값과
상기 신호등내 차량정보데이타를 비교하는 단계;
상기 비교값이 같으면
상기 신호등의 빨간불이 켜지는 것을 특징으로 하는
차선내의 도로정보로 자율주행차량 운행방법.The method of claim 7, wherein
To match the downtime of the vehicle with the flashing time of the red lights of the traffic lights
A sensing value sensing the vehicle in which the signal lamp is stopped,
Comparing the vehicle information data in the traffic light;
If the comparison values are equal
And the red light of the traffic light is turned on.
A method of operating an autonomous vehicle using road information in a lane. 제7항에 있어서
차량의 정지시간과 신호등의 빨강불의 점멸시간을 일치시키기 위해
자율주행차량이 정지하고 상기 신호등에 신호를 전송하여 빨강불을 켜지게 하는 것을 특징으로 하는
차선내의 도로정보로 자율주행차량 운행방법.The method of claim 7, wherein
To match the downtime of the vehicle with the flashing time of the red lights of the traffic lights
Characterized in that the autonomous vehicle is stopped and a signal is transmitted to the signal lamp so that the red light is turned on
A method of operating an autonomous vehicle using road information in a lane. 신호등은 자율주행차량의 신호를 받아서 빨강불을 점멸하거나 또는 차량의 신호를 받아서 켜지고 점멸시간이 지나면 자체적으로 꺼지거나
또는 신호등은 자율주행차량을 센싱하고, 센싱한 센싱값과 신호등내 차량정보데이타를 비교하여 신호등의 빨강불을 점멸하는 기능을 갖는 스마트 신호등The signal light is received by the autonomous vehicle and flashes the red light or receives the vehicle signal and turns itself off after the flashing time has elapsed
Or a traffic light is a smart signal light having a function of sensing an autonomous vehicle and comparing the sensing value sensed with the vehicle information data in the traffic light to blink the red light of the traffic light
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