KR20170087156A - Differential Reward Typed Cooperative Mapdata Providing System for Driver free vehicle based on Cloud Computing - Google Patents

Differential Reward Typed Cooperative Mapdata Providing System for Driver free vehicle based on Cloud Computing Download PDF

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KR20170087156A
KR20170087156A KR1020160006807A KR20160006807A KR20170087156A KR 20170087156 A KR20170087156 A KR 20170087156A KR 1020160006807 A KR1020160006807 A KR 1020160006807A KR 20160006807 A KR20160006807 A KR 20160006807A KR 20170087156 A KR20170087156 A KR 20170087156A
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data
unit
traffic information
information providing
providing server
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KR1020160006807A
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Korean (ko)
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노준길
김진택
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한국클라우드컴퓨팅연구조합
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    • G06Q50/30—
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/88—Radar or analogous systems specially adapted for specific applications
    • G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
    • G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S17/00—Systems using the reflection or reradiation of electromagnetic waves other than radio waves, e.g. lidar systems
    • G01S17/88—Lidar systems specially adapted for specific applications
    • G01S17/93—Lidar systems specially adapted for specific applications for anti-collision purposes
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F15/00—Digital computers in general; Data processing equipment in general
    • G06F15/16—Combinations of two or more digital computers each having at least an arithmetic unit, a program unit and a register, e.g. for a simultaneous processing of several programs
    • H—ELECTRICITY
    • H04—ELECTRIC COMMUNICATION TECHNIQUE
    • H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
    • H04N5/00—Details of television systems
    • H04N5/30—Transforming light or analogous information into electric information

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
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  • Traffic Control Systems (AREA)

Abstract

According to the present invention, there is provided a data collection system comprising: the data collection unit for collecting dynamic data or static data of roads and adjacent roads of a currently running vehicle; a basic data received from the data collection unit in a format of data that can be processed and analyzed by the traffic information providing server A data storage unit for storing data converted from the data conversion unit, and data generated by the data conversion unit to the traffic information providing server, and the updated map data is transmitted from the traffic information providing server to the traffic information providing server. An autonomous vehicle that includes a data receiving and transmitting unit;
A data transmitting and receiving unit that receives data from each autonomous vehicle and transmits new map data generated by using data received from the plurality of autonomous vehicles to the autonomous vehicles, A traffic information providing server including a data converting unit for converting data into data of a format that can be processed and analyzed by the control unit, and a map data generating unit for generating updated map data using the converted data; And
A data transmission / reception section for receiving the map data from the traffic information providing server, transmitting the compensation data to the traffic information providing server, and converting the compensation data into a predetermined format so that data can be processed and analyzed by the compensation server and traffic information providing server, A data value determination unit for determining the value of the data using the data attribute obtained by the data attribute determination unit, a mapping unit for mapping the value obtained by the data value determination unit A rewarding government to calculate the reimbursement to be made; And a data storage unit for storing compensation information calculated for each data item.
Based cooperative map data providing system for a cloud-based autonomous driving vehicle.

Description

Technical Field [0001] The present invention relates to a differential compensation type map data providing system for a cloud-based autonomous vehicle,

The present invention relates to a differential compensated cooperative map data providing system for a cloud-based autonomous driving vehicle, and more particularly, Based compensation system for autonomous vehicles with cloud-based autonomous driving vehicles, which improves safe operation through time saving and accident prevention by transmitting updated map data to all autonomous driving vehicles, And a map data providing system.

In recent years, there has been an increasing need for unmanned vehicles, such as 3D industrial sites, space exploration projects such as Mars exploration, and the military field of surveillance and reconnaissance, which operate in harsh external environments where human access and intervention is difficult or impossible. Research and development of a so-called self-propelled vehicle capable of running autonomously in the field of automobiles is actively under way.

Generally, unmanned vehicles require technologies in various fields in order to accomplish a given task in various environments. However, the most fundamental technology is autonomous navigation technology that autonomously travels to a given mission area through an optimal route that is safe and fast. to be.

There are infrastructure-based autonomous navigation systems and sensor-based autonomous navigation systems for such unmanned vehicles and autonomous vehicles. The autonomous driving system based on the electronic infrastructure is advantageous in that it can control the autonomous driving vehicle relatively stably by providing the infrastructures on the road so that the autonomous driving vehicle follows the determined route. However, since the infrastructure construction cost is astronomical There are disadvantages. On the other hand, the latter sensor-based autonomous navigation method is a method in which an unmanned vehicle or an autonomous vehicle generates a path by analyzing its own environment and then travels along the path, Lt; / RTI >

However, the sensor-based autonomous navigation system has a problem in that it is difficult to acquire real-time information on all roads because it is necessary to use a camera or various sensors to measure the situation information of the roads using only a small number of predetermined vehicles. In such a situation, it is impossible to acquire such a situation in real time in the case of sudden obstacle in the road, and unexpected accidents may occur or the time delay may lead to loss of life and economic loss. to be.

[Prior Art Literature]

[Patent Literature]

Korean Patent Publication No. 10-1998-0073974

SUMMARY OF THE INVENTION The present invention has been made to solve the problems of the related art as described above, and its object is to provide information on a road on which vehicles are traveling or a situation near the road in real time, The present invention provides a cooperative driving situation recognition system for a cloud-based autonomous driving vehicle that transmits data to all autonomous driving vehicles to enable rapid response according to changed road environments, thereby enhancing safe driving through time saving and accident prevention .

Another object of the present invention is to provide an information provider who provides such information with a certain amount of compensation, thereby inducing them to actively participate and at the same time consuming the compensation money paid in the shopping mall, The present invention provides a cooperative driving situation recognition system for a cloud-based autonomous driving vehicle.

The technical problem of the present invention as described above is achieved by the following means.

(1) The data collection unit for collecting dynamic data or static data of roads and road-adjacent areas of the vehicle that is currently traveling, and basic data received from the data collection unit in a format of data that can be processed and interpreted by the traffic information providing server A data storage unit for storing data converted from the data conversion unit, and data generated by the data conversion unit to the traffic information providing server, and the updated map data is transmitted from the traffic information providing server to the traffic information providing server. An autonomous vehicle that includes a data receiving and transmitting unit;

A data transmitting and receiving unit that receives data from each autonomous vehicle and transmits new map data generated by using data received from the plurality of autonomous vehicles to the autonomous vehicles, A traffic information providing server including a data converting unit for converting data into data of a format that can be processed and analyzed by the control unit, and a map data generating unit for generating updated map data using the converted data; And

A data transmission / reception section for receiving the map data from the traffic information providing server, transmitting the compensation data to the traffic information providing server, and converting the compensation data into a predetermined format so that data can be processed and analyzed by the compensation server and traffic information providing server, A data value determination unit for determining the value of the data using the data attribute obtained by the data attribute determination unit, a mapping unit for mapping the value obtained by the data value determination unit A rewarding government to calculate the reimbursement to be made; And a data storage unit for storing compensation information calculated for each data item.

A hybrid compensation type cooperative map data providing system for a cloud-based autonomous driving vehicle.

(2) In the above-mentioned (1), the map data generator

A mark extracting unit for extracting a load mark or a landmark from dynamic data or static data received from an autonomous vehicle; A data verifying unit for verifying redundancy or accuracy with data received from another vehicle ahead of the received data; A data matching unit for extracting a center line of a road or an intersection from the verified data to separate lanes and gradually enlarging the area; And an updating unit for updating the matched data with new map data. The system of claim 1,

(3) In the compensation server described in (1) above,

The data attribute determination unit determines in advance whether or not the data has been previously processed. If the data attribute is determined to be new data, the data attribute determination unit divides the attributes of the data according to the degree to objectize the numerical values and stores the information in the data attribute DB Based compensation system for cloud - based autonomous vehicles.

(4) In the above (1)

Wherein the data attribute includes at least location, occurrence time, and type of static data or dynamic data. ≪ RTI ID = 0.0 > [100] < / RTI >

(5) In the above-mentioned (1)

And a GPS receiving unit, and a sensing unit including at least an image sensor, a radar, and a lidar sensing unit, and a GPS receiving unit.

As described above, according to the present invention, it is possible to provide information on the road on which the vehicles are running or the situation near the road in real time and update it, and transmit the updated map data to all autonomous vehicles, It is possible to cope with the situation and to improve the safe operation through time saving and accident prevention.

Furthermore, the information provider providing such information can provide the economic ripple effect by providing the predetermined compensation in a differential manner, thereby inducing the information provider to actively participate and at the same time consuming the compensation money paid in the shopping mall.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is an overall configuration diagram of a differential compensated cooperative map data providing system for a cloud-based autonomous vehicle according to the present invention; FIG.
2 is a detailed configuration diagram of a differential compensated cooperative map data providing system for a cloud-based autonomous vehicle according to the present invention.
FIG. 3 is a schematic procedure diagram showing one example of the compensation process according to the present invention.

Hereinafter, preferred embodiments according to the present invention will be described in detail with reference to the accompanying drawings. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The following detailed description, together with the accompanying drawings, is intended to illustrate exemplary embodiments of the invention and is not intended to represent the only embodiments in which the invention may be practiced. The following detailed description includes specific details in order to provide a thorough understanding of the present invention. However, those skilled in the art will appreciate that the present invention may be practiced without these specific details.

In some instances, well-known structures and devices may be omitted or may be shown in block diagram form, centering on the core functionality of each structure and device, to avoid obscuring the concepts of the present invention.

Throughout the specification, when an element is referred to as "comprising" or " including ", it is meant that the element does not exclude other elements, do. Also, the terms " part, "" module," and " module ", etc. in the specification mean a unit for processing at least one function or operation and may be implemented by hardware or software or a combination of hardware and software have. Also, the terms " a or ", "one "," the ", and the like are synonyms in the context of describing the invention (particularly in the context of the following claims) May be used in a sense including both singular and plural, unless the context clearly dictates otherwise.

In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The following terms are defined in consideration of the functions in the embodiments of the present invention, which may vary depending on the intention of the user, the intention or the custom of the operator. Therefore, the definition should be based on the contents throughout this specification.

In the present invention, 'data' includes both dynamic data (event data) and static data, and for the sake of description, autonomous vehicles are collectively used to mean both unmanned vehicles and autonomous vehicles.

Hereinafter, the contents of the present invention will be described in more detail with reference to the drawings showing embodiments.

FIG. 1 is a block diagram of a cooperative driving situation recognition system for a cloud-based autonomous driving vehicle according to the present invention. Referring to FIG. 1, a plurality of autonomous driving vehicles 100, a traffic information providing server 200, And the traffic information providing server 200 and the compensation server 300 are preferably provided in the form of a cloud server.

As shown in FIG. 2, the autonomous vehicle 100 may include a data collecting unit 110, a control unit 120, a control unit 120, A data transmission / reception unit 130, a data conversion unit 140, and a data storage unit 150.

The data collection unit 110 collects status information of roads and roads adjacent to the current vehicle. For this, the data collecting unit 110 includes various sensing units, for example, an image sensor (camera, etc.), a radar, a lidar, and the like, as well as a GPS receiving unit. Accordingly, the data collecting unit 110 collects dynamic information or event information (for example, a traffic jam, a traffic accident, a sinkhole, a porthole, an obstacle (an animal carcass, a tree, ) And data received by various sensors and GPS reception data to collect static information.

The data conversion unit 140 converts the basic data received from the data collection unit 110 into a data format that can be processed and interpreted by the traffic information providing server 200. For example, when the data conversion unit 140 receives different types of data from various sensor devices having different product standards, the data conversion unit 140 converts the received data into a standardized data format and transmits the same to the traffic information providing server 200 .

The data converted from the data conversion unit 140 is temporarily stored in the data storage unit 150. Also, the data storage unit 150 receives the updated map data from the traffic information providing server 200 and temporarily stores the updated map data until at least the same point is received.

The data transmitting and receiving unit 130 transmits the dynamic or static data generated by the data converting unit 140 to the traffic information providing server 200 and receives the updated map data from the traffic information providing server 200. At this time, the received map data can be converted into data in a format that can be processed and interpreted by the autonomous vehicle by the data conversion unit 140 and stored in the data storage unit 150, if necessary.

The traffic information providing server 200 includes a data transmitting and receiving unit 210, a data converting unit 220, a control unit 230, and a map data generating unit 240.

The data transmission and reception unit 210 receives the formatted data received from each autonomous vehicle 100 and transmits new map data generated using data received from the plurality of autonomous vehicles 100 to the autonomous vehicle 100. [ (100).

The data converter 220 converts the formatted data received from each autonomous vehicle 100 into data of a format that can be processed and interpreted by the controller 230.

The map data generator 240 generates updated map data using the converted data as input information. At this time, since the updated map data includes not only static data but also dynamic data such as type, position, and time information of an event occurring on a specific road or the vicinity of the road, it is sufficient to update only the map data at the corresponding location.

At this time, the update of the map data may be performed in real time, or the dynamic data or static data received within a predetermined period may be collectively executed in the presence of the predetermined period.

Preferably, the map data generating unit includes a mark extracting unit 241, a data verifying unit 242, a data matching unit 243, and an updating unit 244.

The mark extraction unit 241 extracts a road mark or a land mark from the data received from the autonomous vehicle 100 (for example, from a camera constituting the sensing unit with image data) .

The data verifying section 242 verifies whether the generation position of the received data is overlapped with the data received from another vehicle earlier or the load mark or the landmark is accurately extracted. If the extracted mark is already duplicated, or is not a load mark or a landmark, the image data is not adopted.

The data matching unit 243 extracts center lines such as roads and intersections from the verified dynamic or static data to classify the lanes (i.e., an up lane and a down lane), and performs a matching process to gradually expand the area And specifies at what time the event occurs exactly at which position (up-down or down-direction distinguishing).

The matched data is updated by the updating unit 244 to generate new map data.

In the present invention, the compensation process is performed to determine the value of each data received from a plurality of autonomous vehicles 100, to set a compensation according to the value, and to pay the map data provider in a predetermined form .

FIG. 3 schematically shows a compensation process by a differential compensated cooperative map data providing system for a cloud-based autonomous driving vehicle according to the present invention.

First, in step 301, each map data is received from the traffic information providing server 200 and data conversion is performed in a predetermined format. In step 302, it is determined whether or not the data is the same as the previously processed data. If the data is duplicated, the data is discarded in step 303. If it is determined that the data is new data, If a value is obtained in step 304, a predetermined compensation amount is calculated for the provider of such data through step 305, and compensation data is stored through step 306. Thereafter, in step 307, the compensation data is used to pay the compensation amount determined under the predetermined criterion to the data provider according to a predetermined method.

2, the compensation server 300 may be physically and functionally separated from the traffic information providing server 200, or may be separate from the traffic information providing server 200. Alternatively, And one physically the same server, but a functionally separated form also constitutes an embodiment of the present invention.

2, the compensation server 300 includes a data transmission / reception unit 310, a data attribute determination unit 320, a data value determination unit 320, 330, a compensation calculation unit 340 and a data storage unit 350 and is interlocked with the data property DB 400 and the compensation DB 410.

The data transmission / reception unit 310 receives the map data from the traffic information providing server 200, transmits compensation data (for example, compensator information and compensation amount information) to the traffic information providing server 200, In addition, the compensation server 300 and the traffic information providing server 200 convert the data into a predetermined format for data processing and analysis.

Preferably, the data attribute determination unit 320 determines whether the data is overlapped with previously processed data (this process is not indispensable), and if it is determined as new data, The location, the occurrence time, the type, and the degree of urgency required are classified according to their degree, objectified by numerical values, and the information is stored in the data property DB 400. For example, if an event is an event at a location that is difficult to access, a high score may be assigned with a weight, and a low score may be given if the event is relatively easy to access. In addition, if the event occurs in a time when the activity of the vehicle is active, it is given a low score, and if the event occurs in a time when there is little activity, a high score is given. These examples are based on whether or not the access is easy based on the accessibility of the event, and the present invention is not limited thereto. In addition, it is possible to give a different score depending on the severity of the influence of the event type on the traffic flow such as sink hole, port hole, traffic congestion, traffic accident, presence of obstacle. For example, in the case of a sinkhole, a high score is given because it affects the safety of the driver and the influence on the traffic flow to the extent that the road should be closed. On the other hand, the degree of the cat carcass left on the roadside by the road kill If there are mild obstacles, the low score can be given. Similarly, in the case of traffic accidents, the effects of traffic accidents on traffic flows are different in the case of the two central and the five central stations.

The data value determination unit 330 comprehensively determines the value of the data using the data attribute obtained by the data attribute determination unit 320 and objectively quantifies the value of the data. For example, if the scale of the total score per individual property is set to a scale of 10 points, a new road which is not easily accessible to dawn (9 points out of 10 with very inaccessible time) In the case of events that occurred in the sink hole (10 out of 10 because of the large impact on the traffic flow) from the 6 points out of 10 points, Points can be assigned. For example, when the occurrence time, location, and weight of the event are 2: 3: 5, 9 ㅧ 0.2 + 6 ㅧ 0.3 + It is also possible to give a score of 10 ㅧ 0.5 = 8.6. It should be noted that the value judgment of such an arithmetic method is merely an example presented for explaining the contents of the present invention, and is not necessarily limited to such a method.

The compensation calculation unit 340 calculates a compensation amount mapped to the value obtained by the data value determination unit 330. The value-based compensation is registered in the compensation DB 410. When it is determined that the data value judging unit 330 has a predetermined value for the corresponding data, the appropriate compensation amount mapped to the value is read from the compensation DB 410 . For example, if we assign the weight in the previous case, the total score is 10 points, so 0 ~ 10 points are 100 points, 10 ~ 20 points are 200 points, ... , And 90 to 100 points can be provided in the form of points with a difference of 1000 points or the like.

The compensation information calculated in this way is stored in the data storage unit 350 for each data, and the compensation information is transmitted to the traffic information providing server 200.

The traffic information providing server 200 receiving the compensation information for each data as described above transfers the cash mapped to the corresponding point to the owner of each autonomous vehicle 100 that provides it, To a point that can be used in a shopping mall server (not shown) managed by the traffic information providing server 200 or linked to the traffic information providing server 200 by a contract or the like.

As described above, each block of the block diagrams attached hereto and combinations of steps of the flowchart diagrams may be performed by the program instructions. These program instructions may be embedded in a processor of a general purpose digital terminal, or other programmable data processing apparatus, so that the instructions performed through these processors may be used to implement the functions described in each block or flowchart of the block diagram Respectively. These program instructions may also be stored in a digital terminal available or digital terminal readable memory capable of directing a computer or other programmable data processing equipment to implement a function in a particular manner, It is also possible for the instructions stored in the readable memory to produce an article of manufacture containing instruction means for performing the function described in each block or flowchart of each block diagram. Program instructions may also be loaded on a digital terminal or other programmable data processing equipment so that a series of operating steps may be performed on a digital terminal or other programmable data processing equipment to create a process running on the digital terminal to generate a digital terminal or other It is also possible that the instructions that perform the programmable data processing equipment provide the steps for executing the functions described in each block of the block diagram and at each step of the flowchart.

Also, each block or each step may represent a module, segment, or portion of code that includes one or more executable instructions for executing the specified logical function (s). It should also be noted that in some alternative embodiments, the functions mentioned in the blocks or steps may occur out of order. For example, two blocks or steps shown in succession may in fact be performed substantially concurrently, or the blocks or steps may sometimes be performed in reverse order according to the corresponding function.

The foregoing description is merely illustrative of the technical idea of the present invention, and various changes and modifications may be made by those skilled in the art without departing from the essential characteristics of the present invention. Therefore, the embodiments disclosed in the present invention are intended to illustrate rather than limit the scope of the present invention, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be construed according to the following claims, and all technical ideas within the scope of equivalents should be construed as falling within the scope of the present invention.

100: autonomous vehicle
110: Data collecting unit
120:
130: Data transmission /
140: Data conversion unit
150: Data storage unit
200: Traffic information providing server
210: Data transmission /
220: Data conversion unit
230:
240: map data generating unit
300: compensation server
310: Data transmission / reception section
320: Data attribute determination unit
330: Data value judging unit
340: Compensation Acceptance Government
350: Data storage unit

Claims (5)

The data collection unit for collecting dynamic data or static data of a road and a road adjacent portion of a currently running vehicle and a basic data received from the data collection unit into a data format that can be processed and interpreted by the traffic information providing server A data storing unit for storing data converted from the data converting unit, and a data receiving unit for transmitting the data generated by the data converting unit to the traffic information providing server and receiving the updated map data from the traffic information providing server An autonomous vehicle including a transceiver;
A data transmitting and receiving unit that receives data from each autonomous vehicle and transmits new map data generated by using data received from the plurality of autonomous vehicles to the autonomous vehicles, A traffic information providing server including a data converting unit for converting data into data of a format that can be processed and analyzed by the control unit, and a map data generating unit for generating updated map data using the converted data; And
A data transmission / reception section for receiving the map data from the traffic information providing server, transmitting the compensation data to the traffic information providing server, and converting the compensation data into a predetermined format so that data can be processed and analyzed by the compensation server and traffic information providing server, A data value determination unit for determining the value of the data using the data attribute obtained by the data attribute determination unit, a mapping unit for mapping the value obtained by the data value determination unit A rewarding government to calculate the reimbursement to be made; And a data storage unit for storing compensation information calculated for each data item.
A hybrid compensation type cooperative map data providing system for a cloud-based autonomous driving vehicle. The apparatus of claim 1, wherein the map data generator
A mark extracting unit for extracting a load mark or a landmark from dynamic data or static data received from an autonomous vehicle; A data verifying unit for verifying redundancy or accuracy with data received from another vehicle ahead of the received data; A data matching unit for extracting a center line of a road or an intersection from the verified data to separate lanes and gradually enlarging the area; And an updating unit for updating the matched data with new map data. The system of claim 1, The method of claim 1, wherein, in the compensation server,
The data attribute determination unit determines in advance whether or not the data has been previously processed. If the data attribute is determined to be new data, the data attribute determination unit divides the attributes of the data according to the degree to objectize the numerical values and stores the information in the data attribute DB Based compensation system for cloud - based autonomous vehicles. The method according to claim 1,
Wherein the data attribute includes at least location, occurrence time, and type of static data or dynamic data. ≪ RTI ID = 0.0 > [100] < / RTI > The data processing apparatus according to claim 1,
A system for providing a differential compensated cooperative map data for a cloud-based autonomous vehicle, comprising: a sensing unit including at least an image sensor, a radar, and a lidar sensing unit; and a GPS receiver.
KR1020160006807A 2016-01-20 2016-01-20 Differential Reward Typed Cooperative Mapdata Providing System for Driver free vehicle based on Cloud Computing KR20170087156A (en)

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KR20190065929A (en) * 2017-12-04 2019-06-12 현대자동차주식회사 Method and apparatus for transmitting data in system
EP3521757A1 (en) * 2018-01-31 2019-08-07 Hitachi, Ltd. Information processing apparatus and automatic driving track management system
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EP3521757A1 (en) * 2018-01-31 2019-08-07 Hitachi, Ltd. Information processing apparatus and automatic driving track management system
KR20200002217A (en) * 2018-06-29 2020-01-08 현대엠엔소프트 주식회사 Apparatus and method for generating and updating precision map
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JPWO2020075821A1 (en) * 2018-10-12 2021-09-02 三菱電機株式会社 Information processing device, information processing program, information processing method, charge calculation system, program stop device and use stop program
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US11521246B2 (en) 2018-10-12 2022-12-06 Mitsubishi Electric Corporation Mobile mapping system-related information processing device, fee calculation system, and program stop device
KR102103941B1 (en) * 2018-11-14 2020-04-23 주식회사 모빌테크 Road and lane data real-time update method for autonomous driving vehicles based on point cloud map
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KR20210037956A (en) 2019-09-30 2021-04-07 인포뱅크 주식회사 Apparatus and method for resolving shadow areas for control
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