KR20190042873A - Driving assistance system in intersection for autonomous vehicle using vision sensor - Google Patents

Abstract

The present invention relates to a crossover passing support system and method of an autonomous vehicle using a vision sensor. More specifically, the crossover passing support system comprises: a crossover passing support device installed at one side of an intersection, obtaining an image of a vehicle approaching in real time, and calculating a risk based on a current state of an access vehicle signal light based on the image; and an autonomous vehicle controller provided in an autonomous vehicle and determining whether the autonomous vehicle moves based on the risk received from the crossover passing support device to control driving of the autonomous vehicle.

Description

Technical Field [0001] The present invention relates to an intersection passing support system for an autonomous vehicle using a vision sensor,

The present invention relates to an intersection passage support system and a passage support method of an autonomous vehicle using a vision sensor.

The existing autonomous navigation system mainly uses the camera to recognize the traffic lights and then proceeds to pass the crosswalks or intersection sections where the signals exist. However, even if the recognition performance is perfect when the signal is recognized only by the camera, it is merely providing information about the traffic light of the approaching vehicle in the opposite position to the autonomous vehicle.

In addition, a technique of transmitting signal information to neighboring vehicles is applied to a V2X communication apparatus installed in a conventional traffic light, but there is a problem that it is not possible to control how an autonomous traveling system should be specifically moved at an intersection by simply transmitting signal information .

Most of the conventional techniques focus on a technique for displaying information about an intersection, information about an approaching vehicle in an opposed position on a display unit such as a windshield of an autonomous vehicle, and more specifically, But does not describe how to control the movement of the vehicle.

FIG. 1 is a view showing basic components of a traffic light according to the Korean Laid-Open Patent Application No. 2017-0090672 and a traffic light map of the surrounding roads. The configuration of the autonomous vehicle system according to the prior art 1 (KR 20170090672 A), when there is a signal lamp in the autonomous running, receives the signal light signal information and the map information of the driving position from the server through the network, And maps the stored map information, and then performs autonomous travel according to the set route when the received traffic signal information according to the traveling route information of the vehicle is the travel permission signal; And transmitting the map information and the traffic light signal information of the surroundings to the autonomous traveling apparatus through the network, receiving the intersection or the crosswalk route information in which the traffic lights are present from the autonomous travel apparatus, And a server for controlling a crosswalk signal or an intersection signal light signal according to the analysis result.

2 shows a block diagram of an intelligent traffic alert and control system according to US-A-9035797. As shown in FIG. 2, the prior art 2 (US 9035797 B) relates to an intelligent traffic alert and control system, and more particularly to a system for warning a driver approaching a traffic intersection controlled by a traffic signal, Green to red warns of imminent changes and describes techniques to plan ahead and safely stop the vehicle.

However, in the related art, only the purpose and structure of supporting autonomous driving vehicles, traffic information, traffic light information, and the like at intersections are provided, and information about the approach vehicles is analyzed. And does not mention a specific configuration that can be used to judge whether or not the vehicle is to be moved on an autonomous vehicle.

Therefore, it is required to develop an intersection passage support system that can control the vehicle by determining whether or not the vehicle is moving in an autonomous vehicle in an intersecting traffic situation.

Korea Patent Publication No. 20170090672 Korea Patent Publication No. 20170004715 Korean Patent Publication No. 20170039634 U.S. Published Patent Application No. 2017/0221366 U.S. Patent No. 9035797

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and it is an object of the present invention to provide an information processing apparatus, In addition to providing the function to support autonomous driving by providing information on the intersection infrastructure information and the approaching vehicles of the opposed positions, it is possible to provide a function of the intersection passing support device having the image acquisition unit (vision sensor) The information about the approach vehicle is formed and provided to the autonomous vehicle. The autonomous vehicle determines whether to move the braking, departing, or slowing at the intersection based on the risk data, the access vehicle information data and the autonomous vehicle information And to provide an intersection passage support system for an autonomous vehicle capable of controlling an autonomous drive in accordance with the determination result.

It is to be understood that both the foregoing general description and the following detailed description of the present invention are exemplary and explanatory and are not intended to limit the invention to the precise form disclosed. It can be understood.

An object of the present invention is to provide an intersection passing support system which is provided at a side of an intersection to acquire an image of an approaching vehicle approaching in real time and calculates the risk based on the current state of the approaching vehicle signal light based on the image, Pass support devices; And an autonomous vehicle controller provided in the autonomous vehicle and configured to determine whether to move based on the risk received from the intersection passage support device to control the running of the autonomous vehicle. It can be achieved as an autonomous vehicle crossing pass support system.

The intersection passage support device includes an image acquisition unit for acquiring image data of the access vehicle in real time; A background information extracting unit for extracting background information from the image data; And a vehicle object extracting unit for extracting an access vehicle object from the image data.

And a risk calculator for generating risk data based on the vehicle type, the speed, and the access vehicle information data, which is the current state of the access vehicle signal, extracted from the vehicle object extracting unit. have.

And an electronic map-based information display unit for displaying the access vehicle information data on an electronic map when the current state of the access vehicle signal lamp is a green signal.

If the current state of the access vehicle traffic light is not a green signal, the risk calculation unit may calculate the braking distance according to the type of the approaching vehicle, the current position of the approaching vehicle and the distance to the stop line, And generates the risk data.

The electronic map on-vehicle information display unit may display the access vehicle information data and the risk data on an electronic map when the current state of the access vehicle traffic light is not a green signal.

The information processing apparatus may further include an information transmission unit for transmitting the access vehicle information data, the risk data, and the data displayed on the electronic map to the autonomous vehicle controller.

The autonomous vehicle controller further includes: an access vehicle information receiver for receiving the information transmitted from the information transmitter; A movement determining unit for determining whether the autonomous vehicle is moving based on the data received by the information receiving unit and the current state of the autonomous vehicle signal lamp and generating a movement control signal; And a vehicle controller for controlling the autonomous vehicle based on the movement control signal.

The navigation apparatus according to claim 1, further comprising: a GPS receiver for receiving GPS information and a database storing travel route information and vehicle information of the autonomous vehicle, wherein the movement determining unit determines the travel route information, the vehicle information, The control unit may determine whether the autonomous vehicle is moving based on the data received by the information receiving unit and the current state of the autonomous vehicle signal lamp to generate a movement control signal.

The movement determination unit may transmit the braking signal to the vehicle control unit when the autonomous vehicle signal lamp is not a green signal.

When the autonomous vehicle signal lamp is a green signal and the braking distance of the approach vehicle is less than the distance to the stop line, a start signal is transmitted to the vehicle controller.

When the autonomous vehicle signal lamp is a green signal and the approach vehicle braking distance is greater than or equal to the distance to the stop line, if the approach vehicle braking distance is greater than the distance from the autonomous vehicle, the braking signal is transmitted to the vehicle controller , And when the approach vehicle braking distance is less than or equal to the distance from the autonomous vehicle, a slow signal is transmitted to the vehicle control unit.

A second object of the present invention is to provide an intersection passage support method comprising the steps of: acquiring an image of an access vehicle that an image acquisition unit provided in an intersection passage support apparatus installed at one side of an intersection approaches in real time; Extracting background information from the image data and extracting an approaching vehicle object from the image data; Generating risk data based on the vehicle type, the speed, and the access vehicle information data, which is the current state of the approach vehicle signal lamp, provided in the intersection passage support device; And controlling the traveling of the autonomous driving vehicle by determining whether the autonomous driving vehicle controller provided in the autonomous driving vehicle moves based on the risk data and the access vehicle information data received from the intersection passing assist device The intersection passing through the autonomous vehicle passing through the intersection can be achieved.

When the current state of the approaching vehicle signal lamp is not a green signal, the step of generating the risk data comprises: calculating a braking distance according to the type of the approaching vehicle, a distance between the current position of the approaching vehicle and the stopping line, And calculating a distance between the access vehicle and the autonomous vehicle.

In addition, the controlling step may include a step of determining whether the current state of the autonomous vehicle signal lamp, the traveling route information stored in the database, the autonomous vehicle information and the GPS information obtained from the GPS receiver, And the vehicle control unit controls the traveling of the autonomous vehicle on the basis of the movement control signal based on the movement control signal.

If the autonomous vehicle signal lamp is a green signal and the braking distance of the approaching vehicle is less than the distance to the stop line in the control step, And transmits a start signal to the vehicle control unit.

If the autonomous vehicle signal lamp is a green signal and the approach vehicle braking distance is greater than or equal to the distance to the stop line, if the approach vehicle braking distance is greater than the distance from the autonomous vehicle, the braking signal is transmitted to the vehicle controller , And when the approach vehicle braking distance is less than or equal to the distance from the autonomous vehicle, a slow signal is transmitted to the vehicle control unit.

According to the intersection passage support system for the autonomous vehicle according to the embodiment of the present invention, in the situation where the autonomous vehicle (automobile, bus, etc.) passes through the intersection, information on the traffic light, intersection infrastructure information, In addition to providing the function of assisting autonomous driving by providing information about the approach vehicle, it also forms information data about the approach vehicle and the risk to the approach vehicle through the intersection passing support device having the image acquisition part (vision sensor) The autonomous driving vehicle then controls the autonomous driving vehicle based on the risk data, the access vehicle information data, and the autonomous driving vehicle information by judging whether or not the braking, starting, .

It should be understood, however, that the effects obtained by the present invention are not limited to the above-mentioned effects, and other effects not mentioned may be clearly understood by those skilled in the art to which the present invention belongs It will be possible.

BRIEF DESCRIPTION OF THE DRAWINGS The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate preferred embodiments of the invention and, together with the description, serve to further the understanding of the technical idea of the invention, It should not be construed as limited.
BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a view showing basic components of a traffic light according to Korean Laid-Open Patent Publication No. 2017-0090672 and a traffic light map of a nearby road,
2 is a block diagram of an intelligent traffic warning and control system according to U.S. Patent No. 9035797,
FIG. 3 is a diagram illustrating a system for supporting an autonomous vehicle passing through an intersection using a vision sensor according to an embodiment of the present invention,
FIG. 4 is a block diagram showing a configuration of an autonomous vehicle crossing pass support system using a vision sensor according to an embodiment of the present invention.
5 is a flowchart of a method for calculating a risk by an intersection passage support apparatus according to an embodiment of the present invention;
FIG. 6 is a flowchart of a method for determining whether an autonomous vehicle is controlled or moved by an autonomous drive controller according to an embodiment of the present invention.
7 is a configuration diagram showing an embodiment in which the autonomous vehicle makes a left turn according to the present invention;
FIG. 8 is a block diagram showing an embodiment in which the autonomous vehicle travels straight in accordance with the present invention.

BRIEF DESCRIPTION OF THE DRAWINGS The above and other objects, features, and advantages of the present invention will become more readily apparent from the following description of preferred embodiments with reference to the accompanying drawings. However, the present invention is not limited to the embodiments described herein but may be embodied in other forms. Rather, the embodiments disclosed herein are provided so that this disclosure will be thorough and complete, and will fully convey the concept of the invention to those skilled in the art.

In this specification, when an element is referred to as being on another element, it may be directly formed on another element, or a third element may be interposed therebetween. Also in the figures, the thickness of the components is exaggerated for an effective description of the technical content.

Embodiments described herein will be described with reference to cross-sectional views and / or plan views that are ideal illustrations of the present invention. In the drawings, the thicknesses of the films and regions are exaggerated for an effective description of the technical content. Thus, the shape of the illustrations may be modified by manufacturing techniques and / or tolerances. Accordingly, the embodiments of the present invention are not limited to the specific forms shown, but also include changes in the shapes that are produced according to the manufacturing process. For example, the area shown at right angles may be rounded or may have a shape with a certain curvature. Thus, the regions illustrated in the figures have attributes, and the shapes of the regions illustrated in the figures are intended to illustrate specific forms of regions of the elements and are not intended to limit the scope of the invention. Although the terms first, second, etc. have been used in various embodiments of the present disclosure to describe various components, these components should not be limited by these terms. These terms have only been used to distinguish one component from another. The embodiments described and exemplified herein also include their complementary embodiments.

The terminology used herein is for the purpose of illustrating embodiments and is not intended to be limiting of the present invention. In the present specification, the singular form includes plural forms unless otherwise specified in the specification. The terms "comprises" and / or "comprising" used in the specification do not exclude the presence or addition of one or more other elements.

In describing the specific embodiments below, various specific details have been set forth in order to explain the invention in greater detail and to assist in understanding it. However, it will be appreciated by those skilled in the art that the present invention may be understood by those skilled in the art without departing from such specific details. In some instances, it should be noted that portions of the invention that are not commonly known in the description of the invention and are not significantly related to the invention do not describe confusing reasons to explain the present invention.

Hereinafter, the configuration and function of the autonomous vehicle crossing pass support system 100 using the vision sensor according to the embodiment of the present invention will be described. FIG. 3 is a block diagram illustrating a system for supporting an autonomous vehicle passing through an intersection using a vision sensor according to an embodiment of the present invention. 4 is a block diagram showing a configuration of an autonomous vehicle crossing pass support system 100 using a vision sensor according to an embodiment of the present invention.

3 and 4, an autonomous vehicle crossing passage support system 100 using a vision sensor according to an embodiment of the present invention includes an intersection passage support device 10 installed on the side of an intersection 4 as a whole, And an autonomous vehicle controller 20 installed in the autonomous vehicle 1 (bus, automobile, etc.).

The intersection passage support apparatus 10 according to the embodiment of the present invention installed at one side of the intersection 4 acquires the image of the approaching vehicle 2 approaching in real time and displays the image of the approaching vehicle signal light 3-1 The risk is calculated based on the current state.

In addition, the autonomous vehicle controller 20 installed in the autonomous vehicle 1 determines whether or not to move based on the risk transmitted from the intersection passage support apparatus 10, and controls the running of the autonomous vehicle 1 .

3, the intersection passage support apparatus 10 includes an image acquisition unit 11, a vehicle object extraction unit 12, a background information extraction unit 13, a risk calculation unit 14, The map information presentation unit 15, the information transmission unit 16, and the like.

The image acquiring unit 11 is composed of a vision sensor, a CCTV, and the like and acquires image data of the access vehicle 2 in real time. As long as image data can be acquired, its specific form, configuration, and number are not limited.

The background information extracting unit 13 extracts background information from the image data acquired by the image acquiring unit 11 and the vehicle object extracting unit 12 extracts the approach vehicle 2 object from the image data.

The risk calculation unit 14 according to the embodiment of the present invention calculates the current state of the approach vehicle 2 extracted by the vehicle object extraction unit 12 and the current state of the position, And the access vehicle information data is calculated. Then, the risk data is generated based on the access vehicle information data.

Specifically, when the current state of the approaching vehicle signal lamp 3-1 is not a green signal, the risk calculation unit 14 calculates the braking distance according to the vehicle type of the approaching vehicle 2, the current position of the approaching vehicle 2, And the distance between the access vehicle 2 and the autonomous vehicle 1 are calculated to generate the risk data.

The intersection passing support apparatus 10 according to the embodiment of the present invention includes an electronic map on-vehicle information display unit 15 and the electronic map on-vehicle information display unit 15 displays the on- If the current state is a green signal, the access vehicle information data is displayed on the electronic map. If the current state of the access vehicle traffic light 3-1 is not the green signal, the access vehicle information data and the risk data are displayed on the electronic map .

The intersection passage support apparatus 10 according to the embodiment of the present invention includes an information transfer unit 16 which transfers access vehicle information data, risk data, and data To the autonomous vehicle controller 20 side.

2, the autonomous vehicle controller 20 according to the embodiment of the present invention includes an information receiving unit 21, a GPS receiver 22, a movement determination unit 23, a vehicle control unit 24, As shown in FIG.

The information receiving unit 21 is configured to receive the information transmitted from the information transfer unit 16 of the intersection passage support apparatus 10 described above. That is, the information receiving unit 21 receives the access vehicle information data, the risk data, and the data displayed on the electronic map.

The database stores the running route information and the vehicle information of the autonomous vehicle 1, and the GPS receiver 22 receives the GPS information to obtain the speed and position of the autonomous vehicle 1.

The movement determination unit 23 determines whether or not the current route information, the vehicle information, and the GPS information, the data received by the information reception unit 21, and the current position of the autonomous vehicle signal lamp 3-2, according to the embodiment of the present invention, And determines the movement of the autonomous vehicle 1 based on the state to generate a movement control signal.

More specifically, the movement determination unit 23 transmits the braking signal to the vehicle controller 24 when the autonomous vehicle signal lamp 3-2 is not a green signal.

When the autonomous vehicle signal lamp 3-2 is a green signal and the approach vehicle braking distance is smaller than the distance to the stop line, the start signal is transmitted to the vehicle controller 24.

On the other hand, if the autonomous vehicle signal lamp 3-2 is a green signal and the approach vehicle braking distance is greater than or equal to the distance to the stop line, if the approach vehicle braking distance is greater than the distance from the autonomous vehicle 1, The braking signal is transmitted to the vehicle controller 24, and when the approach vehicle braking distance is less than or equal to the distance from the autonomous vehicle 1, the braking signal is transmitted to the vehicle controller 24.

Then, the vehicle controller 24 controls the running of the autonomous vehicle 1 in accordance with the movement control signal in accordance with the slow signal, the start signal, and the braking signal.

Hereinafter, a method for calculating the risk by the intersection passage support apparatus according to the embodiment of the present invention will be described. 5 is a flowchart of a method of calculating a risk by an intersection passage support apparatus according to an embodiment of the present invention. 6 is a flowchart of a method for determining whether the autonomous vehicle 1 is controlled or moved by the autonomous drive controller 20 according to the embodiment of the present invention. 7 shows a configuration diagram showing an embodiment in which the autonomous vehicle makes a left turn according to the present invention, and FIG. 8 shows a configuration diagram showing an embodiment in which the autonomous propulsion vehicle goes straight in accordance with the present invention.

5, the image acquisition unit 11 provided in the intersection passage support apparatus 10 installed at one side of the intersection 4 acquires image data of the access vehicle 2 that is accessed in real time (S1).

Then, the background information extracting unit 13 extracts background information from the image data (S2), and the vehicle object extracting unit 12 extracts the access vehicle 2 object from the image data (S3).

The risk calculation unit 14 provided in the intersection passage support apparatus 10 calculates the vehicle type S4-1 for the approaching vehicle 2 and the position, the speed S4-2, the approach traffic light 3-1 (Step S4).

When the access vehicle signal lamp 3-1 corresponds to the green signal, the electronic map on-vehicle information display section 15 displays the access vehicle information data on the electronic map (S8).

If the current state of the access vehicle traffic light 3-1 is not a green signal, the risk calculation section 14 calculates the braking distance S6-1 according to the vehicle type of the approaching vehicle 2, The distance S6-2 between the current position and the stop line and the distance S6-3 between the approaching vehicle 2 and the autonomous vehicle 1 are calculated at step S6 to generate risk data at step S7, .

Then, the electronic map on-vehicle information display section 15 displays such risk data and access vehicle information data on the electronic map.

Then, the information transfer unit 16 transmits the access vehicle information data, the risk data, and the data displayed on the electronic map to the information receiving unit 21 of the autonomous running controller 20 (S10-1) The vehicle controller 20 recognizes the autonomous vehicle information of the access vehicle 2 and the running route on the basis of the GPS information S10-1 and the running route information S10-3 (S20).

The movement determining unit 23 determines whether or not the traveling route information stored in the database, the autonomous driving vehicle information, the GPS information obtained from the GPS receiver 22, the data received from the passage support apparatus 10, Based on the current state of the signal lamp 3-2, it is determined whether or not the autonomous vehicle 1 has moved, and a movement control signal is generated. When the vehicle controller 24 determines that the autonomous vehicle 1 is traveling .

Specifically, when the autonomous vehicle signal lamp 3-2 is not a green signal, the braking signal is transmitted to the vehicle controller 24 (S30).

If the autonomous vehicle signal lamp 3-2 is a green signal and the approach vehicle braking distance is smaller than the distance to the stop line, the start signal is transmitted to the vehicle controller 24 (S40).

On the other hand, if the autonomous vehicle signal lamp 3-2 is a green signal and the approach vehicle braking distance is greater than or equal to the distance to the stop line, if the approach vehicle braking distance is greater than the distance from the autonomous vehicle 1, The braking signal is transmitted to the vehicle controller 24, and if the approach vehicle braking distance is less than or equal to the distance from the autonomous vehicle 1, a slow signal is transmitted to the vehicle controller 24 (S50).

Therefore, according to the intersection passage support system of the autonomous vehicle according to the embodiment of the present invention, in the situation where the autonomous vehicle (automobile, bus, etc.) passes through the intersection, information on the traffic light, intersection infrastructure information, The information about the approach vehicle and the information about the approach vehicle are provided through the intersection passage support device having the image acquisition unit (vision sensor) as well as the function of assisting the autonomous drive by providing information about the approach vehicle. The autonomous driving vehicle determines whether or not the vehicle is moving at an intersection based on the risk data, the access vehicle information data, and the autonomous driving vehicle information. .

It should be noted that the above-described apparatus and method are not limited to the configurations and methods of the embodiments described above, but the embodiments may be modified so that all or some of the embodiments are selectively combined .

1: autonomous vehicle
2: Access vehicle
3-1: Access vehicle light
3-2: Traffic lights for autonomous vehicles
4: Intersection
10: Transit support device
11:
12: vehicle object extracting unit
13: background information extracting unit
14: Risk Calculator
15: Information display unit on electronic map
16:
20: Autonomous steering controller
21: Access vehicle information receiver
22: GPS receiver
23:
24:
100: Intersection pass support system of autonomous vehicle using vision sensor

Claims (17)

In an intersection passage support system,
An intersection passing support device installed at one side of an intersection to acquire an image of an access vehicle approaching in real time and calculate a risk based on the current state of an access vehicle signal light based on the image; And
And an autonomous driving vehicle controller provided in the autonomous driving vehicle for controlling the driving of the autonomous driving vehicle based on a determination as to whether or not the driver is moving based on the risk received from the intersection passing assist device, Driving vehicle crossing pass support system.
The method according to claim 1,
The intersection passage support device includes:
An image obtaining unit for obtaining image data of an access vehicle in real time; A background information extracting unit for extracting background information from the image data; And a vehicle object extraction unit for extracting an access vehicle object from the image data.
3. The method of claim 2,
And a risk calculator for generating risk data based on the vehicle type, the speed, and the access vehicle information data, which is the current state of the access vehicle signal, extracted from the vehicle object extracting unit. Autonomous driving vehicle crossing pass support system.
The method of claim 3,
Further comprising an electronic map on-vehicle information display unit for displaying the access vehicle information data on an electronic map when the current state of the access vehicle traffic light is a green signal.
5. The method of claim 4,
The risk calculator
When the current state of the approaching vehicle signal lamp is not a green signal, the braking distance according to the type of the approaching vehicle, the distance between the current position of the approaching vehicle and the stop line, and the distance between the approaching vehicle and the autonomous vehicle And the risk data is generated based on the difference data.
6. The method of claim 5,
Wherein the electronic map on-vehicle information display unit displays the access vehicle information data and the risk data on an electronic map when the current state of the access vehicle traffic light is not a green signal. Support system.
The method according to claim 6,
Further comprising an information transmission unit for transmitting the access vehicle information data, the risk data, and the data displayed on the electronic map to the autonomous vehicle controller.
8. The method of claim 7,
Wherein the autonomous vehicle controller comprises:
An access vehicle information receiver for receiving the information transmitted from the information transmitter; A movement determining unit for determining whether the autonomous vehicle is moving based on the data received by the information receiving unit and the current state of the autonomous vehicle signal lamp and generating a movement control signal; And a vehicle controller for controlling the autonomous vehicle based on the movement control signal. The autonomous vehicle crossing pass support system using the vision sensor.
9. The method of claim 8,
Further comprising a GPS receiver for receiving GPS information and a database for storing driving route information and vehicle information of the autonomous vehicle,
The movement determination unit determines whether or not the autonomous vehicle is moving based on the current route information, the vehicle information, the GPS information, the data received by the information receiver, and the current state of the autonomous vehicle signal light Wherein the control signal generating unit generates the control signal based on the control signal.
10. The method of claim 9,
The moving-
And transmits the braking signal to the vehicle control unit when the autonomous vehicle signal lamp is not a green signal.
11. The method of claim 10,
When the autonomous vehicle signal lamp is a green signal and the braking distance of the approaching vehicle is less than the distance to the stop line, a start signal is transmitted to the vehicle control unit.
12. The method of claim 11,
When the autonomous vehicle signal lamp is a green signal and the braking distance of the approaching vehicle is greater than or equal to the distance to the stop line,
The braking signal is transmitted to the vehicle control unit if the approach vehicle braking distance is larger than the distance from the autonomous vehicle, and the slow signal is transmitted to the vehicle control unit when the approach vehicle braking distance is less than or equal to the distance from the autonomous vehicle. Autonomous vehicle crossing pass support system using vision sensor.
A method for supporting intersection passage,
Acquiring an image of an approaching vehicle that an image acquisition unit provided in an intersection passage support apparatus installed at one side of an intersection approaches in real time;
Extracting background information from the image data and extracting an approaching vehicle object from the image data;
Generating risk data based on the vehicle type, the speed, and the access vehicle information data, which is the current state of the approach vehicle signal lamp, provided in the intersection passage support device; And
And controlling the traveling of the autonomous driving vehicle by determining whether the autonomous driving vehicle controller provided in the autonomous driving vehicle moves based on the risk data and the access vehicle information data received from the intersection passage support device A Method for Supporting Passing of an Autonomous Vehicle Crossroad Using a Vision Sensor.
14. The method of claim 13,
Wherein the step of generating the risk data comprises:
When the current state of the approaching vehicle signal lamp is not a green signal, the risk calculation unit calculates the braking distance according to the type of the approaching vehicle, the current position of the approaching vehicle and the distance to the stopping line, Calculating a distance between the vehicle and the vehicle;
15. The method of claim 14,
Wherein the controlling comprises:
Wherein the movement determining unit determines whether or not the autonomous traveling vehicle based on the traveling route information stored in the database, the autonomous traveling vehicle information, the GPS information acquired from the GPS receiver, the data received from the passage support apparatus, Wherein the control unit determines whether the vehicle is moving, generates a movement control signal, and the vehicle control unit controls the running of the autonomous vehicle on the basis of the movement control signal.
16. The method of claim 15,
In the controlling step,
And transmits the braking signal to the vehicle control unit when the autonomous vehicle signal lamp is not a green signal,
And when the autonomous vehicle signal lamp is a green signal and the braking distance of the approaching vehicle is less than the distance to the stop line, a start signal is transmitted to the vehicle control unit.
17. The method of claim 16,
When the autonomous vehicle signal lamp is a green signal and the braking distance of the approaching vehicle is greater than or equal to the distance to the stop line,
The braking signal is transmitted to the vehicle control unit if the approach vehicle braking distance is larger than the distance from the autonomous vehicle, and the slow signal is transmitted to the vehicle control unit when the approach vehicle braking distance is less than or equal to the distance from the autonomous vehicle. A Method for Supporting Autonomous Driving Vehicle Crossing Pass through Vision Sensor.

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