KR20170040145A - The method of running the autonomic-driving vehicle according to the road-traffic information in the lane - Google Patents

The method of running the autonomic-driving vehicle according to the road-traffic information in the lane Download PDF

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KR20170040145A
KR20170040145A KR1020170037094A KR20170037094A KR20170040145A KR 20170040145 A KR20170040145 A KR 20170040145A KR 1020170037094 A KR1020170037094 A KR 1020170037094A KR 20170037094 A KR20170037094 A KR 20170037094A KR 20170040145 A KR20170040145 A KR 20170040145A
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data
traffic information
road traffic
vehicle
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전대연
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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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • 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

An autonomous traveling vehicle travels while maintaining a vehicle lane, changing the vehicle lane, stopped, turned leftward, turned rightward, U-turning, or moving rearward in accordance with vehicle lane data or road traffic information inside a vehicle lane. The present invention relates to a method for operating an autonomous traveling vehicle in accordance with the road traffic information.

Description

차선내의 도로교통정보에 따라 자율주행차량 운행방법{The method of running the autonomic-driving vehicle according to the road-traffic information in the lane}[0001] The present invention relates to a method of operating an autonomous driving vehicle in accordance with road traffic information in a lane,

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 도로교통정보인 색 또는 도형 또는 문자를 자율주행차량이 감지하여 차선유지(직진), 차선변경, 정지, 좌회전, 우회전, U턴, 후진하게 하는 방법이다.In the present invention, the autonomous driving vehicle senses colors, shapes or characters, which are road traffic information in the lane, so as to maintain the lane (straight line), change the lane, stop the lane, turn the lane, turn right, turn the lane.

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 도로교통정보에 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 traffic information in the lane without sensing many objects by mounting a large number of sensors when the vehicle is autonomously driven .

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

자율주행중에 차선에 칠해진 색과 차선폭 또는 도형 또는 문자를 감지하고 자율주행차량은 차선(직진)을 유지하거나 또는 차선을 변경하거나 또는 정지 또는 좌회전 또는 우회전 또는 U턴 또는 후진한다.During autonomous driving, the car senses the color and lane width or shapes or characters painted on the lane, and the autonomous vehicle maintains a lane (straight line), changes lanes, or stops, turns left or right or turns or reverses.

차선내 도로교통정보로 자율주행차량을 운행시키고자 한다.We want to operate autonomous vehicles with traffic information in the lane.

자율주행차량에는 칼라이미지센서인 Area카메라 또는 라인 스캔카메라가 설치되어 있다.In the autonomous vehicle, an area camera or a line scan camera, which is a color image sensor, is installed.

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

앱내에 차선데이타테이블이 있고 차선데이타가 차선데이타테이블에 저장되어있다.There is a lane data table in the app and the lane data is stored in the lane data table.

앱내에 도로교통정보DB 또는 도로교통정보테이블이 있다.There is a road traffic information DB or road traffic information table in the app.

도로교통정보DB데이타 또는 도로교통정보데이타는 변경차선데이타, 또는 정지데이타, 또는 좌회전데이타, 또는 우회전데이타, 또는 U턴데이타, 또는 후진데이타이다. 또는 조합으로 이루어진 데이타이다.The road traffic information DB data or the road traffic information data are change lane data, stop data, left turn data, right turn data, U-turn data, or backward data. Or combinations thereof.

자율주행차량 출발전에 차선데이타테이블값의 특정색(예:파랑색) 또는 직진도형 또는 직진문자를 선택하고 차선데이타가 색이면 기준차선폭데이타테이블값을 더 선택한 다음 출발하면 차선내의 차선데이타를 지속적으로 센싱하고 주행하다가 차선내의 도로교통정보가 나타나면 도로교통정보를 센싱하고 감지도로교통정보테이블에 저장한다.If you select a specific color (eg blue) or a straight line shape or straight line character of the lane data table value before starting the autonomous driving vehicle and select the reference lane width data table value if the lane data is color, And when the road traffic information in the lane is displayed while driving, the road traffic information is sensed and stored in the sensed road traffic information table.

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

앱내 도로교통정보데이타는 도로교통정보데이타명에 맞는 기능을 담당하고 있는 자율주행차량의 장치들과 연결된다.The in-app road traffic information data is connected to the devices of the autonomous vehicle that are responsible for the function of the road traffic 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 도로교통정보로 자율주행차량을 제어하고 운행한다.2. Control and operate autonomous vehicles with road traffic 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 도로교통정보에 따라 자율주행차량 운행방법 구성도
도2 차선내의 도로교통정보에 따라 자율주행차량 운행방법 단계도
도3 차선내의 도로교통정보에 따라 자율주행차량 운행방법 흐름도
도4 차선내의 도로교통정보에 따라 자율주행차량 운행방법의 예
도4a 차선내의 도로교통정보에 따라 자율주행차량 운행방법의 예Figure 1 shows the configuration of the autonomous vehicle driving method according to the road traffic information in the lane 1
The autonomous vehicle driving method step according to the road traffic information in the lane 2
Flow chart of self-driving vehicle driving method according to road traffic information in the lane 3
Example of autonomous vehicle driving method according to road traffic information in the lane 4
4A Example of an autonomous vehicle driving method according to road traffic information in the lane

자율주행차량에는 칼라이미지센서인 area카메라 또는 라인스캔카메라가 설치되어 있다. 조도센서가 설치되어 있다.An autonomous vehicle is equipped with an area camera or line scan camera, which is a color image sensor. An illuminance sensor is installed.

차선데이타 또는 도로교통정보데이타로 차선폭을 비교해야 한다.Lane width must be compared with lane data or road traffic data.

자율주행차량이 차선내에서만 운행되어야 하기 때문이다.This is because autonomous vehicles must be operated only in the lane.

차선폭은 먼저 기준값을 정해놓고 차선폭길이의 오차범위내에서만 자율주행차량이 운행되게 하고, 오차범위를 벗어나지 않도록 지속적으로 센싱한 값과 기준 차선폭을 비교하며 자율주행차량자체에서 오차범위를 벗어나지 않도록 하는 기능을 갖는다.The lane width first determines the reference value and makes the autonomous vehicle run only within the error range of the lane width length. It compares the reference value with the continuously sensed value so as not to exceed the error range, .

차선데이타와 도로교통정보데이타를 이미지센서로 센싱값을 정확히 측정하기 위해 날씨가 어두워서 조도가 낮은 경우 자율주행차량에서 라이트불빛을 밝혀 균일한 센싱값을 얻도록 한다.In order to accurately measure the lane data and the traffic information data with the image sensor, the light is illuminated in the autonomous vehicle when the weather is dark and the illuminance is low, so that a uniform sensing value is obtained.

즉 조도값에 따라 화이트불빛을 조정하여 일정한 조도하에서 이미지센서가 센싱하도록 한다.That is, by adjusting the white light according to the illuminance value, the image sensor is sensed under a certain illuminance.

조도표준값은 대낮의 밝은 날씨의 조도값을 표준값으로 정한다The illuminance standard value sets the illuminance value of the bright daylight to the standard value

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

앱내에 차선데이타테이블이 있고 차선데이타가 차선데이타테이블에 저장되어 있다.There is a lane data table in the app and the lane data is stored in the lane data table.

차선데이타는 특정색 또는 직진도형 또는 직진문자이다.The lane data is a specific color or a straight line shape or a straight line character.

차선데이타 중 특정색은 무지개색중에서 빨강색, 노랑색을 제외한 색들과 RGB중에서 선택한 색들이다.Among the lane data, specific colors are rainbow colors, except for red, yellow, and RGB.

본발명에서는 이해를 돕기 위해 색은 초록색, 파랑색, 보라색을 예제로 하여 기술한다.In the present invention, for the sake of understanding, the colors are exemplified by green, blue, and purple.

앱내에 도로교통정보DB 또는 도로교통정보데이타가 도로정보테이블에 저장되어 있다.A road traffic information DB or road traffic information data is stored in the road information table in the app.

도로교통정보DB데이타 또는 도로교통정보데이타는 변경차선데이타, 정지데이타, 좌회전데이타, 우회전데이타, U턴데이타, 후진데이타이다.Road traffic information DB data or road traffic information data are change lane data, stop data, left turn data, right turn data, U turn data, and backward data.

변경차선데이타는 변경차선색 또는 차선변경도형 또는 차선변경문자이다Change lane data is change lane color or lane change figure or lane change character

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 옅은 노랑색 또는 좌회전도형 또는 좌회전문자 또는 옅은 노랑색과 좌회전도형 또는 옅은 노랑색과 좌회전문자 또는 좌회전도형과 좌회전문자의 조합이다.Left turn data is a light yellow or left turn or left turn character, or light yellow and left turn figure, or light yellow and left turn character, or a combination of left turn figure and left turn character.

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

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. 도로교통정보데이타가 색상이면 도로의 차선폭은 출발전에 선택한 차선폭과 같다.The backward data is a combination of a backward figure or a backward character, or a backward figure and a backward character. If the traffic information data is color, the lane width of the road is the same as the lane width selected before departure.

도1은 차선내의 도로교통정보에 따라 자율주행차량 운행방법 구성도이다1 is a block diagram of an autonomous vehicle driving method according to road traffic information in a lane

도2는 차선내의 도로교통정보에 따라 자율주행차량 운행방법 단계도이다FIG. 2 is a diagram showing a method of operating an autonomous vehicle according to road traffic information in a lane

도3은 차선내의 도로교통정보에 따라 자율주행차량 운행방법 흐름도이다3 is a flowchart of a method of operating an autonomous vehicle according to road traffic information in a lane

도4는 차선내의 도로교통정보에 따라 자율주행차량 운행방법의 예이다4 is an example of a method of operating an autonomous vehicle according to road traffic information in a lane

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

자율주행차량이 차선의 차선데이타에 따라 주행하기 위해서는 먼저 출발 전에 앱내 차선데이타테이블값중에서 특정한 차선데이타를 선택한다. 이 선택한 차선데이타를 지정차선데이타테이블에 저장한다. 지정차선데이타는 지정차선색 또는 직진도형 또는 직진문자이다.In order for the autonomous vehicle to travel according to the lane data of the lane, it first selects specific lane data from the in-app lane data table values before departure. And stores the selected lane data in the designated lane data table. The designated lane data is a designated lane color or a straight line shape or straight line character.

본발명에서는 이해를 돕기위해 지정차선색을 파랑색으로 한다.In the present invention, the designated lane color is blue for the sake of understanding.

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

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

주행차선데이타테이블값과 선택한 앱내 지정차선데이타테이블값을 비교한다.Compare the values of the driving lane data table with the values of the designated lane data table in the selected application.

비교값이 같으면 차선데이타가 같은 차선을 주행한다If the comparison values are the same, the lane data travels in the same lane

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

비교값이 다르면 S40단계로 간다.If the comparison values are different, the process goes to step S40.

S30은 차선데이타를 이미지센서가 센싱한 센싱값과 앱내 기준차선폭데이타를 비교하는 단계이다.S30 is a step of comparing the sensed value of the lane data sensed by the image sensor and the in-app reference lane width data.

주행하면서 차선폭을 비교하고자 할때 앱구동전에 미리 여러 차선의 차선데이타를 이미지센서로 센싱한 이미지값을 기준차선폭데이타테이블에 저장한다.When comparing the lane width while traveling, the image value obtained by sensing the lane data of several lanes beforehand by the image sensor is stored in the reference lane width data table in advance.

각 차선데이타에 따라 기준차선폭데이타테이블값은 같거나 다르다.The reference lane width data table values are the same or different depending on each lane data.

이미지센서가 센싱한 센싱값은 이미지화일크기이다.The sensing value sensed by the image sensor is the size of the image file.

주행하면서 이미지센서가 센싱한 이미지를 주행차선폭데이타테이블에 저장한다.And stores the image sensed by the image sensor while driving in the driving lane width data table.

앱내 기준차선폭데이타도 이미지화일크기이다.In-App benchmark lane width data is also an image file size.

주행차선폭데이타와 기준차선폭데이타를 비교한다.Compares the driving lane width data with the reference lane width data.

비교값이 오차범위내에 있으면 비교값이 같은 걸로 한다.If the comparison value is within the error range, the comparison value is assumed to be the same.

오차범위는 ±5%로 한다.The error range shall be ± 5%.

S30 단계에서 비교값이 같으면 차선을 유지하면서 주행한다.If the comparison values are equal in step S30, the vehicle runs while maintaining the lane.

S30 단계에서 비교값이 다르면 차선폭을 맞추려고 자율주행차량자체에서 조정하여 운행한다.If the comparison values are different in step S30, the autonomous traveling vehicle itself adjusts the lane width so as to operate.

S40은 주행하면서 주행차량의 이미지센서로 차선내의 도로교통정보를 센싱하고, 센싱한 센싱값과 앱내 도로교통정보데이타를 비교하는 단계이다S40 is a step of sensing the road traffic information in the lane by the image sensor of the traveling vehicle while traveling and comparing the sensed sensed value with the in-app road traffic information data

자율주행차량이 주행하면서 설치된 이미지센서로 차선내의 도로교통정보를 센싱하고, 센싱값을 감지도로교통정보테이블에 저장한다As the autonomous vehicle travels, it senses the road traffic information in the lane with the installed image sensor and stores the sensed value in the sensed road traffic information table

감지도로교통정보데이타테이블값과 앱내 도로교통정보데이타를 비교한다Compare the detected road traffic data table values with the in-app road traffic data

비교값이 같으면 S60단계로 간다.If the comparison values are equal to each other, the process goes to step S60.

S60은 센싱한 도로교통정보에 따라 자율주행차량을 운행하는 단계이다S60 is a step of operating the autonomous vehicle according to the sensed road traffic information

S40단계에서In step S40

감지도로교통정보데이타테이블값이 도로교통정보데이타테이블값의 변경차선데이타이면 자율주행차량은 변경된 차선데이타에 따라 차선을 변경하고 주행한다If the detected road traffic information data table value is the change lane data of the road traffic information data table value, the autonomous driving vehicle changes the lane according to the changed lane data and then runs

감지도로교통정보데이타테이블값이 도로교통정보데이타테이블값의 정지데이타이면 자율주행차량은 정지한다.If the detected road traffic data table value is the stop data of the road traffic data table value, the autonomous vehicle stops.

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

정지하는 곳에는 신호등이 있다. 신호등불은 빨강불 또는 파랑불이다 이 신호등의 신호등불의 점멸시간이 자율주행차량의 정지시간이다.There is a traffic light at the stop. The traffic light is red or blue. The flashing time of the traffic light of this traffic light is the stopping time of the autonomous vehicle.

자율주행차량의 정지시간과 신호등의 신호등불의 점멸시간을 일치시키기위해 두가지 방법을 기술한다.Two methods are described for matching the stopping time of the autonomous vehicle with the flashing time of the traffic lights of traffic lights.

첫번째 방법은The first method is

자율주행차량이 도로교통정보데이타의 정지데이타로 정지했을 때 자율주행차량에서 신호등의 신호등불을 켜기위해 신호를 전송한다.When the autonomous vehicle stops at the stop data of the road traffic information data, the autonomous driving vehicle transmits a signal to turn on the signal lamp of the traffic light.

수신하면 신호등의 신호등불이 켜진다Upon reception, the signal light is turned on.

i) 신호등내의 점멸시간테이블의 점멸시간값을 자율주행차량의 정지 시간값과 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 신호등불을 끄는 신호를 전송한다,ii) When the autonomous vehicle's stop time is over, it transmits a signal to turn off the signal lamp from the autonomous vehicle to the signal lamp.

수신하면 신호등의 신호등불이 꺼진다. 또는 자체적으로 점멸시간이 지나면 자체적으로 꺼진다.Upon reception, the signal light is turned off. Or it turns itself off after the flashing time itself.

두번째로The second

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

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

i) 감지차량데이타테이블값과 신호등내의 차량정보데이타테이블값을 비교한다.i) Compare the detected vehicle data table value with the vehicle information data table value in the traffic light.

비교값이 같으면 신호등의 신호등불이 켜진다If the comparison value is the same, the signal lamp lights up.

자율주행차량이 일정시간 정지하고 지나가면 비교값이 다르므로 신호등의 신호등불이 꺼진다.When the autonomous vehicle stops for a certain period of time, the comparison value is different, and the signal lamp of the signal lamp is turned off.

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

감지도로교통정보데이타테이블값이 도로교통정보데이타테이블값의 좌회전데이타이면 자율주행차량은 좌회전한다If the detected road traffic information data table value is the left turn data of the road traffic information data table value, the autonomous vehicle turns left

감지도로교통정보데이타테이블값이 도로교통정보데이타테이블값의 우회전데이타이면 자율주행차량은 우회전한다If the detected road traffic information data table value is the right turn data of the road traffic information data table value, the autonomous vehicle makes a right turn

감지도로교통정보데이타테이블값이 도로교통정보데이타테이블값의 U턴데이타이면 자율주행차량은 U턴한다If the detected road traffic information data table value is the U-turn data of the road traffic information data table value, the autonomous vehicle makes a U turn

감지도로교통정보데이타테이블값이 도로교통정보데이타테이블값의 후진데이타이면 자율주행차량은 후진한다If the detected road traffic information data table value is the backward data of the road traffic information data table value, the autonomous vehicle is backward

비교값이 같으면If the comparison values are equal

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

S50단계는 도로교통정보데이타를 이미지센서가 센싱한 센싱값과 앱내 교통차선폭데이타를 비교하는 단계이다Step S50 is a step of comparing the sensed value of the road traffic information data sensed by the image sensor and the in-app traffic lane width data

주행하면서 교통차선폭을 비교하고자 할 때 앱구동전에 미리 여러 도로교통정보데이타를 이미지센서로 센싱한 이미지값을 교통차선폭데이타테이블에 저장한다When comparing the traffic lane width while traveling, image values obtained by sensing various road traffic information data by an image sensor before driving the application are stored in the traffic lane width data table

도로교통정보에 따라 교통차선폭데이타테이블값은 같거나 다르다.Traffic lane width data table values are the same or different according to road traffic information.

이미지센서가 센싱한 값은 이미지화일크기이다.The value sensed by the image sensor is the size of the image file.

주행하면서 이미지센서가 센싱한 이미지를 감지도로교통차선폭데이타테이블에 저장한다.The image sensed by the image sensor while driving is stored in the sensed road traffic lane width data table.

앱내 교통차선폭데이타도 이미지화일크기이다.In-App traffic lane width data is also the size of the image file.

감지도로교통차선폭데이타와 교통차선폭데이타를 비교한다Compare the detection road traffic lane width data and the traffic lane width data

비교값이 오차범위내에 있다면 비교값이 같은걸로 한다.If the comparison value is within the error range, the comparison value is assumed to be the same.

비교값이 같으면 S60단계로 간다If the comparison values are equal to each other, the process goes to step S60

본발명에서 언급되는 색들은 색정보를 갖고 있다The colors referred to in the present invention have color information

S20단계에서 이미지센서가 센싱한 값은 차선데이타의 색정보값 또는 도형값 또는 문자값이다The value sensed by the image sensor in step S20 is the color information value, figure value, or character value of the lane data

S30단계에서 이미지센서가 센싱한 값은 차선데이타의 이미지화일크기이다The value sensed by the image sensor in step S30 is the image file size of the lane data

S40단계에서 이미지센서가 센싱한 값은 도로교통정보데이타의 색정보값 또는 도형값 또는 문자값이다.The value sensed by the image sensor in step S40 is the color information value, figure value or character value of the road traffic information data.

S50단계에서 이미지센서가 센싱한 값은 도로교통정보데이타의 이미지화일크기이다The value sensed by the image sensor in step S50 is the image file size of the road traffic information data

Claims (23)

칼라이미지센서를 갖춘 자율주행차량으로 차선위를 주행할 때 차선내에 있는 도로교통정보로 자율주행차량을 운행하는 방법에 있어서
자율주행차량을 출발전에 앱내 차선데이타를 선택하고 출발하면서 설치된 이미지센서로 차선의 차선데이타를 센싱한 센싱값과 선택한 차선데이타를 비교하는 단계;
상기 비교값이 같으면
상기 자율주행차량은 상기 선택한 차선을 주행하는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.A method for operating an autonomous driving vehicle with road traffic information in a lane when driving on a lane with an autonomous driving vehicle equipped with a color image sensor
Selecting the in-app lane data before starting the autonomous driving vehicle, and comparing the selected lane data with the sensed value of the lane lane data sensed by the installed image sensor;
If the comparison values are equal
Characterized in that the autonomous-traveling vehicle travels in the selected lane
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제1항에 있어서
상기 이미지센서로 차선의 차선데이타를 센싱한 센싱값인 주행차선폭데이타와 앱내 기준차선폭데이타를 비교하는 단계;를 더 포함하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 1, wherein
And comparing the driving lane width data, which is a sensing value obtained by sensing the lane data of the lane by the image sensor, with the in-app reference lane width data
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제1항에 있어서
상기 비교값이 다르면
상기 설치된 이미지센서로 상기 차선내의 도로교통정보를 센싱한 센싱값과 앱내 도로교통정보데이타를 비교하는 단계;
상기 비교값이 같으면
상기 차선내의 도로교통정보에 따라 자율주행차량이 운행되는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 1, wherein
If the comparison values are different
Comparing the sensed value of the road traffic information in the lane with the installed road traffic information data;
If the comparison values are equal
Characterized in that an autonomous vehicle is operated in accordance with the road traffic information in the lane
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제3항에 있어서
상기 이미지센서로 차선의 도로교통정보데이타를 센싱한 센싱값인 감지도로교통차선폭데이타와 앱내 교통차선폭데이타를 비교하는 단계;를 더 포함하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 3, wherein
And comparing the sensed road traffic lane width data, which is a sensed value obtained by sensing the lane road traffic information data, with the image sensor, and the intra-application traffic lane width data
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제3항에 있어서
도로교통정보데이타는 변경차선데이타 또는 정지데이타 또는 좌회전데이타 또는 우회전데이타 또는 U턴데이타 또는 후진데이타이다The method of claim 3, wherein
Road traffic information data is change lane data or stop data or left turn data or right turn data or U turn data or backward data 제3항에 있어서
상기 설치된 이미지센서로 상기 차선내의 도로교통정보를 센싱한 센싱값과 앱내 도로교통정보데이타를 비교하는 단계;는
상기 설치된 이미지센서로 상기 차선내의 도로교통정보를 센싱한 센싱값과 앱내 도로교통정보데이타의 변경차선데이타를 비교하는 단계; 또는
상기 설치된 이미지센서로 상기 차선내의 도로교통정보를 센싱한 센싱값과 앱내 도로교통정보데이타의 정지데이타를 비교하는 단계; 또는
상기 설치된 이미지센서로 상기 차선내의 도로교통정보를 센싱한 센싱값과 앱내 도로교통정보데이타의 좌회전데이타를 비교하는 단계; 또는
상기 설치된 이미지센서로 상기 차선내의 도로교통정보를 센싱한 센싱값과 앱내 도로교통정보데이타의 우회전데이타를 비교하는 단계; 또는
상기 설치된 이미지센서로 상기 차선내의 도로교통정보를 센싱한 센싱값과 앱내 도로교통정보데이타의 U턴데이타를 비교하는 단계; 또는
상기 설치된 이미지센서로 상기 차선내의 도로교통정보를 센싱한 센싱값과 앱내 도로교통정보데이타의 후진데이타를 비교하는 단계;를 포함하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 3, wherein
Comparing the sensed value of the road traffic information in the lane with the installed road traffic information data in the lane;
Comparing the sensed value of the road traffic information in the lane with the installed lane data of the in-app road traffic information data; or
Comparing the sensed value obtained by sensing the road traffic information in the lane with the installed image sensor and the stop data of the in-app road traffic information data; or
Comparing the sensing value obtained by sensing the road traffic information in the lane with the installed image sensor and the left turn data of the in-app road traffic information data; or
Comparing the sensed value of the road traffic information in the lane with the installed image sensor and the right turn data of the in-app road traffic information data; or
Comparing the sensed value of the road traffic information in the lane with the installed U-turn data of the in-app road traffic information data; or
And comparing the sensed value of the road traffic information in the lane with the backward data of the in-app road traffic information data with the installed image sensor
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제6항에 있어서
상기 설치된 이미지센서로 상기 차선내의 도로교통정보를 센싱한 센싱값과 앱내 도로교통정보데이타의 변경차선데이타를 비교하는 단계;에서
상기 비교값이 같으면
자율주행차량은 변경차선데이타의 차선을 따라 주행하는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법The method of claim 6, wherein
Comparing the sensed value of the road traffic information in the lane with the installed lane data of the in-app road traffic information data with the installed image sensor
If the comparison values are equal
Characterized in that the autonomous driving vehicle travels along the lane of the changed lane data
How to operate an autonomous vehicle in accordance with the traffic information in the lane 제6항에 있어서
상기 설치된 이미지센서로 상기 차선내의 도로교통정보를 센싱한 센싱값과 앱내 도로교통정보데이타의 정지데이타를 비교하는 단계;에서
상기 비교값이 같으면
자율주행차량은 주행을 정지하는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 6, wherein
Comparing the sensed value of the road traffic information in the lane with the installed image sensor and the stop data of the in-app road traffic information data;
If the comparison values are equal
Characterized in that the autonomous traveling vehicle stops traveling
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제8항에 있어서
상기 비교값이 같으면
자율주행차량의 정지시간은 신호등의 신호등불의 점멸시간과 일치시키는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 8, wherein
If the comparison values are equal
Characterized in that the stop time of the autonomous driving vehicle is made to coincide with the flashing time of the signal lamp light of the traffic light
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제9항에 있어서
차량의 정지시간과 신호등의 신호등불의 점멸시간을 일치시키기 위해
신호등이 정지된 차량을 센싱하여 센싱한 센싱값과
신호등내 차량정보데이타를 비교하는 단계;
상기 비교값이 같으면
상기 신호등의 신호등불이 켜지는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 9, wherein
To match the stop time of the vehicle with the flashing time of the traffic lights of traffic lights
The sensed value of the vehicle in which the traffic lights are stopped and sensed
Comparing the vehicle information data in the traffic lights;
If the comparison values are equal
And a signal lamp of the signal lamp is turned on.
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제9항에 있어서
차량의 정지시간과 신호등의 신호등불의 점멸시간을 일치시키기 위해
자율주행차량이 정지하고 신호등에 신호를 전송하여 신호등불을 켜지게 하는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 9, wherein
To match the stop time of the vehicle with the flashing time of the traffic lights of traffic lights
Characterized in that the autonomous vehicle is stopped and a signal is transmitted to the signal lamp so as to turn on the signal lamp
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제9항에 있어서
신호등은 자율주행차량의 신호를 받아서 신호등불을 점멸하거나 또는 차량의 신호를 받아서 켜지고 점멸시간이 지나면 자체적으로 꺼지거나
또는 신호등은 자율주행차량을 센싱하고, 센싱한 센싱값과 신호등내 차량정보데이타를 비교하여 신호등의 신호등불을 점멸하는 기능을 갖는 스마트 신호등The method of claim 9, wherein
The signal lamp receives the signal of the autonomous vehicle and flashes the signal light or receives the signal of the vehicle and turns itself off after the blinking time
Or a traffic light is a smart signal light having a function of sensing an autonomous driving vehicle and blinking a signal light of a traffic light by comparing the sensing value sensed with the vehicle information data in the traffic light 제6항에 있어서
상기 설치된 이미지센서로 상기 차선내의 도로교통정보를 센싱한 센싱값과 앱내 도로교통정보데이타의 좌회전데이타를 비교하는 단계;에서
상기 비교값이 같으면
자율주행차량은 좌회전하는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 6, wherein
Comparing the sensing value obtained by sensing the road traffic information in the lane with the installed image sensor and the left turn data of the in-app road traffic information data;
If the comparison values are equal
Characterized in that the autonomous driving vehicle makes a left turn
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제6항에 있어서
상기 설치된 이미지센서로 상기 차선내의 도로교통정보를 센싱한 센싱값과 앱내 도로교통정보데이타의 우회전데이타를 비교하는 단계;에서
상기 비교값이 같으면
자율주행차량은 우회전하는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 6, wherein
Comparing the sensed value of the road traffic information in the lane with the installed image sensor and the right turn data of the in-app road traffic information data;
If the comparison values are equal
Characterized in that the autonomous driving vehicle makes a right turn
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제6항에 있어서
상기 설치된 이미지센서로 상기 차선내의 도로교통정보를 센싱한 센싱값과 앱내 도로교통정보데이타의 U턴데이타를 비교하는 단계;에서
상기 비교값이 같으면
자율주행차량은 U턴하는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 6, wherein
Comparing the sensed value of the road traffic information in the lane with the U-turn data of the in-app road traffic information data with the installed image sensor
If the comparison values are equal
Characterized in that the autonomous driving vehicle makes a U-turn
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제6항에 있어서
상기 설치된 이미지센서로 상기 차선내의 도로교통정보를 센싱한 센싱값과 앱내 도로교통정보데이타의 후진데이타를 비교하는 단계;에서
상기 비교값이 같으면
자율주행차량은 후진하는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 6, wherein
Comparing the sensing value obtained by sensing the road traffic information in the lane with the installed image sensor and the backward data of the intra-AP road traffic information data;
If the comparison values are equal
Characterized in that the autonomous vehicle is reversed
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제7항 또는 제8항 또는 제13항 또는 제14항 또는 제15항 또는 제16항에 있어서
자율주행차량이 차선내의 도로교통정보에 따라 제어된 후
차선의 차선데이타 또는 차선내의 도로교통정보에 따라 주행하는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method according to claim 7 or 8, 13, 14, 15, or 16
After the autonomous vehicle is controlled according to the road traffic information in the lane
Characterized in that the vehicle travels in accordance with the lane data of the lane or the road traffic information in the lane
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제3항에 있어서
도로교통정보는 차선내에 있는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 3, wherein
And the road traffic information is in a lane
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제1항에 있어서
자율주행차량은 궤도차량과 같이 자율주행차량에서 선택한 차선데이타로 차선내의 차선데이타를 따라 차선위를 주행하는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 1, wherein
Characterized in that the autonomous driving vehicle travels along the lane along the lane data in the lane with the lane data selected in the autonomous driving vehicle such as the track vehicle
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제5항에 있어서
변경차선데이타는 초록색 또는 보라색 또는 RGB에서 선택한 색상 또는 변경차선도형 또는 차선변경문자이고,
정지데이타는 빨강색 또는 정지도형 또는 정지문자이고,
좌회전데이타는 옅은 노랑색 또는 좌회전도형 또는 좌회전문자이고,
우회전데이타는 짙은 노랑색 또는 우회전도형 또는 우회전문자이고,
U턴데이타는 U턴도형 또는 U턴문자이고,
후진데이타는 후진도형 또는 후진문자이다.The method of claim 5, wherein
Change lane data is either green or purple, or a color or change lane shape or lane change character selected from RGB,
The stop data is a red or a still figure or a still character,
The left turn data is a light yellow or left turn or left turn character,
Right turn data is a dark yellow or right turn or right turn character,
The U-turn data is a U-turn figure or U-turn character,
The backward data is a backward figure or backward character. 제1항에 있어서
차선데이타는 차선내에 있는 것을 특징으로 하는
차선내의 도로교통정보에 따라 자율주행차량 운행방법.The method of claim 1, wherein
Characterized in that the lane data is in a lane
A method of operating an autonomous vehicle in accordance with road traffic information in a lane. 제1항에 있어서
이미지센서로 차선의 차선데이타를 센싱한 센싱값은 색정보값 또는 도형값 또는 문자값이다.The method of claim 1, wherein
The sensing value obtained by sensing the lane data of the lane by the image sensor is a color information value, a graphic value, or a character value. 제3항에 있어서
이미지센서로 상기 차선내의 도로교통정보를 센싱한 값은 색정보값 또는 도형값 또는 문자값이다.The method of claim 3, wherein
The value obtained by sensing the road traffic information in the lane by the image sensor is a color information value, a graphic value or a character value.
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