KR20180129396A - Vehicle controll apparatus and vehicle controll method - Google Patents

Abstract

The invention relates to a vehicle control apparatus including: a receiving unit for receiving gate position information on each of a plurality of gates included in a tollgate and user vehicle position information; a determination unit determining a gate positioned at a shortest distance from the user vehicle as a target gate based on the gate position information and the user vehicle position information; a creation unit for creating a virtual entry path to the target gate position according to the target gate position information from the user vehicle position according to the user vehicle position information; and a control unit for controlling the user vehicle to pass the tollgate along the virtual entry path.

Description

[0001] VEHICLE CONTROLL APPARATUS AND VEHICLE CONTROLL METHOD [0002]

The present embodiments relate to an autonomous vehicle running technique on a road including a toll gate.

Generally, toll roads such as highways are provided with tollgates at predetermined positions in order to collect usage fees from the vehicles traveling.

Generally, a tollgate is installed horizontally in up and down lanes for the purpose of collecting tolls on toll roads, issuing a toll ticket, and setting the fare based on the toll ticket.

Such a tollgate is a facility inevitably installed for the toll collection, and has several gates in comparison with the entrance and exit lanes so that the traffic volume of the vehicle is smooth.

Therefore, the width of the road in the direction of the tollgate in the entry lane and the exit lane is enlarged. The road thus enlarged is referred to as a degree of freedom, and the lane may not be displayed in some sections of the free road.

On the other hand, a general vehicle autonomous driving technique controls a vehicle based on information generated by sensing a lane.

That is, the general autonomous vehicle driving technology has a limitation in that the autonomous vehicle driving technology can not be applied on a road including a toll gate.

In view of the foregoing, it is an object of the embodiments to provide an autonomous navigation technique of a vehicle that can operate on a road including a tollgate.

In one aspect, the present exemplary embodiment includes a receiving unit that receives gate position information for each of a plurality of gates included in a toll gate, and sub-vehicle position information for the sub-vehicle, A generation section for generating an entry virtual path directed to a target gate position according to target gate position information at a vehicle position according to the vehicle position information, And a control unit for controlling the vehicle to pass through the toll gate.

In another aspect, the present embodiment is characterized in that the present embodiment includes a receiving step of receiving the self-vehicle positional information for the child vehicle and the gate positional information for each of the plurality of gates included in the toll gate, A determination step of determining a gate located at a shortest distance from the subject vehicle as a target gate, a generation step of generating an entry virtual path directed to a target gate position according to target gate position information at a vehicle position according to vehicle position information, And controlling the vehicle to pass through the toll gate according to the route.

As described above, according to the present embodiments, it is possible to provide an autonomous traveling technology of a vehicle that can operate on a road including a tollgate.

1 is a diagram showing a configuration of a vehicle control apparatus according to the first embodiment.
2 is a diagram showing an example for explaining the operation of the vehicle control device according to the first embodiment.
3 is a diagram showing another example for explaining the operation of the vehicle control device according to the first embodiment.
4 is a diagram showing an example for explaining the operation of the vehicle control apparatus according to the second embodiment.
5 is a diagram showing another example for explaining the operation of the vehicle control device according to the second embodiment.
9 is a diagram showing a configuration of a vehicle control apparatus according to the third embodiment.
7 is a diagram showing an example for explaining the operation of the vehicle control device according to the third embodiment.
8 is a flowchart showing a vehicle control method according to the first embodiment.

Hereinafter, some embodiments will be described in detail with reference to exemplary drawings. In the drawings, like reference numerals are used to denote like elements throughout the drawings, even if they are shown on different 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 unclear.

In describing the constituent elements of the present embodiment, terms such as first, second, A, B, (a), and (b) may be used. These terms are intended to distinguish the components from other components, and the terms do not limit the nature, order, order, or number of the components. When a component is described as being "connected", "coupled", or "connected" to another component, the component may be directly connected or connected to the other component, Quot; intervening "or that each component may be" connected, "" coupled, "or " connected" through other components.

Fig. 1 is a diagram showing a configuration of a vehicle control apparatus according to the first embodiment. Figs. 2 and 3 show one example for explaining the operation of the vehicle control apparatus according to the first embodiment and another example FIG.

1 to 3 illustrate an exemplary embodiment of the invention in which a toll gate 210 including a plurality of gates G1, G2, G3, G4, G5 and G6 and an entrance road 230 comprising a plurality of entrance roads R1 and R2 The vehicle control apparatus 100 according to the first embodiment, which can be applied to the vehicle 240 traveling on the freely accessible road 220. [

1 to 3, the vehicle control apparatus 100 according to the first embodiment of the present invention includes a plurality of gates G1, G2, G3, G4, G5, and G6 included in the toll gate 210, A receiving unit 110 for receiving vehicle position information on the vehicle 240 and information on the position of the vehicle 240 based on the vehicle position information and the vehicle position information, A generation unit 130 for generating an entry virtual route directed to a target gate position according to the target gate position information at a vehicle position according to the vehicle position information, And a control unit 140 for controlling the subject vehicle.

The receiving unit 110 of the vehicle control apparatus 100 according to the first embodiment may receive information from a navigation system installed in an infra- structure or infra vehicle 240 installed near the entrance road or near the entrance road near the tollgate 210, Gate position information and child vehicle position information.

Although the infrastructure transmits pre-stored peripheral information, it may transmit location information of the detected vehicle by adding a function of detecting the vehicle as needed.

In addition, the navigation may detect the position according to the received GPS information, and may provide peripherals information using the sensed position and peripheral information according to the previously stored position.

Here, the peripheral information may be stored on the basis of a lane for determining a nearby lane, and the gate position information and the vehicle position information may be provided with position information of a neighboring lane.

The determination unit 120 of the vehicle control device 100 according to the first embodiment determines the gate G2 located at the shortest distance from the child vehicle 240 on the basis of the received gate position information and the child vehicle position information, It can be judged as a gate.

The generation unit 130 of the vehicle control apparatus 100 according to the first embodiment is provided with an entry virtual path 310 toward the target gate position according to the target gate position information at the position of the vehicle 240 according to the vehicle position information Can be generated.

The target gate position information means position information corresponding to the determined target gate among the received gate position information.

In addition, the width of the entry virtual path 310 is preset based on the width of the preset gate or the width of the child vehicle 240, and the entry virtual path 310 can be generated reflecting the camera-detected lane model.

The control unit 140 of the vehicle control apparatus 100 according to the first embodiment can control the host vehicle 240 to pass through the tollgate 210 according to the generated entry virtual path 310. [

For example, the control unit 140 may control at least one of the steering device, the accelerator, and the braking device so as to move along the entry virtual path 310.

This operation of the control unit 140 may be similar to the Lane Keeping Assist System (LKAS).

The vehicle control apparatus according to the first embodiment described with reference to Figs. 1 to 3 has an effect of providing an autonomous running of the subject vehicle in the toll gate section.

On the other hand, there may be another vehicle between the toll gate and the vehicle. Thus, it may be desirable for the subject vehicle to pass through another gate than through the gate located at the shortest distance.

A vehicle control apparatus according to a second embodiment capable of performing such an operation will be described in detail with reference to Figs. 4 and 5. Fig.

However, in describing the vehicle control apparatus according to the second embodiment, functions similar to those of the vehicle control apparatus according to the first embodiment can be briefly described, so that the description of the vehicle control apparatus according to the first embodiment something to do.

FIGS. 4 and 5 are diagrams showing an example and another example for explaining the operation of the vehicle control apparatus according to the second embodiment.

4 and 5, the vehicle control apparatus according to the second embodiment includes gate position information for each of a plurality of gates G1, G2, G3, G4, G5, and G6 included in the toll gate 210, (411, 412, 413, 414, 415) located between the vehicle (240) and the plurality of gates (G1, G2, G3, G4, G5, G6) And 416, and a gate corresponding to the high-speed vehicle located at the shortest distance from the vehicle 240 based on the gate position information and the vehicle position information, A generation unit for generating an entry virtual route directed to a target gate position according to the target gate position information at a vehicle position according to the vehicle location information, and a control unit for controlling the vehicle to pass through the tollgate according to the entry virtual route . ≪ / RTI >

The receiver of the vehicle control apparatus according to the second embodiment receives the gate position information and the position information from the navigation installed in the infrastructure (infra) or the child vehicle 240 installed in the vicinity of the toll gate 210, And can receive vehicle location information.

The receiving unit may receive vehicle speed information calculated based on information detected by a camera sensor, a radar sensor, or an ultrasonic sensor included in the vehicle 240 and monitoring the front side.

More specifically, the vehicle speed information can be calculated using the change amount of the distance information detected at a predetermined time interval from the camera sensor, the radar sensor, or the ultrasonic sensor and the predetermined time.

The determination unit of the vehicle control apparatus according to the second embodiment can respond to a high-speed riding vehicle that is located at the shortest distance from the child vehicle 240 and is equal to or higher than a preset threshold vehicle speed based on the received gate position information, child vehicle position information, Can be determined as the target gate.

More specifically, the determination unit determines the vehicle speed of the first vehicle 412 corresponding to the first gate G2 located at the shortest distance from the child vehicle 240 based on the received gate position information and the child vehicle position information Information comparing with the threshold vehicle speed, compares the vehicle speed information of the N-th riding vehicle selected by the preset rule with the threshold vehicle speed, and judges the other vehicle judged to be higher than the critical vehicle speed as the high-speed riding vehicle. The N is a natural number and can be determined according to the number of gates included in the toll gate.

As a first example of the rule, it is possible to determine the Nth gate in the order of the right side adjacent to the first gate G2.

The determination unit determines the first gate G2, the second gate G3, the third gate G4, the fourth gate G5, and the fifth gate G6, The vehicle speed information of each of the first, second, third, fourth rides 414, 413, 414, 415, and 416 is compared with the threshold vehicle speed in order, It can be judged that the other vehicle judged to be a high-speed train is the first vehicle.

In the first example, the case where the first gate is adjacent to the right side with respect to the first gate is illustrated, but the present invention is not limited thereto.

As a second example of the rule, the Nth gate may be determined in the order of the adjacent left and right sides in the first gate G2.

The determination unit determines the first gate G2, the second gate G1, the third gate G3, the fourth gate G4, the fifth gate G5, and the sixth gate G6, The second rider 413, the third rider 413, the fourth rider 414, the fifth rider 415 and the sixth rider 416 corresponding to the first rider 412, The respective vehicle speed information and the threshold vehicle speed are compared in order and the other vehicle determined to be higher than the critical vehicle speed can be determined as a high-speed vehicle.

In the second example, the case of being adjacent to the alternate right and left sides with respect to the first gate is illustrated, but the present invention is not limited thereto.

If the vehicle speed of the other vehicle 416 is equal to or higher than the critical speed, the judging unit judges that the other vehicle 416 is a high-speed one and that the gate G6 corresponding to the other vehicle 416 is a target gate have.

The determination unit according to the second embodiment can determine the other vehicle that is equal to or higher than the critical vehicle speed as a high-speed vehicle for a preset threshold time. Therefore, the judging unit can judge the high-speed vehicle more accurately.

When the determination unit determines that the gate G6 is the target gate, the generation unit according to the second embodiment generates an entry virtual path (hereinafter, referred to as an entry virtual path) from the vehicle 240 position according to the vehicle position information to the target gate position according to the target gate position information 510).

Thereafter, the control unit according to the second embodiment may control the host vehicle 240 to pass through the tollgate 210 according to the generated entry virtual path 510.

The vehicle control apparatus according to the second embodiment described on the basis of Figs. 4 and 5 has a structure in which a vehicle other than the gate located at the shortest distance from the toll gate and the vehicle exists, To pass through. Therefore, the vehicle can pass through the toll gate in a shorter time.

FIGS. 4 and 5 show a situation in which there are other vehicles entering all the gates included in the toll gate. However, there may be gates where there is no other vehicle to actually enter.

Thus, the determination unit of the vehicle control apparatus according to the second embodiment may determine the gate corresponding to the non-existing vehicle based on the received vehicle speed information as the target gate.

The vehicle control apparatus according to the second embodiment described above can determine the gate corresponding to another vehicle based on the direction of the received vehicle speed information. Here, the direction of the vehicle speed information may be determined according to the direction detected by the camera sensor, the radar sensor, or the ultrasonic sensor.

Alternatively, the vehicle control apparatus according to the second embodiment may further receive the position information of the other vehicle, and may determine the corresponding gate based on the position information of the received other vehicle.

For example, the position information and the gate position information of another vehicle set as two-dimensional information or three-dimensional information can determine the gate corresponding to another vehicle based on the same.

On the other hand, the vehicle control apparatus according to the third embodiment may control the subject vehicle to enter the toll gate and control the subject vehicle after passing through the toll gate.

6 and 7 are diagrams showing the relationship between a toll gate 710 including a plurality of gates G1, G2, G3, G4, G5 and G6 and an exit road 730 including a plurality of outgoing roads R3 and R4 The vehicle control apparatus 600 according to the third embodiment can be applied to the vehicle 740 running on the freely travel road 720. [

6 and 7, the vehicle control apparatus 600 according to the third embodiment of the present invention includes a plurality of gates G1, G2, G3, G4, G5, and G6 included in the toll gate 710, A receiving unit 610 for receiving information on vehicle-position information about the vehicle 740, a gate for placing the vehicle at the shortest distance from the vehicle 740 on the basis of the gate-position information and the vehicle- A generation unit 630 for generating an entry virtual path toward a target gate position according to the target gate position information at a vehicle position according to vehicle location information, and a control unit 630 for passing through the tollgate according to the entry virtual route And a confirmation unit 650 for determining whether the vehicle 740 has passed through the tollgate 710 based on the position information of the vehicle and the target gate position information, RTI ID = 0.0 > 740 < / RTI > The receiving unit 610 further receives the position information of the advanced lanes R3 and R4, and the determining unit 620 determines the positions of the leading lanes R3 and R4 based on the position information of the advanced lanes and the target gate position information. And the generation section 630 further determines an advanced virtual road S4 that is located at the shortest distance from the vehicle 740 as the target advance road, The control unit 640 may further control the host vehicle 740 to move to the target entry lane according to the entry virtual path 750.

That is, the vehicle control apparatus 600 according to the third embodiment controls the own vehicle before passing through the toll gate 710, and can control the own vehicle that has passed through the toll gate 710.

However, in describing the vehicle control device 600 according to the third embodiment below, the operation of controlling the own vehicle before passing through the toll gate 710 is the same as the first embodiment described with reference to Figs. 1 to 5 And the operation of the vehicle control apparatus according to the second embodiment are similar to those of the vehicle control apparatus according to the second embodiment.

The verification unit 650 of the vehicle control device 600 according to the third embodiment determines whether the position information of the subject vehicle matches the target gate position information or the distance between the subject vehicle position information and the target gate position information is decreased It is possible to confirm that the sub-vehicle 740 has passed through the toll gate 710 and generate a signal (Sign, S) corresponding thereto.

If it is determined that the own vehicle 740 has passed through the toll gate 710 and the signal S is generated by the confirming unit 650 operating in this way, the receiving unit (not shown) of the vehicle control apparatus 600 according to the third embodiment 610 may further receive position information of the advance lane for each of the plurality of outgoing lanes R3 and R4. The meaning of the further receiver means that the receiver of the vehicle control apparatus according to the first embodiment or the receiver of the vehicle control apparatus according to the second embodiment further receives the information received by the receiver.

The determining unit 620 of the vehicle control device 600 according to the third embodiment determines whether or not the position information of the advanced lanes R3, Based on the information and the target gate position information, it is possible to further determine the advance road R4 located at the shortest distance from the child vehicle 740 as the target advance road. The target gate position information may be position information determined by the determination unit before the subject vehicle passes through the toll gate 750. Further, the meaning of the further judgment means that the determination section of the vehicle control apparatus according to the first embodiment or the target gate determined by the determination section of the vehicle control apparatus according to the second embodiment further determines the target entry lane.

When the determination unit 620 determines the target advance lane, the generation unit 630 of the vehicle control device 600 according to the third embodiment determines whether the target advance lane is a target advance lane from the target gate position to the target advance lane position A virtual path 750 can be further generated. The generation information for the entry virtual path 750 may be the same as the entry information for the entry virtual path generated in the generation unit 630 before the vehicle passes through the toll gate. Further, the meaning of the generation further means that a generation virtual path is generated in addition to the entry virtual path generated by the generation unit of the vehicle control apparatus according to the first embodiment or the generation unit of the vehicle control apparatus according to the second embodiment.

The control unit 640 of the vehicle control device 600 according to the third embodiment moves the target virtual path 750 to the target entry lane along the entry virtual path 750, Lt; RTI ID = 0.0 > 740 < / RTI > The meaning of the further control means is to control the control unit of the vehicle control device according to the first embodiment or the control unit of the vehicle control device according to the second embodiment to move the vehicle 740 along the entry virtual path, And further control to move along.

The vehicle control apparatus according to the third embodiment described with reference to Figs. 6 and 7 has an effect of controlling not only the own vehicle to enter the toll gate but also the vehicle after passing through the toll gate.

Hereinafter, a vehicle control method, which is an operation performed by the vehicle control apparatus described with reference to Figs. 1 to 7, will be briefly described.

8 is a flowchart showing a vehicle control method according to the first embodiment.

Referring to FIG. 8, the vehicle control method according to the first embodiment includes a receiving step S800 for receiving the gate position information for each of the plurality of gates included in the toll gate and the own vehicle position information for the child vehicle, A determination step (S810) of determining a gate positioned at the shortest distance from the subject vehicle based on the information and the vehicle location information, and a target gate position according to the target gate position information at a vehicle location according to the vehicle location information A creation step S820 of creating an entry virtual path to the toll gate, and a control step S830 of controlling the vehicle to pass through the toll gate according to the entry virtual path.

The receiving step S800 of the vehicle control method according to the first embodiment is a method of receiving the gate position information and the position information from infrastructures installed in infrastructures or infra vehicles near the entrance road or around the entrance road near the toll gate 210, It is possible to receive the vehicle location information.

Although the infrastructure transmits pre-stored peripheral information, it may transmit location information of the detected vehicle by adding a function of detecting the vehicle as needed. In addition, the navigation may detect the position according to the received GPS information, and may provide peripherals information using the sensed position and peripheral information according to the previously stored position. Here, the peripheral information may be stored on the basis of a lane for determining a nearby lane, and the location information of the neighboring lane may be provided to the gate position information and the child vehicle position information.

The determination step S810 of the vehicle control method according to the first embodiment may determine the gate located at the shortest distance from the subject vehicle as the target gate based on the received gate position information and the child vehicle position information.

The generation step S820 of the vehicle control method according to the first embodiment may generate an entry virtual path from the child vehicle position according to the child vehicle position information to the target gate position according to the target gate position information.

The target gate position information means position information corresponding to the determined target gate among the received gate position information. In addition, the width of the entry virtual path can be preset based on the width of the predetermined gate or the width of the child vehicle.

The control step S830 of the vehicle control method according to the first embodiment can control the host vehicle to pass through the tollgate according to the generated entry virtual path.

For example, the control step S830 may control at least one of the steering device, the accelerator, and the braking device to move along the entry virtual path. This operation of the control step S830 may be similar to the Lane Keeping Assist System (LKAS).

The vehicle control method according to the first embodiment is effective in providing autonomous running of the subject vehicle in the toll gate section.

In addition to this, the vehicle control method can perform all the operations performed by the vehicle control device described with reference to Figs. 1 to 7.

It will be apparent to those skilled in the art that various modifications and variations can be made in the present invention without departing from the spirit or scope of the present invention. Therefore, it is intended that the present invention cover the modifications and variations of this invention provided they come within the scope of the appended claims and their equivalents. , Separation, substitution, and alteration of the invention will be apparent to those skilled in the art. Therefore, the disclosed embodiments are intended to illustrate and not limit the technical idea, and the scope of the technical idea is not limited by these embodiments. The scope of protection of the embodiments should be construed according to the following claims, and all technical ideas within the scope of equivalents should be interpreted as being included in the scope of the present invention.

Claims (10)

A receiver for receiving gate location information for each of a plurality of gates included in the toll gate and vehicle location information about the vehicle;
A determination unit determining a gate located at a shortest distance from the child vehicle based on the gate position information and the child vehicle position information as a target gate;
A generating unit for generating an entry virtual path toward a target gate position according to the target gate position information at a vehicle position according to the vehicle position information; And
A controller for controlling the sub-vehicle to pass through the toll gate according to the entry virtual path;
And the vehicle control device. The method according to claim 1,
Wherein the receiving unit further receives vehicle speed information of the other vehicle positioned between the plurality of gates and the child vehicle,
Wherein,
And determines a gate corresponding to a high-speed riding vehicle that is equal to or higher than a threshold vehicle speed set in advance based on the vehicle speed information as the target gate. 3. The method of claim 2,
Wherein,
Comparing the vehicle speed information of the first vehicle corresponding to the first gate located at the shortest distance from the subject vehicle with the threshold vehicle speed and comparing the vehicle speed information of the Nth vehicle selected by the preset rule with the threshold vehicle speed And determines the other vehicle determined to be higher than the critical vehicle speed as the high-speed vehicle. The method of claim 3,
The above-
The N-th gate is determined in the order of adjacent left and right sides alternately in the first gate, and the N-th wheel corresponding to the N-th gate is selected. 3. The method of claim 2,
The high-
And the other vehicle is maintained at the critical vehicle speed or more for a predetermined threshold time. 3. The method of claim 2,
The receiver may further comprise:
And receives the calculated vehicle speed information based on information sensed by a camera sensor, a radar sensor, or an ultrasonic sensor. Wherein the receiving unit further receives vehicle speed information of the other vehicle positioned between the plurality of gates and the child vehicle,
Wherein,
And determines a gate corresponding to another non-existing vehicle based on the vehicle speed information as the target gate. The method according to claim 1,
The receiver may further comprise:
And receives the gate position information and the child vehicle position information from the navigation system or from the infrastructure. The method according to claim 1,
Further comprising a confirmation unit for confirming whether the vehicle has passed the toll gate based on the vehicle location information and the target gate location information,
If it is determined that the vehicle has passed through the tollgate,
Wherein the receiving unit further receives position information of each of the plurality of advance cars,
Wherein the determining unit further determines an entry lane located at a shortest distance from the subject vehicle based on the entry lane location information and the target gate position information as a target entry lane,
Wherein the generation unit further generates an advanced virtual path from the target gate position to a target entry lane according to position information of the target entry lane,
Wherein the control unit further controls the child vehicle to move to the target entry lane according to the entry virtual path. A receiving step of receiving gate location information for each of a plurality of gates included in the toll gate and vehicle location information about the vehicle;
A determination step of determining, as a target gate, a gate located at a shortest distance from the child vehicle based on the gate position information and the child vehicle position information;
Generating an entry virtual path toward a target gate position according to target gate position information at a vehicle position according to the vehicle position information; And
A control step of controlling the sub-vehicle so as to pass through the toll gate according to the entry virtual path;
The vehicle control method comprising:

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