KR20180093305A - Autonomous vehicle system and method - Google Patents

Abstract

The present invention relates to an autonomous automobile system and method. The present invention relates to the autonomous automobile system and method for verifying braking ability and the weight of the front, rear, left, and right automobiles of the automobile, thereby preventing an accident from occurring in the automobile. More specifically, the present invention establishes braking capability information according to a type of automobile, and confirms the type of automobile which is running in front of and behind the automobile in operation. Next, the present invention refers to an automobile information database and confirms braking ability information corresponding to the type of automobie which are running on front and rear sides confirmed by surrounding an automobile information confirmation unit. Then, the present invention calculates an accident occurrence risk level of a current lane on a basis of the confirmed braking ability information, and makes it possible to determine whether or not a lane change is made based on the accident occurrence risk level calculated in an accident risk calculation unit.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous vehicle system and method,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an autonomous vehicle traveling system and method, and more particularly, to an autonomous vehicle system and method capable of preventing an accident from occurring in a vehicle by confirming braking capability and weight of the front, rear, left, .

The autonomous driving of a vehicle is a vehicle that can recognize the surrounding environment by itself, determine the risk, minimize the driving operation by planning the driving route, and can run safely on its own. Mainly the autonomous driving of the vehicle is the same as obstacle If it exists, you can check the driving route in real time.

The possibility of a car accident can be predicted mainly when there are obstacles on the driving route or by recognizing the speed of another car and keeping a certain distance or changing the lane to avoid obstacles or other vehicles, Even if a certain distance is maintained or the lane is changed, the collision may occur depending on the braking capability of another vehicle when an unexpected situation occurs.

Conventionally, Korean Patent No. 10-1664582 entitled " Apparatus and Method for Generating Travel Path of Autonomous Driving Vehicle ", when a dynamic obstacle exists, determines the intersection information of the vehicle, the current speed and the set speed of the vehicle, The present invention relates to an apparatus and a method for generating a traveling route of an autonomous vehicle that generates a traveling route by judging whether an obstacle is suddenly suddenly generated due to an unexpected situation, There is a problem that an accident may occur due to collision with the vehicle.

Therefore, there is a need for a vehicle autonomous navigation system technology that can prevent an accident from occurring even if sudden situations occur due to the occurrence of an unexpected situation in consideration of the braking ability of another vehicle or an obstacle.

Korean Patent No. 10-1664582

An object of the present invention is to prevent an accident from occurring in a vehicle by judging a safe lane by confirming the braking ability and the weight of the lane, the left and right lane of the vehicle in operation.

The present invention aims at selecting a safer lane by calculating the risk of occurrence of an accident according to the braking ability speeds of the front and rear of the vehicle in operation.

The present invention is characterized in that the braking ability of the left and right lane vehicles of the vehicle under operation is checked and when the accident risk level of the lane of the vehicle in operation is equal to or higher than a predetermined reference level, In which the lane is not changed in a situation in which the vehicle is in a safe condition, and an accident caused by a frequent lane change can be prevented.

The present invention is intended to enable a more safe lane to operate a vehicle even if the risk of an accident is the same, by calculating an accident risk index when the lane of the vehicle in operation, the left and right lanes are the same, do.

The present invention refers to a vehicle information database to calculate a crash damage prediction index by checking the weight information of a vehicle that is running in front of and behind the vehicle in operation, thereby selecting a lane that can minimize damage even if an accident occurs The purpose.

According to an aspect of the present invention, there is provided an autonomous vehicle traveling system comprising: a vehicle information database storing braking capability information according to a type of a vehicle;

A peripheral vehicle information verifying unit for verifying the type of the vehicle being driven in front of and behind the vehicle in operation;

Checking the braking ability information corresponding to the type of the vehicle running in the forward and rearward directions confirmed by the surrounding information checking unit with reference to the vehicle information database, and based on the confirmed braking ability information, An accident risk calculator for calculating the accident risk;

And a lane change determining unit for determining whether the lane change is made based on the accident occurrence risk level calculated by the accident risk calculating unit.

The accident risk level calculated by the accident risk calculation unit may be calculated as a higher risk level when the braking capability of the vehicle in operation is greater than the braking capability of the vehicle running in the forward direction, When the braking capability is smaller than the braking capability of the vehicle running at the rear, the risk may be calculated to be higher.

In addition, the accident risk calculation unit may calculate an accident occurrence level of the lane of the vehicle in operation and the left and right lanes of the vehicle in operation,

The lane change determining unit may select a lane having the lowest risk of accident occurrence among the lanes of the vehicle in operation and the left and right lanes as a driving lane when the accident risk level of the lane of the vehicle in operation is equal to or greater than a predetermined reference level . ≪ / RTI >

If the lane of the vehicle in operation, the risk rank of the left and right lanes are the same, the accident risk calculation unit calculates an accident risk index based on the braking ability information, And selecting the lane with the lowest risk index as the driving lane.

In addition, the vehicle information database stores weight information according to the type of the vehicle, and the accident risk calculation unit refers to the vehicle information database to calculate weight information corresponding to the types of vehicles that are running in front of and behind the vehicle The lane change determining unit may calculate the current accident damage prediction index based on the confirmed weight information and the accident occurrence risk index, and the lane change determining unit may be configured to select the lane having the low accident damage prediction index as the driving lane have.

The present invention can prevent an accident from occurring in the vehicle by determining the safe lane by confirming the braking ability and the weight of the lane of the vehicle, the left and right lane of the vehicle being operated, and the like.

The present invention can select a safer lane by calculating the risk of occurrence of an accident according to the braking ability speeds of the front and rear of the vehicle in operation.

The present invention is characterized in that the braking ability of the left and right lane vehicles of the vehicle under operation is checked and when the accident risk level of the lane of the vehicle in operation is equal to or higher than a predetermined reference level, It is possible to prevent an accident caused by frequent lane change because the lane is not changed.

The present invention can operate the vehicle by selecting a safer lane even if the risk of an accident is the same by calculating an accident risk index when the risk of accidents in the lane, the left and the right lane of the running vehicle is the same.

The present invention can select a lane that minimizes damage even if an accident occurs by calculating the accident damage prediction index by confirming the weight information of the vehicle that is running in front of and behind the vehicle with reference to the vehicle information database.

FIG. 1 is a diagram showing an overall configuration of an autonomous vehicle system according to an embodiment of the present invention.
FIG. 2 is a diagram illustrating an example of checking the type of a vehicle traveling in front of and behind the vehicle in operation according to an embodiment of the present invention.
3 is a diagram showing an example of checking peripheral vehicle information with reference to a vehicle information database according to an embodiment of the present invention.
4 is a diagram illustrating an example of an accident occurrence risk level according to an embodiment of the present invention.
5 is a diagram illustrating an example of determining whether or not a lane change is made according to an accident occurrence risk level according to an embodiment of the present invention.
FIG. 6 is a diagram illustrating an example of determining whether a lane change occurs when an accident occurrence risk level according to an embodiment of the present invention is less than a predetermined reference level.
FIG. 7 is a diagram showing an example in which the lane of the vehicle in operation, the left and right lane accident occurrence risk grades are the same according to an embodiment of the present invention.
8 is a flowchart showing a flow of an autonomous vehicle running method according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. 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. Further, in describing the embodiments of the present invention, specific numerical values are merely examples and the scope of the invention is not limited thereby.

FIG. 1 is a diagram showing an overall configuration of an autonomous vehicle system according to an embodiment of the present invention.

The vehicle information database stores braking ability information according to the type of vehicle.

The type of vehicle can be classified into a type of the vehicle or a type according to the size of the vehicle such as a small size, a medium size, and a large size. If the type of the vehicle is stored as a model, information on whether the vehicle is a large, large, small or light vehicle can be stored along with the model name, and if the vehicle is large, have. In addition, images of the front, rear, and side surfaces of the vehicle are also stored for each type of vehicle, and when the vehicle recognizes the vehicle by the vehicle, the vehicle can be searched through the image to respond to the braking capability information.

The braking capability information of the vehicle is the braking acceleration of the vehicle, and the braking acceleration of the vehicle may be the speed of the vehicle when the braking command is given or the speed when the braking command is given. The unit of braking initial velocity can be km / h. The database can be stored against the braking capability information of the vehicle and the type of the vehicle.

The vehicle information database stores weight information according to the type of vehicle.

The weight information of the vehicle is the weight of the vehicle, and the magnitude of the accident damage may vary when an accident occurs depending on the weight of the vehicle. If a vehicle with a relatively heavy weight of the vehicle and a vehicle with a relatively small weight of the vehicle are accidentally injured, the damage to the vehicle in which the weight of the vehicle is relatively less than the weight of the vehicle may be greater. The vehicle information database can store not only the braking capability information of the vehicle according to the type of the vehicle but also the weight information according to the type of the vehicle.

The vicinity information checking unit checks the types of vehicles that are running in front of and behind the vehicle in operation.

The vehicle in operation is a vehicle that the user is operating, and may be an autonomous vehicle for preventing an accident from occurring. There may be other running vehicles in the front and rear of the vehicle in operation, and the type of vehicle being driven in the forward and rear directions through the camera or sensor mounted on the vehicle in operation can be confirmed. In addition, the vehicle in operation can confirm the type of the vehicle traveling on the left and right sides of the vehicle as well as the front and rear of the vehicle in operation.

The accident risk calculation unit refers to the vehicle information database and confirms the braking ability information corresponding to the types of vehicles that are running in the front and rear directions confirmed by the surrounding vehicle information confirmation unit. Based on the confirmed braking ability information, Calculate the grade.

The vehicle in operation can confirm the type of the vehicle on the front, rear, left, or right through the camera or the sensor of the vehicle, and can confirm the braking capability information corresponding to the type of the vehicle in the vehicle information database by checking the type of the vehicle. For example, the rear side of a vehicle traveling in front can be recognized on the front side of the vehicle in operation, and the front side, the rear side, and the lateral side images of the vehicle can be recognized for each type of vehicle, Ability information and vehicle weight can be checked. In addition, the front of the vehicle traveling from the rear can be recognized on the rear of the vehicle in operation, and the braking capability information and the vehicle weight can be confirmed in correspondence with the front image of the vehicle through the database.

Based on the identified braking capability information, it is possible to calculate the accident risk level of the current lane of the vehicle in operation. Also, the vehicle type can be confirmed through the camera or sensor of the vehicle in operation, and the weight information of the vehicle corresponding to the vehicle type can be confirmed in the vehicle information database.

The risk level of the accident can be calculated according to the degree of risk. It can be classified into four classes according to the risk. According to the braking ability of the vehicle running in the front and rear, it is classified as the first, second, Grade, and the most dangerous 4 grade.

The accident risk level calculated by the accident risk calculation unit is calculated as a higher risk level when the braking capability of the vehicle in operation is greater than the braking capability of the vehicle being driven in the forward direction and the braking capability of the vehicle in operation is running in the rear If it is smaller than the braking capability of the vehicle, it is calculated to be higher than the risk.

The risk of an accident can be calculated according to the degree of risk, and it can be calculated as 4th grade. If the braking initial speed, which is the braking ability of the vehicle running in front, is low and the braking initial speed of the vehicle running in the rear is high, Can be calculated as 1 grade. In addition, when the braking initial velocity of both vehicles running on the front side and the rear side is low based on the running vehicle, it is relatively safe and can be calculated as the second grade. In addition, If the initial velocity is high, it is relatively dangerous and can be calculated as grade 3. In addition, the braking initial velocity of a vehicle running in front is higher than that of a running vehicle, and the lowest velocity of a vehicle running in the rear is the most dangerous and can be calculated as a fourth grade.

The accident risk calculator calculates the risk of accidents in the left and right lanes of the vehicle in operation and in the lane of the vehicle in operation.

The risk level can be calculated by dividing the vehicle's lane into 4 classes based on the braking ability of the vehicle in front of and behind the vehicle in operation. The risk level can be calculated by dividing the vehicle's braking capability into four classes.

The braking initial velocity, which is the braking ability of the vehicle running in the front, is low and the braking velocity of the vehicle running in the rear is high when the lane of the vehicle in operation is high. In addition, when the braking initial velocity of both vehicles running on the front side and the rear side is low based on the running vehicle, it is relatively safe and can be calculated as the second grade. In addition, If the initial velocity is high, it is relatively dangerous and can be calculated as grade 3. In addition, the braking initial velocity of a vehicle running in front is higher than that of a running vehicle, and the lowest braking velocity of a vehicle running in the rear is the most dangerous and can be calculated as a fourth grade.

The front and rear positions of the vehicle being driven and the vehicle running on the left or right side can be recognized as a vehicle ahead if the vehicle being driven on the left side or the right side is positioned on the front side based on the center of the side surface of the vehicle, If the vehicle being driven is located on the rear side relative to the center of the side of the vehicle in operation, it can be recognized as a vehicle on the rear side.

For example, if you need to change lanes to the left lane based on the vehicle you are driving, you will need to get in between the two cars. The two vehicles may be referred to as vehicles A and B. In this case, the vehicle A will be located at the front side based on the vehicle in operation and the vehicle B will be positioned at the rear side based on the vehicle in operation. The vehicle A located on the front side based on the vehicle in operation can be recognized as a vehicle located in front of the left lane and the vehicle B can be recognized as the vehicle located behind the left lane.

If the risk of accidents in the lane, left, and right lane of the vehicle in operation is the same, the accident risk calculator calculates the accident risk index based on the braking capability information.

(For example, when the braking velocity of the front vehicle in the left and right lanes is high and the braking acceleration in the rear vehicle in the left and right lanes is high, Braking velocity), the risk of an accident may be the same.

The accident risk index is an index of the degree of risk when an accident occurs. If the risk of an accident occurs in the left-hand side of the vehicle and the risk of an accident in the right-hand lane are the same, And the braking capability of the rear-mounted vehicle.

The accident risk index

(Forward vehicle - vehicle in operation) X (vehicle in operation - rear vehicle)

Lt; / RTI >

The accident risk calculation unit refers to the information database of the vehicle and confirms the weight information corresponding to the type of the vehicle that is running in the front and rear of the vehicle in operation. Based on the weight information and the accident risk index, Calculate the exponent.

The factors affecting the damage of the accident may be the weight of another vehicle, and the accident damage of the vehicle when the other vehicle is in a truck or a light vehicle is significantly different when an accident occurs in a vehicle other than the vehicle in operation. In the case of a vehicle that is in service and a vehicle in which an accident can occur, the lesser the weight is, the less damage will occur after the occurrence of the accident, and the accident damage can be predicted by the weight of the vehicle. The database in which the vehicle information is stored stores not only the braking ability of the vehicle but also the weight of the vehicle. Also, the weight information of the vehicle is confirmed through the database, and when the vehicle is in operation, The degree of damage can be predicted.

Therefore, the accident damage prediction index

(Front Vehicle - Vehicle in operation) X (Vehicle in operation - Vehicle in rear) X Vehicle weight in front X Vehicle weight in rear

Lt; / RTI >

The lane change determination unit determines whether to change the lane based on the accident occurrence risk level calculated in the accident risk calculation unit.

It can be judged that the lane of the vehicle in operation, the lane in the left side and the right lane, should be changed to the lane in which the accident risk level is low. For example, if the hazard class of the left-hand lane of the vehicle in operation is class 2 and the hazard class of the accident lane in the right lane is class 1, the lane-change decision unit may decide to change the lane to the right lane.

The lane change decision unit selects the lane with the lowest risk of accident occurrence among the lane, left and right lane of the vehicle in operation when the accident risk level of the lane of the vehicle in operation is equal to or higher than the predetermined reference level.

If the lane of the vehicle in operation is somewhat safe, it will not be necessary to change the lane to another lane. That is, even if the risk level of the accident in the running vehicle lane is lower than that of the left or right side of the running vehicle, it is not necessary to change the lane of the vehicle unless the risk of the accident occurring in the lane of the running vehicle is high. Vehicles located in front of and behind the left, right, or left lane of a vehicle in operation can change frequently, and whenever a lane of a vehicle in operation, a vehicle on the left or right of a vehicle being changed, . Therefore, if the lane of the vehicle in operation, the risk of accident on the left or the right of the vehicle is changed, and the lane of the vehicle is changed frequently, the risk of accidents may be higher. If you are not exposed to a certain level of risk, it may be safer to drive steadily in one lane than to change lanes frequently while driving.

If the hazard level is 4th grade, the lane can be changed, because the danger grade above the predetermined reference level may be more than 4 grade and 4th grade is the most dangerous condition. If the accident risk level is grade 4, you can select the lane of the vehicle in operation, the lowest lane of the left and right lanes.

For example, if the lane of the vehicle in operation is class 4, the left lane of the vehicle in operation is class 2, and the right lane of the vehicle in operation is class 1, the lane of the vehicle in operation is class 4, , It is possible to select to change the lane to the right lane with the lowest risk of the accident among the left and right lanes of the vehicle that is judged to change the lane. However, the lane of the vehicle in operation is the third grade, and the left lane of the vehicle in operation is not equal to or higher than the predetermined reference level because the lane of the vehicle in operation is the third grade, I do not think I will change the lane.

The lane change decision section selects the lane with the lowest risk index as the driving lane.

(For example, the braking velocity of the front vehicle in the left and right lanes is high and the braking acceleration in the left and right lanes is high) If the braking velocity of the rearward vehicle in the right lane is low, the accident risk level may be the same as the 4th grade, and the lane of the vehicle in operation is 4th grade, so the lane must be changed. If the risk grade is all 4, you can determine the lane to be changed to the accident risk index.

For example, if the braking capability of the forward vehicle in the running lane is 80 km / h and the braking capability of the rear vehicle is 40 km / h, the braking acceleration of the forward vehicle is high and the braking acceleration of the braking vehicle is low. The risk level is 4. Therefore, it can be judged that it is necessary to change the lane. However, if the braking capability of the vehicle ahead of the vehicle in the left lane is 90 km / h, and the braking capability of the rear vehicle in the left lane of the vehicle in operation is 35 km / h, The braking capability of the forward vehicle is 70 km / h, and the braking capability of the rearward vehicle of the right lane is 30 km / h. The risk of accidents in the lane of the vehicle in operation, the right and left lanes is class 4 and should be determined by which lane the accident risk index should be changed. The accident risk index of the vehicle in operation is -300 when calculating (80-50) X (40-50) , and the accident risk index of the left lane is (90-50) X (50-35) -600, and the accident risk index in the right lane is (-450) (70-50) X (50-30) . Since the risk index for the accident in the left lane is the lowest, the vehicle in operation can be changed by selecting the lane in the left lane.

The lane change decision unit selects a lane with a low accident damage prediction index as the driving lane.

(For example, the braking velocity of the front vehicle in the left and right lanes is high and the braking acceleration in the left and right lanes is high) If the braking velocity of the rearward vehicle in the right lane is low, the accident risk level may be the same as the 4th grade, and the lane of the vehicle in operation is 4th grade, so the lane must be changed. If the risk grade is all 4, the accident damage prediction index can be used to determine the lane to be changed.

For example, if the braking capability of the forward vehicle in the running lane is 80 km / h, the weight is 1000 kg, the braking capability of the rear vehicle is 40 km / h, and the weight is 1200 kg, The vehicle's braking acceleration is low and the risk of accidents is 4th grade. Therefore, it can be judged that it is necessary to change the lane. If the braking capability of the vehicle in the left lane of the running vehicle is 90 km / h and the weight is 1920 kg, and the braking capability of the rearward vehicle in the left lane of the running vehicle is 35 km / h and the weight is 1540 kg, The braking ability of the front lane of the right lane is 70 km / h, the weight is 1250 kg, the braking ability of the rear lane of the right lane is 30 km / h and the weight is 1630 kg. The risk of accidents in the lane of vehicles in operation, the right and left lanes is classified as 4, and it is necessary to judge to which lane the accident risk index should be changed and it can be judged from the accident damage prediction index. (40-50) X1000X1200 is calculated to be -360000000, and the accident risk index in the left lane is calculated as (90-50) X (50-35) X1920X1540 . , And the accident risk index in the right lane is -815000000 when calculating (70-50) X (50-30) X1250X1630 . Since the accident damage prediction index in the left lane is the lowest, the vehicle in operation can be changed by selecting the lane in the left lane.

FIG. 2 is a diagram illustrating an example of checking the type of a vehicle traveling in front of and behind the vehicle in operation according to an embodiment of the present invention.

The vehicle information database stores braking ability information according to the type of vehicle.

The type of vehicle can be classified into a type of the vehicle or a type according to the size of the vehicle such as a small size, a medium size, and a large size. If the type of the vehicle is stored as a model, information on whether the vehicle is a large, large, small or light vehicle can be stored along with the model name, and if the vehicle is large, have. In addition, images of the front, rear, and side surfaces of the vehicle are also stored for each type of vehicle, and when the vehicle recognizes the vehicle by the vehicle, the vehicle can be searched through the image to respond to the braking capability information.

The braking capability information of the vehicle is the braking acceleration of the vehicle, and the braking acceleration of the vehicle may be the speed of the vehicle when the braking command is given or the speed when the braking command is given. The unit of braking initial velocity can be km / h. The database can be stored against the braking capability information of the vehicle and the type of the vehicle.

The accident risk calculator calculates the risk of accidents in the left and right lanes of the vehicle in operation and in the lane of the vehicle in operation.

The risk level can be calculated by dividing the vehicle's lane into 4 classes based on the braking ability of the vehicle in front of and behind the vehicle in operation. The risk level can be calculated by dividing the vehicle's braking capability into four classes.

The braking initial velocity, which is the braking ability of the vehicle running in the front, is low and the braking velocity of the vehicle running in the rear is high when the lane of the vehicle in operation is high. In addition, when the braking initial velocity of both vehicles running on the front side and the rear side is low based on the running vehicle, it is relatively safe and can be calculated as the second grade. In addition, If the initial velocity is high, it is relatively dangerous and can be calculated as grade 3. In addition, the braking initial velocity of a vehicle running in front is higher than that of a running vehicle, and the lowest braking velocity of a vehicle running in the rear is the most dangerous and can be calculated as a fourth grade.

The front and rear positions of the vehicle being driven and the vehicle running on the left or right side can be recognized as a vehicle ahead if the vehicle being driven on the left side or the right side is positioned on the front side based on the center of the side surface of the vehicle, If the vehicle being driven is located on the rear side relative to the center of the side of the vehicle in operation, it can be recognized as a vehicle on the rear side.

For example, if you need to change lanes to the left lane based on the vehicle you are driving, you will need to get in between the two cars. The two vehicles may be referred to as vehicles A and B. In this case, the vehicle A will be located at the front side based on the vehicle in operation and the vehicle B will be positioned at the rear side based on the vehicle in operation. The vehicle A located on the front side based on the vehicle in operation can be recognized as a vehicle located in front of the left lane and the vehicle B can be recognized as the vehicle located behind the left lane.

3 is a diagram showing an example of checking peripheral vehicle information with reference to a vehicle information database according to an embodiment of the present invention.

The vehicle information database stores weight information according to the type of vehicle.

The weight information of the vehicle is the weight of the vehicle, and the magnitude of the accident damage may vary when an accident occurs depending on the weight of the vehicle. If a vehicle with a relatively heavy weight of the vehicle and a vehicle with a relatively small weight of the vehicle are accidentally injured, the damage to the vehicle in which the weight of the vehicle is relatively less than the weight of the vehicle may be greater. The vehicle information database can store not only the braking capability information of the vehicle according to the type of the vehicle but also the weight information according to the type of the vehicle.

The vicinity information checking unit checks the types of vehicles that are running in front of and behind the vehicle in operation.

The vehicle in operation is a vehicle that the user is operating, and may be an autonomous vehicle for preventing an accident from occurring. There may be other running vehicles in the front and rear of the vehicle in operation, and the type of vehicle being driven in the forward and rear directions through the camera or sensor mounted on the vehicle in operation can be confirmed. In addition, the vehicle in operation can confirm the type of the vehicle traveling on the left and right sides of the vehicle as well as the front and rear of the vehicle in operation.

The accident risk calculation unit refers to the vehicle information database and confirms the braking ability information corresponding to the types of vehicles that are running in the front and rear directions confirmed by the surrounding vehicle information confirmation unit. Based on the confirmed braking ability information, Calculate the grade.

The vehicle in operation can confirm the type of the vehicle on the front, rear, left, or right through the camera or the sensor of the vehicle, and can confirm the braking capability information corresponding to the type of the vehicle in the vehicle information database by checking the type of the vehicle. For example, the rear side of a vehicle traveling in front can be recognized on the front side of the vehicle in operation, and the front side, the rear side, and the lateral side images of the vehicle can be recognized for each type of vehicle, Ability information and vehicle weight can be checked. In addition, the front of the vehicle traveling from the rear can be recognized on the rear of the vehicle in operation, and the braking capability information and the vehicle weight can be confirmed in correspondence with the front image of the vehicle through the database.

Based on the identified braking capability information, it is possible to calculate the accident risk level of the current lane of the vehicle in operation. Also, the vehicle type can be confirmed through the camera or sensor of the vehicle in operation, and the weight information of the vehicle corresponding to the vehicle type can be confirmed in the vehicle information database.

The risk level of the accident can be calculated according to the degree of risk. It can be classified into four classes according to the risk. According to the braking ability of the vehicle running in the front and rear, it is classified as the first, second, Grade, and the most dangerous 4 grade.

4 is a diagram illustrating an example of an accident occurrence risk level according to an embodiment of the present invention.

The accident risk level calculated by the accident risk calculation unit is calculated as a higher risk level when the braking capability of the vehicle in operation is greater than the braking capability of the vehicle being driven in the forward direction and the braking capability of the vehicle in operation is running in the rear If it is smaller than the braking capability of the vehicle, it is calculated to be higher than the risk.

The risk level of the accident can be calculated according to the degree of risk. It can be classified into four classes according to the risk. According to the braking ability of the vehicle running in the front and rear, it is classified as the first, second, Grade, and the most dangerous 4 grade.

The risk of an accident can be calculated according to the degree of risk, and it can be calculated as 4th grade. If the braking initial speed, which is the braking ability of the vehicle running in front, is low and the braking initial speed of the vehicle running in the rear is high, Can be calculated as 1 grade. In addition, when the braking initial velocity of both vehicles running on the front side and the rear side is low based on the running vehicle, it is relatively safe and can be calculated as the second grade. In addition, If the initial velocity is high, it is relatively dangerous and can be calculated as grade 3. In addition, the braking initial velocity of a vehicle running in front is higher than that of a running vehicle, and the lowest velocity of a vehicle running in the rear is the most dangerous and can be calculated as a fourth grade.

5 is a diagram illustrating an example of determining whether or not a lane change is made according to an accident occurrence risk level according to an embodiment of the present invention.

The accident risk calculator calculates the risk of accidents in the left and right lanes of the vehicle in operation and in the lane of the vehicle in operation.

The risk level can be calculated by dividing the vehicle's lane into 4 classes based on the braking ability of the vehicle in front of and behind the vehicle in operation. The risk level can be calculated by dividing the vehicle's braking capability into four classes.

The braking initial velocity, which is the braking ability of the vehicle running in the front, is low and the braking velocity of the vehicle running in the rear is high when the lane of the vehicle in operation is high. In addition, when the braking initial velocity of both vehicles running on the front side and the rear side is low based on the running vehicle, it is relatively safe and can be calculated as the second grade. In addition, If the initial velocity is high, it is relatively dangerous and can be calculated as grade 3. In addition, the braking initial velocity of a vehicle running in front is higher than that of a running vehicle, and the lowest braking velocity of a vehicle running in the rear is the most dangerous and can be calculated as a fourth grade.

The lane change decision unit selects the lane with the lowest risk of accident occurrence among the lane, left and right lane of the vehicle in operation when the accident risk level of the lane of the vehicle in operation is equal to or higher than the predetermined reference level.

For example, if the lane of the vehicle in operation is class 4, the left lane of the vehicle in operation is class 2, and the right lane of the vehicle in operation is class 1, the lane of the vehicle in operation is class 4, , It is possible to select to change the lane to the right lane with the lowest risk of the accident among the left and right lanes of the vehicle that is judged to change the lane.

FIG. 6 is a diagram illustrating an example of determining whether a lane change occurs when an accident occurrence risk level according to an embodiment of the present invention is less than a predetermined reference level.

The lane change decision unit selects the lane with the lowest risk of accident occurrence among the lane, left and right lane of the vehicle in operation when the accident risk level of the lane of the vehicle in operation is equal to or higher than the predetermined reference level.

If the lane of the vehicle in operation is somewhat safe, it will not be necessary to change the lane to another lane. That is, even if the risk level of the accident in the running vehicle lane is lower than that of the left or right side of the running vehicle, it is not necessary to change the lane of the vehicle unless the risk of the accident occurring in the lane of the running vehicle is high. Vehicles located in front of and behind the left, right, or left lane of a vehicle in operation can change frequently, and whenever a lane of a vehicle in operation, a vehicle on the left or right of a vehicle being changed, . Therefore, if the lane of the vehicle in operation, the risk of accident on the left or the right of the vehicle is changed, and the lane of the vehicle is changed frequently, the risk of accidents may be higher. If you are not exposed to a certain level of risk, it may be safer to drive steadily in one lane than to change lanes frequently while driving.

If the hazard level is 4th grade, the lane can be changed, because the danger grade above the predetermined reference level may be more than 4 grade and 4th grade is the most dangerous condition. If the accident risk level is grade 4, you can select the lane of the vehicle in operation, the lowest lane of the left and right lanes.

For example, if the lane of the vehicle in operation is class 4, the left lane of the vehicle in operation is class 2, and the right lane of the vehicle in operation is class 1, the lane of the vehicle in operation is class 4, , It is possible to select to change the lane to the right lane with the lowest risk of the accident among the left and right lanes of the vehicle that is judged to change the lane. However, the lane of the vehicle in operation is the third grade, and the left lane of the vehicle in operation is not equal to or higher than the predetermined reference level because the lane of the vehicle in operation is the third grade, I do not think I will change the lane.

FIG. 7 is a diagram showing an example in which the lane of the vehicle in operation, the left and right lane accident occurrence risk grades are the same according to an embodiment of the present invention.

The lane change decision section selects the lane with the lowest risk index as the driving lane.

(For example, the braking velocity of the front vehicle in the left and right lanes is high and the braking acceleration in the left and right lanes is high) If the braking velocity of the rearward vehicle in the right lane is low, the accident risk level may be the same as the 4th grade, and the lane of the vehicle in operation is 4th grade, so the lane must be changed. If the risk grade is all 4, you can determine the lane to be changed to the accident risk index.

For example, if the braking capability of the forward vehicle in the running lane is 80 km / h and the braking capability of the rear vehicle is 40 km / h, the braking acceleration of the forward vehicle is high and the braking acceleration of the braking vehicle is low. The risk level is 4. Therefore, it can be judged that it is necessary to change the lane. However, if the braking capability of the vehicle ahead of the vehicle in the left lane is 90 km / h, and the braking capability of the rear vehicle in the left lane of the vehicle in operation is 35 km / h, The braking capability of the forward vehicle is 70 km / h, and the braking capability of the rearward vehicle of the right lane is 30 km / h. The risk of accidents in the lane of the vehicle in operation, the right and left lanes is class 4 and should be determined by which lane the accident risk index should be changed. The accident risk index of the vehicle in operation is -300 when calculating (80-50) X (40-50) , and the accident risk index of the left lane is (90-50) X (50-35) -600, and the accident risk index in the right lane is (-450) (70-50) X (50-30) . Since the risk index for the accident in the left lane is the lowest, the vehicle in operation can be changed by selecting the lane in the left lane.

The lane change decision unit selects a lane with a low accident damage prediction index as the driving lane.

(For example, the braking velocity of the front vehicle in the left and right lanes is high and the braking acceleration in the left and right lanes is high) If the braking velocity of the rearward vehicle in the right lane is low, the accident risk level may be the same as the 4th grade, and the lane of the vehicle in operation is 4th grade, so the lane must be changed. If the risk grade is all 4, the accident damage prediction index can be used to determine the lane to be changed.

For example, if the braking capability of the forward vehicle in the running lane is 80 km / h, the weight is 1000 kg, the braking capability of the rear vehicle is 40 km / h, and the weight is 1200 kg, The vehicle's braking acceleration is low and the risk of accidents is 4th grade. Therefore, it can be judged that it is necessary to change the lane. If the braking capability of the vehicle in the left lane of the running vehicle is 90 km / h and the weight is 1920 kg, and the braking capability of the rearward vehicle in the left lane of the running vehicle is 35 km / h and the weight is 1540 kg, The braking ability of the front lane of the right lane is 70 km / h, the weight is 1250 kg, the braking ability of the rear lane of the right lane is 30 km / h and the weight is 1630 kg. The risk of accidents in the lane of vehicles in operation, the right and left lanes is classified as 4, and it is necessary to judge to which lane the accident risk index should be changed and it can be judged from the accident damage prediction index. (40-50) X1000X1200 is calculated to be -360000000, and the accident risk index in the left lane is calculated as (90-50) X (50-35) X1920X1540 . , And the accident risk index in the right lane is -815000000 when calculating (70-50) X (50-30) X1250X1630 . Since the accident damage prediction index in the left lane is the lowest, the vehicle in operation can be changed by selecting the lane in the left lane.

8 is a flowchart showing a flow of an autonomous vehicle running method according to an embodiment of the present invention.

The vehicle information database stores braking ability information according to the type of vehicle.

The type of vehicle can be classified into a type of the vehicle or a type according to the size of the vehicle such as a small size, a medium size, and a large size. If the type of the vehicle is stored as a model, information on whether the vehicle is a large, large, small or light vehicle can be stored along with the model name, and if the vehicle is large, have. In addition, images of the front, rear, and side surfaces of the vehicle are also stored for each type of vehicle, and when the vehicle recognizes the vehicle by the vehicle, the vehicle can be searched through the image to respond to the braking capability information.

The braking capability information of the vehicle is the braking acceleration of the vehicle, and the braking acceleration of the vehicle may be the speed of the vehicle when the braking command is given or the speed when the braking command is given. The unit of braking initial velocity can be km / h. The database can be stored against the braking capability information of the vehicle and the type of the vehicle.

The vehicle information database stores weight information according to the type of vehicle.

The weight information of the vehicle is the weight of the vehicle, and the magnitude of the accident damage may vary when an accident occurs depending on the weight of the vehicle. If a vehicle with a relatively heavy weight of the vehicle and a vehicle with a relatively small weight of the vehicle are accidentally injured, the damage to the vehicle in which the weight of the vehicle is relatively less than the weight of the vehicle may be greater. The vehicle information database can store not only the braking capability information of the vehicle according to the type of the vehicle but also the weight information according to the type of the vehicle.

The vicinity information checking unit checks the types of vehicles that are running in front of and behind the vehicle in operation.

The vehicle in operation is a vehicle that the user is operating, and may be an autonomous vehicle for preventing an accident from occurring. There may be other running vehicles in the front and rear of the vehicle in operation, and the type of vehicle being driven in the forward and rear directions through the camera or sensor mounted on the vehicle in operation can be confirmed. In addition, the vehicle in operation can confirm the type of the vehicle traveling on the left and right sides of the vehicle as well as the front and rear of the vehicle in operation.

Step S802 refers to the vehicle information database to check the braking ability information corresponding to the type of the vehicle running in the forward and backward directions confirmed in step S801 and calculates the risk of occurrence of the accident in the present lane based on the confirmed braking ability information .

The vehicle in operation can confirm the type of the vehicle on the front, rear, left, or right through the camera or the sensor of the vehicle, and can confirm the braking capability information corresponding to the type of the vehicle in the vehicle information database by checking the type of the vehicle. For example, the rear side of a vehicle traveling in front can be recognized on the front side of the vehicle in operation, and the front side, the rear side, and the lateral side images of the vehicle can be recognized for each type of vehicle, Ability information and vehicle weight can be checked. In addition, the front of the vehicle traveling from the rear can be recognized on the rear of the vehicle in operation, and the braking capability information and the vehicle weight can be confirmed in correspondence with the front image of the vehicle through the database.

Based on the identified braking capability information, it is possible to calculate the accident risk level of the current lane of the vehicle in operation. Also, the vehicle type can be confirmed through the camera or sensor of the vehicle in operation, and the weight information of the vehicle corresponding to the vehicle type can be confirmed in the vehicle information database.

The risk of an accident can be calculated according to the degree of risk according to the degree of risk. According to the braking ability of the vehicle running in the forward and rearward directions identified in step S801, the highest safety grade 1, the relatively safe safety grade 2, It can be calculated as a dangerous 4 grade.

If the braking capability of the vehicle in operation is greater than the braking capability of the vehicle running in the forward direction, the risk level of the accident calculated in the step S802 is calculated to be a higher degree of risk. If the braking capability of the vehicle in operation is in the rear If it is smaller than the braking capacity, it is calculated to be higher than the risk.

The risk of an accident can be calculated according to the degree of risk, and it can be calculated as 4th grade. If the braking initial speed, which is the braking ability of the vehicle running in front, is low and the braking initial speed of the vehicle running in the rear is high, Can be calculated as 1 grade. In addition, when the braking initial velocity of both vehicles running on the front side and the rear side is low based on the running vehicle, it is relatively safe and can be calculated as the second grade. In addition, If the initial velocity is high, it is relatively dangerous and can be calculated as grade 3. In addition, the braking initial velocity of a vehicle running in front is higher than that of a running vehicle, and the lowest velocity of a vehicle running in the rear is the most dangerous and can be calculated as a fourth grade.

Step S802 calculates the accident risk grade of the left lane of the vehicle and the traffic lane of the vehicle in operation.

The risk level can be calculated by dividing the vehicle's lane into 4 classes based on the braking ability of the vehicle in front of and behind the vehicle in operation. The risk level can be calculated by dividing the vehicle's braking capability into four classes.

The braking initial velocity, which is the braking ability of the vehicle running in the front, is low and the braking velocity of the vehicle running in the rear is high when the lane of the vehicle in operation is high. In addition, when the braking initial velocity of both vehicles running on the front side and the rear side is low based on the running vehicle, it is relatively safe and can be calculated as the second grade. In addition, If the initial velocity is high, it is relatively dangerous and can be calculated as grade 3. In addition, the braking initial velocity of a vehicle running in front is higher than that of a running vehicle, and the lowest braking velocity of a vehicle running in the rear is the most dangerous and can be calculated as a fourth grade.

The front and rear positions of the vehicle being driven and the vehicle running on the left or right side can be recognized as a vehicle ahead if the vehicle being driven on the left side or the right side is positioned on the front side based on the center of the side surface of the vehicle, If the vehicle being driven is located on the rear side relative to the center of the side of the vehicle in operation, it can be recognized as a vehicle on the rear side.

For example, if you need to change lanes to the left lane based on the vehicle you are driving, you will need to get in between the two cars. The two vehicles may be referred to as vehicles A and B. In this case, the vehicle A will be located at the front side based on the vehicle in operation and the vehicle B will be positioned at the rear side based on the vehicle in operation. The vehicle A located on the front side based on the vehicle in operation can be recognized as a vehicle located in front of the left lane and the vehicle B can be recognized as the vehicle located behind the left lane.

If the risk of accidents in the lane, the left and the right lane of the vehicle in operation is the same, the step S802 calculates the risk index of the accident based on the braking ability information.

(For example, when the braking velocity of the front vehicle in the left and right lanes is high and the braking acceleration in the rear vehicle in the left and right lanes is high, Braking velocity), the risk of an accident may be the same.

The accident risk index is an index of the degree of risk when an accident occurs. If the risk of an accident occurs in the left-hand side of the vehicle and the risk of an accident in the right-hand lane are the same, And the braking capability of the rear-mounted vehicle.

The accident risk index

(Forward vehicle - vehicle in operation) X (vehicle in operation - rear vehicle)

Lt; / RTI >

Step S802 refers to the information database of the vehicle to check the weight information corresponding to the type of the vehicle that is running in front of and behind the vehicle in operation and calculates the present accident damage prediction index .

The factors affecting the damage of the accident may be the weight of another vehicle, and the accident damage of the vehicle when the other vehicle is in a truck or a light vehicle is significantly different when an accident occurs in a vehicle other than the vehicle in operation. In the case of a vehicle that is in service and a vehicle in which an accident can occur, the lesser the weight is, the less damage will occur after the occurrence of the accident, and the accident damage can be predicted by the weight of the vehicle. The database in which the vehicle information is stored stores not only the braking ability of the vehicle but also the weight of the vehicle. Also, the weight information of the vehicle is confirmed through the database, and when the vehicle is in operation, The degree of damage can be predicted.

Therefore, the accident damage prediction index

(Front Vehicle - Vehicle in operation) X (Vehicle in operation - Vehicle in rear) X Vehicle weight in front X Vehicle weight in rear

Lt; / RTI >

The step S803 judges whether or not the lane change is made on the basis of the accident occurrence risk grade calculated in the step S802.

It can be judged that the lane of the vehicle in operation, the lane in the left side and the right lane, should be changed to the lane in which the accident risk level is low. For example, if the risk of an accident is 2 in the left lane of the vehicle and the risk grade of the accident in the right lane is 1, then step S803 can be determined to change the lane to the right lane.

In step S803, when the accident risk level of the lane of the vehicle in operation is equal to or higher than the predetermined reference level, the lane of the vehicle in operation, and the lane with the lowest risk of accident occurrence among the left and right lanes are selected as the driving lane.

If the lane of the vehicle in operation is somewhat safe, it will not be necessary to change the lane to another lane. That is, even if the risk level of the accident in the running vehicle lane is lower than that of the left or right side of the running vehicle, it is not necessary to change the lane of the vehicle unless the risk of the accident occurring in the lane of the running vehicle is high. Vehicles located in front of and behind the left, right, or left lane of a vehicle in operation can change frequently, and whenever a lane of a vehicle in operation, a vehicle on the left or right of a vehicle being changed, . Therefore, if the lane of the vehicle in operation, the risk of accident on the left or the right of the vehicle is changed, and the lane of the vehicle is changed frequently, the risk of accidents may be higher. If you are not exposed to a certain level of risk, it may be safer to drive steadily in one lane than to change lanes frequently while driving.

If the hazard level is 4th grade, the lane can be changed, because the danger grade above the predetermined reference level may be more than 4 grade and 4th grade is the most dangerous condition. If the accident risk level is grade 4, you can select the lane of the vehicle in operation, the lowest lane of the left and right lanes.

For example, if the lane of the vehicle in operation is class 4, the left lane of the vehicle in operation is class 2, and the right lane of the vehicle in operation is class 1, the lane of the vehicle in operation is class 4, , It is possible to select to change the lane to the right lane with the lowest risk of the accident among the left and right lanes of the vehicle that is judged to change the lane. However, the lane of the vehicle in operation is the third grade, and the left lane of the vehicle in operation is not equal to or higher than the predetermined reference level because the lane of the vehicle in operation is the third grade, I do not think I will change the lane.

In step S803, the lane with the lowest risk of accident occurrence is selected as the driving lane.

(For example, the braking velocity of the front vehicle in the left and right lanes is high and the braking acceleration in the left and right lanes is high) If the braking velocity of the rearward vehicle in the right lane is low, the accident risk level may be the same as the 4th grade, and the lane of the vehicle in operation is 4th grade, so the lane must be changed. If the risk grade is all 4, you can determine the lane to be changed to the accident risk index.

For example, if the braking capability of the forward vehicle in the running lane is 80 km / h and the braking capability of the rear vehicle is 40 km / h, the braking acceleration of the forward vehicle is high and the braking acceleration of the braking vehicle is low. The risk level is 4. Therefore, it can be judged that it is necessary to change the lane. However, if the braking capability of the vehicle ahead of the vehicle in the left lane is 90 km / h, and the braking capability of the rear vehicle in the left lane of the vehicle in operation is 35 km / h, The braking capability of the forward vehicle is 70 km / h, and the braking capability of the rearward vehicle of the right lane is 30 km / h. The risk of accidents in the lane of the vehicle in operation, the right and left lanes is class 4 and should be determined by which lane the accident risk index should be changed. The accident risk index of the vehicle in operation is -300 when calculating (80-50) X (40-50) , and the accident risk index of the left lane is (90-50) X (50-35) -600, and the accident risk index in the right lane is (-450) (70-50) X (50-30) . Since the risk index for the accident in the left lane is the lowest, the vehicle in operation can be changed by selecting the lane in the left lane.

Step S803 selects a lane having a low accident damage prediction index as the driving lane.

(For example, the braking velocity of the front vehicle in the left and right lanes is high and the braking acceleration in the left and right lanes is high) If the braking velocity of the rearward vehicle in the right lane is low, the accident risk level may be the same as the 4th grade, and the lane of the vehicle in operation is 4th grade, so the lane must be changed. If the risk grade is all 4, the accident damage prediction index can be used to determine the lane to be changed.

For example, if the braking capability of the forward vehicle in the running lane is 80 km / h, the weight is 1000 kg, the braking capability of the rear vehicle is 40 km / h, and the weight is 1200 kg, The vehicle's braking acceleration is low and the risk of accidents is 4th grade. Therefore, it can be judged that it is necessary to change the lane. If the braking capability of the vehicle in the left lane of the running vehicle is 90 km / h and the weight is 1920 kg, and the braking capability of the rearward vehicle in the left lane of the running vehicle is 35 km / h and the weight is 1540 kg, The braking ability of the front lane of the right lane is 70 km / h, the weight is 1250 kg, the braking ability of the rear lane of the right lane is 30 km / h and the weight is 1630 kg. The risk of accidents in the lane of vehicles in operation, the right and left lanes is classified as 4, and it is necessary to judge to which lane the accident risk index should be changed and it can be judged from the accident damage prediction index. (40-50) X1000X1200 is calculated to be -360000000, and the accident risk index in the left lane is calculated as (90-50) X (50-35) X1920X1540 . , And the accident risk index in the right lane is -815000000 when calculating (70-50) X (50-30) X1250X1630 . Since the accident damage prediction index in the left lane is the lowest, the vehicle in operation can be changed by selecting the lane in the left lane.

The autonomous vehicle driving method according to an embodiment of the present invention may be implemented in the form of a program command that can be executed through various computer means and recorded in a computer readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like, alone or in combination. The program instructions recorded on the medium may be those specially designed and constructed for the present invention or may be available to those skilled in the art of computer software. Examples of computer-readable media include magnetic media such as hard disks, floppy disks and magnetic tape; optical media such as CD-ROMs and DVDs; magnetic media such as floppy disks; Magneto-optical media, and hardware devices specifically configured to store and execute program instructions such as ROM, RAM, flash memory, and the like. Examples of program instructions include machine language code such as those produced by a compiler, as well as high-level language code that can be executed by a computer using an interpreter or the like. The hardware devices described above may be configured to operate as one or more software modules to perform the operations of the present invention, and vice versa.

While the invention has been shown and described with reference to certain preferred embodiments thereof, it will be understood by those of ordinary skill in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined by the appended claims. This is possible.

Therefore, the scope of the present invention should not be limited to the described embodiments, but should be determined by the equivalents of the claims, as well as the claims.

101: Vehicle information database
102: accident risk calculation unit
103: Nearby vehicle information confirmation unit
104: lane change determination unit

Claims (11)

A vehicle information database for storing braking ability information according to the type of vehicle;
A peripheral vehicle information verifying unit for verifying the type of the vehicle being driven in front of and behind the vehicle in operation;
Checking the braking ability information corresponding to the type of the vehicle running in the forward and rearward directions confirmed by the surrounding information checking unit with reference to the vehicle information database, and based on the confirmed braking ability information, An accident risk calculator for calculating the accident risk;
A lane change determining unit for determining whether or not to change lanes based on the accident occurrence risk level calculated by the accident risk calculating unit;
And a control unit for controlling the vehicle. The method according to claim 1,
The accident risk level calculated by the accident risk calculator
If the braking capability of the vehicle in operation is greater than the braking capability of the vehicle in the forward direction,
If the braking capability of the vehicle in operation is less than the braking capability of the vehicle running in the rear, it is calculated as a higher degree of risk
Wherein the vehicle is an autonomous vehicle. The method according to claim 1,
The accident risk calculation unit
Calculating a risk of an accident occurrence of the lane of the vehicle in operation and the left and right lane of the vehicle in operation,
The lane change determining unit
The lane of the vehicle in operation and the lane in which the risk of occurrence of the accident is lowest among the left and right lanes are selected as the driving lane when the accident risk level of the lane of the vehicle in operation is equal to or higher than the predetermined reference level
Wherein the vehicle is an autonomous vehicle. 4. The method as claimed in claim 3, wherein when the lane of the vehicle in operation, the left and right lane,
The accident risk calculation department
Calculates an accident risk index based on the braking ability information,
The lane change determining unit
Selecting the lane with the lowest risk index as the driving lane
Wherein the vehicle is an autonomous vehicle. 5. The method of claim 4,
The vehicle information database stores weight information according to the type of vehicle,
The accident risk calculation unit
Referring to the vehicle information database to check weight information corresponding to the type of vehicle being driven from the front and rear of the vehicle in operation and to calculate the present accident damage prediction index based on the confirmed weight information and the accident occurrence risk index Further,
The lane change determining unit
Selecting a lane having a lower accident damage prediction index as a driving lane
Wherein the vehicle is an autonomous vehicle. A vehicle information database for storing braking ability information according to the type of vehicle;
Confirming surrounding vehicle information for confirming the type of vehicle being driven in front of and behind the vehicle in operation;
Checking the braking ability information corresponding to the type of the vehicle running in the forward and rearward directions confirmed in the checking of the surrounding road information by referring to the vehicle information database, and based on the confirmed braking ability information, Calculating an accident risk calculating grade;
Determining whether the lane change is based on the accident occurrence risk level calculated by the accident risk calculation unit
Of the vehicle. The method according to claim 6,
The accident risk level calculated in the risk risk calculation step
If the braking capability of the vehicle in operation is greater than the braking capability of the vehicle in the forward direction,
If the braking capability of the vehicle in operation is less than the braking capability of the vehicle running in the rear, it is calculated as a higher degree of risk
Wherein the vehicle is an autonomous vehicle. The method according to claim 6,
The step of calculating the accident risk
Calculating a risk of an accident occurrence of the lane of the vehicle in operation and the left and right lane of the vehicle in operation,
The lane change determination step
The lane of the vehicle in operation and the lane in which the risk of occurrence of the accident is lowest among the left and right lanes are selected as the driving lane when the accident risk level of the lane of the vehicle in operation is equal to or higher than the predetermined reference level
Wherein the vehicle is an autonomous vehicle. 9. The method of claim 8,
If the lane of the vehicle in operation and the risk of accident occurrence in the left and right lanes are the same,
The step of calculating the accident risk
Calculates an accident risk index based on the braking ability information,
The lane change determination step
Selecting the lane with the lowest risk index as the driving lane
Wherein the vehicle is an autonomous vehicle. 10. The method of claim 9,
The vehicle information database stores weight information according to the type of vehicle,
The step of calculating the accident risk
Referring to the vehicle information database to check weight information corresponding to the type of vehicle being driven from the front and rear of the vehicle in operation and to calculate the present accident damage prediction index based on the confirmed weight information and the accident occurrence risk index Further,
The lane change determination step
Selecting a lane having a lower accident damage prediction index as a driving lane
Wherein the vehicle is an autonomous vehicle. A recording medium on which a program for realizing the method according to any one of claims 6 to 10 is recorded.

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