KR20200052409A - Apparatus and method for generating an obstacle avoidance path in an autonomous vehicle - Google Patents

Abstract

Proposed are an apparatus for generating an obstacle avoidance path in an autonomous vehicle to enable the driving after safely avoiding an obstacle by generating and providing the avoidance path when the obstacle is present in front of a driving autonomous vehicle and a method thereof. The apparatus includes: an avoidance path point information generating unit for generating information about points of different avoidance paths based on different input conditions and storing the information in a table format in advance; an obstacle recognition unit for recognizing an obstacle in front of the autonomous vehicle during driving; a monitoring unit for monitoring driving behaviors of the autonomous vehicle during driving and driving behaviors of other vehicles around the autonomous vehicle; a control unit for reading and outputting information of points of the avoidance path matching the current monitoring result of the monitoring unit from the table as an access to an avoidance mode is determined based on the information from the obstacle recognition unit and the monitoring unit; and an avoidance path generation unit for generating an actual avoidance path based on the information of points of the avoidance path from the control unit.

Description

Apparatus and method for generating an obstacle avoidance path in an autonomous vehicle}

The present invention relates to an apparatus and method for generating an obstacle avoidance path in an autonomous vehicle, and more particularly, to an apparatus and method for generating an avoidance path when an obstacle is found while driving the autonomous vehicle.

Today's automobile industry is moving toward autonomous driving that minimizes driver intervention in driving vehicles. An autonomous vehicle is a vehicle that independently determines the driving route by recognizing the surrounding environment through external information detection and processing functions, and independently drives using its own power.

Self-driving vehicles can drive to their destinations by preventing collision with obstacles on the driving path and adjusting the vehicle speed and driving direction according to the shape of the road, without requiring the driver to operate the steering wheel, accelerator pedal, or brake. have. For example, acceleration may be performed on a straight road and deceleration may be performed on a curved road while changing a driving direction in response to a curvature of the road.

In order to ensure stable driving of autonomous vehicles, it is necessary to accurately measure the driving environment through each sensor mounted on the vehicle, and continuously monitor the driving condition of the vehicle and control driving according to the measured driving environment. In addition, it is important to prevent a departure from a path or a collision with an obstacle in advance by using communication technology between vehicles or vehicles and infrastructure.

Conventionally, when an obstacle such as a vehicle or a person located in front of an autonomous vehicle is found, braking control is used to avoid collision with the obstacle. That is, the collision risk between the front obstacle is calculated through the radar and the camera, and the distance to the obstacle required to avoid the collision is compared with the current distance to warn the driver if a sufficient distance is not secured. If the driver does not respond properly despite the warning, a method of automatically generating or assisting the braking force through the braking control system was used.

However, in general, since the braking distance is proportional to the square of the vehicle speed, there is a problem that collision avoidance is difficult only with braking control when the vehicle is traveling at a high speed. In addition, avoidance through braking control only simplifies the avoidance strategy, making it difficult to effectively avoid the situation.

Prior Art 1: Korean Registered Patent No. 10-1581286 (Route tracking system and method for autonomous driving of unmanned driving vehicles) Prior art 2: Republic of Korea Patent Publication No. 10-2018-0062503 (autonomous driving control device and method) Prior art 3: Republic of Korea Patent Publication No. 10-2017-0119842 (autonomous driving vehicle control device and method)

The present invention has been proposed to solve the above-described conventional problems, and in the case of an autonomous vehicle in which an obstacle is in front of the autonomous vehicle to be driven, an obstacle is generated and provided, so that an obstacle can be safely avoided and driven. An object of the present invention is to provide an obstacle avoidance path generating apparatus and method.

In order to achieve the above object, the obstacle avoidance path generation apparatus in the autonomous vehicle according to the preferred embodiment of the present invention generates information on points of different avoidance paths based on different input conditions in a table form. A avoidance path point information generating unit that is stored in advance; An obstacle recognition unit for recognizing obstacles in front of the autonomous vehicle being driven; A monitoring unit that monitors the driving behavior of the autonomous vehicle being driven and the driving behavior of other vehicles around the autonomous vehicle; A control unit that reads and outputs information on points of the avoidance path matching the current monitoring result from the monitoring unit by determining the entry into the avoidance mode based on the information from the obstacle recognition unit and the monitoring unit. ; And an evasion path generation unit that generates an actual evasion path based on information of points of the evasion path from the control unit.

The avoidance route point information generating unit sets a corresponding travel avoidance point, a target travel avoidance point, and an intermediate point for each input condition, and avoids a route connecting the travel avoidance point and the target travel avoidance point via the intermediate point. It is possible to generate information of the points constituting.

The driving avoidance point may be a point indicating the position of the left end or the right end in the front of the autonomous vehicle, and the target driving avoidance point may be a point indicating a position away from the obstacle by a safety distance to the left or right, The safety distance may be a distance from a position at the left end of the rear of the obstacle to a certain distance to the left or a distance from a position at the right end of the rear of the obstacle to a distance at the right.

The midpoint is set according to a preset driving environment for each input condition, and the driving environment may include one or more of a surrounding situation and a vehicle speed.

The midpoint may exist within a square range of (0.1, 0.1), (0.9, 0.9) diagonally.

The avoidance route point information generating unit sets a point between the travel avoidance point and the target travel avoidance point, and then uses a filter to take a new point on the avoidance route connecting the travel avoidance point and the target travel avoidance point. You can calculate the location of them.

The filter, mask4 = {-w, 1/2 + w, 1/2 + w, -w} or mask6 = {θ,-(1/16 + 3θ), 9/16 + 2θ, 9/16 + 2θ,-(1/16 + 3θ), θ}, wherein w and θ are variables having a value for smoothly bending the evasion path, and w is -1/2 ≤ w ≤ 1 / 2, and θ may be −1/2 ≤ θ ≤ 1/2.

The evasion path point information generation unit may determine a position by applying any one of continuous, mirror, periodic, and zero padding to a point located at a boundary in calculating the position of the new points to be taken.

The avoidance path point information generation unit may generate information about points of the avoidance path that take a continuous curve of a gentle esza shape.

It may further include; a display unit for displaying the actual avoided path generated by the avoided path generating unit.

On the other hand, a method for generating an obstacle avoidance path in an autonomous vehicle according to a preferred embodiment of the present invention includes generating information about points of different avoidance paths based on different input conditions and storing them in a table form in advance; Recognizing an obstacle in front of the autonomous driving vehicle while driving; Monitoring the driving behavior of the autonomous vehicle being driven and the driving behavior of other vehicles around the autonomous vehicle; As the entry into the avoidance mode is determined based on the information in the recognizing step and the monitoring step, information of points of the avoidance path matching the current monitoring result by the monitoring step is read from the table and output. To do; And generating an actual avoidance path based on the information of the points of the output avoidance path.

According to the present invention having such a configuration, when there is an obstacle in the front when driving an autonomous vehicle, a safe avoidance path is generated and provided, so that the driver of the autonomous vehicle can easily check the displayed actual avoidance path with the naked eye. The autonomous vehicle may perform obstacle avoidance driving along the indicated avoidance path.

1 is a configuration diagram of an obstacle avoidance path generating apparatus in an autonomous vehicle according to an embodiment of the present invention.
2 to 14 are views for explaining the operation of the avoidance path point information generating unit shown in FIG. 1.
15 is a flowchart illustrating a method of generating an obstacle avoidance path in an autonomous vehicle according to an embodiment of the present invention.
16 is a flowchart illustrating a more specific description of step S10 shown in FIG. 15.
17 is a flowchart showing a more specific description of step S30 shown in FIG. 15.

The present invention can be applied to various changes and can have various embodiments, and specific embodiments will be illustrated in the drawings and described in detail.

However, this is not intended to limit the present invention to specific embodiments, and should be understood to include all modifications, equivalents, and substitutes included in the spirit and scope of the present invention.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions include plural expressions unless the context clearly indicates otherwise. In this application, terms such as “include” or “have” are intended to indicate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, one or more other features. It should be understood that the existence or addition possibilities of fields or numbers, steps, operations, components, parts or combinations thereof are not excluded in advance.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by a person skilled in the art to which the present invention pertains. Terms such as those defined in a commonly used dictionary should be interpreted as having meanings consistent with meanings in the context of related technologies, and should not be interpreted as ideal or excessively formal meanings unless explicitly defined in the present application. Does not.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In order to facilitate the overall understanding in describing the present invention, the same reference numerals are used for the same components in the drawings, and duplicate descriptions for the same components are omitted.

1 is a configuration diagram of an obstacle avoidance route generating apparatus in an autonomous vehicle according to an embodiment of the present invention, and FIGS. 2 to 14 are views for explaining the operation of the avoidance route point information generator shown in FIG. 1.

The obstacle avoidance path generation apparatus in the autonomous vehicle according to the embodiment of the present invention includes an avoidance path point information generation unit 10, a storage unit 20, an obstacle recognition unit 30, a monitoring unit 40, and a control unit 50 ), An avoidance path generation unit 60, and a display unit 70.

The avoidance path point information generation unit 10 generates information (eg, coordinates) for points forming the avoidance path that can be generated for different input conditions.

Here, different input conditions are provided arbitrarily set from the outside, and may be input conditions for a driving environment (for example, one or more of a surrounding environment and a vehicle speed) of an autonomous vehicle. For example, the surrounding environment of an autonomous vehicle is an input value indicating that another vehicle is driving or not driving in the lane next to the lane in which the autonomous vehicle is driving, and the other vehicle is traveling in the next lane. This may be an obstacle or an input value of how close the vehicle is to the autonomous vehicle. Accordingly, when various surrounding environments and / or vehicle speeds are used as input conditions, information (eg, coordinates) for points forming the avoidance path will be changed accordingly.

The avoidance path point information generation unit 10 tabulates information about the generated points of each avoidance path (eg, a lookup table) and stores the information in the storage unit 20 in advance.

A more detailed description of the avoidance route point information generating unit 10 will be described with reference to FIGS. 2 to 14.

First, referring to FIG. 2, the avoidance path point information generating unit 10 has a predetermined safety distance SD for an obstacle 200 (another autonomous vehicle or a general vehicle) in front of the autonomous vehicle 100 according to input conditions. ) Is set and information (eg, location information (ie, coordinates)) of points constituting the avoidance path AP connecting the travel avoidance point P1 and the target travel avoidance point P3 is generated.

Here, the safety distance SD means a distance sufficient to safely avoid the obstacle in the left or right lane of the obstacle 200 without colliding with the obstacle 200. The safety distance SD means a distance from the avoidance point P4 of the obstacle 200 to a predetermined distance to the left or right. The avoidance point P4 may be the position of the leftmost end or the rightmost end from the rear of the obstacle 200. In FIG. 2, the rightmost end from the rear of the obstacle 200 is assumed as the avoidance point P4.

The driving avoidance point P1 may be a position of the leftmost end or the rightmost end in the front of the autonomous vehicle 100. In FIG. 2, it is assumed that the leftmost end of the autonomous vehicle 100 is the avoidance point P1.

The target driving avoidance point P3 may mean a position that is left or right by the safety distance SD from the obstacle 200.

As a result, as shown in FIG. 2, when the autonomous vehicle 100 attempts to travel to the right by avoiding the obstacle 200, the leftmost end of the front of the autonomous vehicle 100 (ie, the driving avoidance point P1) is Do not hit the rightmost end (i.e., the portion with the avoidance point P4) behind the obstacle 200. Accordingly, the avoidance route point information generating unit 10 sets a safety distance SD of a predetermined distance to the right side of the obstacle 200 and avoids a route connecting the travel avoidance point P1 and the target travel avoidance point P3 ( AP) to generate information of the points constituting the.

Here, in generating information of the points constituting the avoidance route AP connecting the travel avoidance point P1 and the target travel avoidance point P3, the avoidance route point information generation unit 10 is the first in FIG. Similarly, the position of the midpoint P2 is set. Here, the position of the intermediate point P2 may be set and determined according to the input driving environment (for example, surrounding conditions, vehicle speed, etc.). It is preferable that the midpoint P2 exists in a square range with (0.1, 0.1), (0.9, 0.9) diagonally. The midpoint P2 may be automatically set by a learning result using artificial intelligence. Of course, if necessary, the intermediate point P2 can be set by the person directly according to human experience. Then, the avoidance path point information generating unit 10 continues to interpolate the points between the points to create an avoidance path. At this time, the intermediate point P2 is a point that must be passed.

In other words, first, there is a travel avoidance point P1 and a target travel avoidance point P3, and an intermediate point P2 is set between the travel avoidance point P1 and the target travel avoidance point P3 (Fig. 4). Reference). Subsequently, the avoidance route point information generation unit 10 is based on the location information of these points, and between points (for example, between the driving avoidance point P1 and the intermediate point P2, and the intermediate point P2 and the target driving) A new point to be created between the avoidance points P3) is generated. At this time, the avoidance route point information generating unit 10 calculates the position of the new point to be taken using the filter and the surrounding points. Here, the filter is mask4 = {-w, 1/2 + w, 1/2 + w, -w} or mask6 = {θ,-(1/16 + 3θ), 9/16 + 2θ, 9/16 + 2θ,-(1/16 + 3θ), θ}. w and θ are variables having values for allowing the avoidance path AP to bend gently, and may be referred to as a gentle variable. In mask4, w has a range to be a continuous function, which is approximately -1/2 ≤ w ≤ 1/2, and in mask6, θ has a range to be a continuous function, which is approximately -1/2 ≤ θ ≤ 1/2. The avoidance path point information generating unit 10 makes the avoidance path AP form a continuous curve by repeatedly operating the filter N times when determining a new point to be photographed.

For example, while there is a travel avoidance point P1 and a target travel avoidance point P3 and an intermediate point P2 is set between the travel avoidance point P1 and the target travel avoidance point P3, avoidance route point information When the filter 10 is executed once using the filter as a mask4, the generator 10 may obtain the position value of the point between the point by multiplying the filter and the surrounding points. That is, as shown in FIG. 4, position information (ie, coordinates) of the points to be taken ((X _2,2 , Y _2,2 ), (X _2,4 , Y _2,4 )) can be calculated. When using mask4 = {-w, 1/2 + w, 1/2 + w, -w}, (X _2,1 , Y _2,1 ) = (X _1,1 , Y _{1, 1} ) , (X _2,2 , Y _2,2 ) = -w × (X _1,0 , Y _1,0 ) + (1/2 + w) × (X _1,1 , Y _1,1 ) + (1 / 2 + w) × (X _1,2 , Y _1,2 ) -w × (X _1,3 , Y _{1, 3} ), (X _2,3 , Y _2,3 ) = (X _{1, 2} , Y _{1, 2} ), (X _2,4 , Y _2,4 ) = -w × (X _1,1 , Y _1,1 ) + (1/2 + w) × (X _1,2 , Y _1,2 ) + (1/2 + w) × (X _1,3 , Y _1,3 ) -w × (X _1,4 , Y _1,4 ), and (X _2,5 , Y _2,5 ) = (X _1,3 , Y _{1, 3} ). And, (X _1,0 , Y _1,0 ) and (X _1,4 , Y _{1, 4} ) may be further, (X _1,0 , Y _1,0 ) and (X _1,4 , Y _{Since 1, 4} ) are coordinates located at the boundary, (X _1,0 , Y _1,0 ) and (X _1,4 , Y _{1, 4} ) are continuous, to create a continuous curved avoidance path (AP). Position can be determined by applying one of mirror, periodic, and zero padding. Accordingly, it is assumed that (X _1,0 , Y _1,0 ) = (X _1,1 , Y _{1, 1} ) converges, and (X _1,4 , Y _1,4 ) = (X _1,3 , Let Y _{1, 3} ) converge. Preferably, in the embodiment of the present invention, the position is determined by applying continuous to the point located at the boundary.

Here, using mask4, w = 1/16, (X _1,1 , Y _1,1 ) = (0, 0), (X _1,2 , Y _1,2 ) = (0.5, 0.3), ( _{Assuming that} X _1,3 , Y _1,3 ) = (1, 1), when the filter is executed once, the avoidance path point information generating unit 10 displays different coordinate values for the avoidance path as shown in FIG. 5. If the points can be obtained and the filter is executed twice, the avoidance path point information generating unit 10 can obtain points of different coordinate values for the avoidance path as shown in FIG. 6, and when the filter is executed three times The avoidance path point information generation unit 10 may obtain points of different coordinate values for the avoidance path as shown in FIG. 7, and when the filter is executed four times, the avoidance path point information generation unit 10 is shown in FIG. 8. As described above, points of different coordinate values for the avoidance path can be obtained, and when the filter is executed 5 times, the avoidance path point information generating unit 10 is configured for the avoidance path as shown in FIG. 9. It can be found in the group that coordinates the other. Of course, if necessary, the avoidance route point information generation unit 10 may repeatedly execute the filter six or more times.

As described above, the avoidance path point information generation unit 10 selects any one of FIGS. 5 to 9, for example, to form the avoidance path that can generate information of points of the corresponding coordinate value for the corresponding input condition. As information about the table (for example, look-up table type) and stored in the storage unit 20.

This time, the case of using mask6 will be described. The avoidance route point information generation unit 10 while the driving avoidance point P1 and the target driving avoidance point P3 are present and the intermediate point P2 is set between the driving avoidance point P1 and the target driving avoidance point P3. ) Is executed once with the mask6 as the filter, the value of the position of the point between the point and the point can be obtained by multiplying the filter and the surrounding points. That is, as shown in FIG. 4, position information (ie, coordinates) of the points to be taken ((X _2,2 , Y _2,2 ), (X _2,4 , Y _2,4 )) can be calculated. When using mask6 = {θ,-(1/16 + 3θ), 9/16 + 2θ, 9/16 + 2θ,-(1/16 + 3θ), θ}, (X _2,1 , Y _{2, 1} ) = (X _1,1 , Y _{1, 1} ), (X _2,2 , Y _2,2 ) = θ × (X _{1, -1} , Y _{1, -1} )-(1/16 + 3θ) × (X _1,0 , Y _1,0 ) + ( _9/16 + 2θ) × (X _1,1 , Y _1,1 ) + ( _9/16 + 2θ) × (X _1,2 , Y _1,2 )-(1/16 + 3θ) × (X _1,3 , Y _1,3 ) + θ × (X _1,4 , Y _{1, 4} ), (X _2,3 , Y _{2, 3} ) = (X _1,2 , Y _{1, 2} ), (X _2,4 , Y _2,4 ) = θ × (X _1,0 , Y _1,0 )-(9/16 + 3θ) × (X _1,1 , Y _1,1 ) + ( _9/16 + 2θ) × (X _1,2 , Y _1,2 ) + (9/16 + 2θ) × (X _1,3 , Y _{1, 3} )-(1/16 + 3θ) × (X _1,4 , Y _1,4 ) + θ × (X _1,5 , Y _{1, 5} ), and (X _2,5 , Y _2,5 ) = (X _1,3 , Y _{1, 3} ). And, (X _{1, -1} , Y _{1, -1} ), (X _1,0 , Y _1,0 ), (X _1,5 , Y _1,5 ), and (X _1,4 , Y _{1, 4)} there may be more, to create a path to avoid a continuous curve shape _{(AP) (X 1, -1} , Y 1, -1), (X 1,0, Y 1,0), (X 1 _{, 5} , Y _1,5 ), and (X _1,4 , Y _{1, 4} ) can be determined by applying one of continuous, mirror, periodic, and zero padding. Accordingly, it is assumed that (X _{1, -1} , Y _{1, -1} ) = (X _1,0 , Y _1,0 ) = (X _1,1 , Y _{1, 1} ), and (X _{1, It} is assumed that ₅ , Y _1,5 ) = (X _1,4 , Y _1,4 ) = (X _1,3 , Y _{1, 3} ). Preferably, in the embodiment of the present invention, the position is determined by applying continuous to the point located at the boundary.

Here, using mask6, θ = 0.014, (X _1,1 , Y _1,1 ) = (0, 0), (X _1,2 , Y _1,2 ) = (0.5, 0.3), (X _{1 If, 3} , Y _1,3 ) = (1, 1), when the filter is executed once, the avoidance path point information generating unit 10 displays points of different coordinate values for the avoidance path as shown in FIG. 10. When the filter is executed twice, the avoidance path point information generating unit 10 can obtain points of different coordinate values for the avoidance path as shown in FIG. 11, and when the filter is executed three times, the avoidance path The point information generation unit 10 may obtain points of different coordinate values for the avoidance route as shown in FIG. 12, and when the filter is executed four times, the avoidance route point information generation unit 10 as shown in FIG. It is possible to obtain points of different coordinate values for the avoidance path, and when the filter is executed 5 times, the avoidance path point information generating unit 10 may determine the avoidance path as shown in FIG. 14. Each one can be found that the other coordinates. Of course, if necessary, the avoidance route point information generation unit 10 may repeatedly execute the filter six or more times.

As described above, the avoidance path point information generating unit 10 selects any one of FIGS. 10 to 14, for example, to form the avoidance path that can generate information of points of the corresponding coordinate value for the corresponding input condition. As information about the table (for example, look-up table type) and stored in the storage unit 20.

In the same manner as described above, the avoidance path point information generation unit 10 may generate information (eg, coordinates) about points forming different avoidance paths by receiving different input conditions from the outside.

Eventually, the avoidance path point information generating unit 10 uses a subdivision algorithm, but applies the value by the filter appropriately to the points of the avoidance path that take a continuous curve of a smooth S-shape (S) shape. Information can be created in advance.

The storage unit 20 stores a table (for example, a look-up table type) in which information on points of the avoidance path for different input conditions is stored. Here, the information of the table can be updated as much as possible.

Although the avoidance route point information generation unit 10 and the storage unit 20 are respectively used as separate components in FIG. 1, the storage unit 20 is assumed to be included in the avoidance route point information generation unit 10. It is okay.

The obstacle recognition unit 30 recognizes an obstacle existing in front of the autonomous vehicle in operation.

For example, the obstacle recognition unit 30 may include one or more from a camera, a radar unit, a LIDAR unit, or the like. The camera may capture an image of an external environment surrounding the autonomous vehicle. The camera can be a still image camera and / or a video camera. For example, the camera can be mounted on a rotating and / or tilting platform to be mechanically movable. The radar unit can detect obstacles in the local environment of the autonomous vehicle using a wireless signal. The lidar unit may detect obstacles in front of and around an autonomous vehicle in driving using a laser.

The monitoring unit 40 may monitor the driving behavior of the autonomous vehicle while driving. For example, the monitoring unit 40 monitors lateral displacement, lateral speed, vehicle speed, steering angle, steering torque, and curvature radius according to the actual driving of the autonomous vehicle, thereby confirming the actual driving behavior of the autonomous vehicle currently being driven. Can be.

The monitoring unit 40 may monitor the distance between the autonomous vehicle 100 currently being driven and the obstacle 200 in front and the relative speed of the obstacle 200 in front through monitoring the driving behavior of the autonomous vehicle being driven. .

In addition, the monitoring unit 40 may monitor the environment around the autonomous vehicle currently being driven and other vehicles around the autonomous vehicle currently being driven using the camera module, the lidar module, and the like. For example, the monitoring unit 40 may monitor whether or not there is another vehicle driving in the next lane of the lane in which the corresponding autonomous vehicle is driving, and if there is another vehicle driving in the next lane, the corresponding It is possible to monitor how close another vehicle is to the obstacle 200 or the autonomous vehicle 100.

The monitoring unit 40 may monitor the relative speed of another vehicle driving in the next lane through monitoring the driving behavior of other vehicles around the autonomous vehicle currently being driven.

The control unit 50 determines whether to enter the avoidance mode based on the information from the obstacle recognition unit 30 and the monitoring unit 40. For example, the distance between the currently driving autonomous vehicle 100 and the obstacle 200 in front is within a predetermined predetermined distance, and the current driving speed of the autonomous vehicle 100 is greater than the current driving speed of the obstacle 200. In a quick case, the control unit 50 may decide to enter the avoidance mode. Of course, when deciding to enter the avoidance mode, the control unit 50 may determine which lane to avoid the driving from among the left lane and the right lane of the obstacle 200.

The controller 50 reads (reads) the information of the points of the avoidance path matching the current monitoring result from the monitoring unit 40 from the table of the storage unit 20 as it determines the entry into the avoidance mode, The avoidance path generation command is commanded while transmitting the read information of the points of the avoidance path to the avoidance path generation unit 60.

The avoidance path generation unit 60 generates an actual avoidance path based on the information of the points of the avoidance path from the control unit 50 based on the avoidance path generation command from the control unit 50. For example, the avoidance route generation unit 60 may generate an actual avoidance route by scaling information of points of the avoidance route from the controller 50.

The display unit 70 displays the actual avoided path generated by the avoided path generating unit 60 on the screen.

Here, the display unit 70 is installed on the dashboard in front of the driver's seat, it is preferable that the driver is installed in a position where the operator can easily check the actual avoided path displayed on the display unit 70 with the naked eye.

15 is a flowchart illustrating a method for generating an obstacle avoidance path in an autonomous vehicle according to an embodiment of the present invention, and FIG. 16 is a flowchart illustrating a more specific description of step S10 shown in FIG. 15, 17 is a flowchart showing a more specific description of step S30 shown in FIG. 15.

First, the avoidance path point information generating unit 10 generates information (eg, coordinates) for points forming an avoidance path that can be generated for different input conditions (S10). In other words, as shown in FIG. 16, the avoidance route point information generating unit 10 sets a predetermined safety distance SD for the obstacle 200 in front of the autonomous vehicle 100 and sets the avoidance point P1 to The position of the target travel avoidance point P3, the travel avoidance point P1 and the intermediate point P2 between the target travel avoidance point P3 is determined (S11). Here, the method of determining the travel avoidance point P1, the midpoint P3, and the target travel avoidance point P3 has already been described. Then, while there is a travel avoidance point P1 and a target travel avoidance point P3 and an intermediate point P2 is set between the travel avoidance point P1 and the target travel avoidance point P3, the avoidance path point information generation unit (10) multiplies the filter and the surrounding points to obtain the position values of the points between the points (S12). We have already described how to multiply the filter and the surrounding points to obtain the position values of the points between the points. When the operation of multiplying the filter and the surrounding points is executed up to a predetermined N times ("Yes" in S13), the operation of step S10 described above is ended.

Thereafter, the avoidance path point information generation unit 10 pre-stores the information on the points of each avoidance path generated in this way (eg, in the form of a lookup table) in the storage unit 20 in advance (S20).

Then, as the control unit 50 determines the entry into the avoidance mode based on the information from the obstacle recognition unit 30 and the monitoring unit 40, the avoidance path generation unit 60 matches the current monitoring result Based on the points of the avoided path, an actual avoided path is generated and displayed through the display unit 70 (S30). In other words, as shown in FIG. 17, in the state in which the autonomous vehicle is traveling (S31), the obstacle recognition unit 30 recognizes an obstacle existing in front of the autonomous vehicle in operation, and the monitoring unit 40 is in operation. The driving behavior of the autonomous vehicle, the driving behavior and surrounding environment of other vehicles present in the vicinity of the autonomous vehicle being driven, and the distance between the autonomous vehicle 100 currently running and the obstacle 200 in front and the obstacle in front ( The relative speed of 200) is monitored (S32). Subsequently, the control unit 50 determines whether to enter the avoidance mode based on the information from the obstacle recognition unit 30 and the monitoring unit 40. As it is determined to enter the avoidance mode ("Yes" in S33), the control unit 50 stores the information of the points of the avoidance path matching the current monitoring result from the monitoring unit 40 in the table of the storage unit 20 Read from (read) (S34). Then, the control unit 50 commands the avoidance path generation while transmitting the read information of the points of the avoidance path to the avoidance path generation unit 60. Thereafter, the avoidance path generation unit 60 generates an actual avoidance path by scaling information of points of the avoidance path from the controller 50 based on the avoidance path generation command (S35). Then, the display unit 70 displays the actual avoided path generated by the avoided path generating unit 60 (S36).

Accordingly, the driver of the autonomous vehicle 100 can easily check the actual avoidance path displayed on the display unit 70 with the naked eye, and the autonomous vehicle 100 will perform obstacle avoidance driving along the displayed avoidance path.

In the description of the present invention described above, it is limited to an autonomous vehicle, but it is considered to be applicable to a general vehicle as it is.

In addition, the method for generating an obstacle avoidance path in the autonomous vehicle of the present invention described above can be implemented as a computer-readable code on a computer-readable recording medium. The computer-readable recording medium includes all types of recording devices in which data readable by a computer system is stored. Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disks, and optical data storage devices. In addition, the computer-readable recording medium can be distributed over network coupled computer systems so that the computer readable code is stored and executed in a distributed fashion. And, functional programs, codes, and code segments for implementing the method can be easily inferred by programmers in the technical field to which the present invention pertains.

As described above, optimal embodiments have been disclosed in the drawings and specifications. Although specific terms have been used herein, they are only used for the purpose of describing the present invention and are not used to limit the scope of the present invention as defined in the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and other equivalent embodiments are possible therefrom. Therefore, the true technical protection scope of the present invention should be defined by the technical spirit of the appended claims.

10: avoidance path point information generation unit 20: storage unit
30: obstacle recognition unit 40: monitoring unit
50: control unit 60: avoidance path generation unit
70: display unit

Claims (20)

An avoidance path point information generating unit for generating information about points of different avoidance paths based on different input conditions and storing them in a table form in advance;
An obstacle recognition unit for recognizing obstacles in front of the autonomous vehicle being driven;
A monitoring unit that monitors the driving behavior of the autonomous vehicle being driven and the driving behavior of other vehicles around the autonomous vehicle;
A control unit that reads and outputs information on points of the avoidance path matching the current monitoring result from the monitoring unit according to the determination of the entry into the avoidance mode based on the information from the obstacle recognition unit and the monitoring unit ; And
And an avoidance path generation unit generating an actual avoidance path based on information of points of the avoidance path from the control unit. The method according to claim 1,
The avoidance route point information generating unit,
For each input condition, corresponding driving avoidance points, target travel avoidance points, and midpoints are set, and information on points constituting an avoidance path connecting the travel avoidance points and the target travel avoidance points via the intermediate points is generated. Obstacle avoidance path generating device in an autonomous vehicle, characterized in that. The method according to claim 2,
The driving avoidance point is a point indicating a position of a left end or a right end in front of the autonomous vehicle,
The target driving avoidance point is a point that is a position away from the obstacle by a safe distance to the left or right,
The safety distance is a distance from a position at the left end of the rear of the obstacle to a distance a distance to the left or a distance from a position at the right end of the rear of the obstacle to a distance at a right from the obstacle. Obstacle avoidance path generation device in the. The method according to claim 2,
The midpoint,
The obstacle avoidance path generation device in an autonomous vehicle, which is set according to a preset driving environment for each input condition, wherein the driving environment includes one or more of a surrounding situation and a vehicle speed. The method according to claim 4,
The midpoint,
An obstacle avoidance path generating apparatus in an autonomous vehicle, characterized in that it is present in a square range with (0.1, 0.1), (0.9, 0.9) diagonally. The method according to claim 2,
The avoidance route point information generating unit,
After setting the intermediate point between the travel avoidance point and the target travel avoidance point, a filter is used to calculate the positions of new points to be taken on the avoidance path connecting the travel avoidance point and the target travel avoidance point. Obstacle avoidance path generating device in a self-driving vehicle. The method according to claim 6,
The filter,
mask4 = {-w, 1/2 + w, 1/2 + w, -w} or mask6 = {θ,-(1/16 + 3θ), 9/16 + 2θ, 9/16 + 2θ,-( 1/16 + 3θ), θ},
The w and θ are variables having a value to make the avoidance path bend gently, the w is -1/2 ≤ w ≤ 1/2, and the θ is -1/2 ≤ θ ≤ 1/2 Obstacle avoidance path generating apparatus in an autonomous vehicle, characterized in that. The method according to claim 6,
The avoidance route point information generating unit,
In calculating the position of the points to be photographed, an obstacle avoidance path generation device in an autonomous vehicle, characterized in that the position of a boundary is determined by applying any one of continuous, mirror, periodic, and zero padding. . The method according to claim 1,
The avoidance route point information generating unit,
Obstacle avoidance path generating apparatus in an autonomous vehicle, characterized in that it generates information on points of the avoidance path that take a continuous curve of a gentle S-shaped shape. The method according to claim 1,
An obstacle avoidance path generation apparatus in an autonomous vehicle, further comprising a display unit for displaying an actual avoidance path generated by the avoidance path generation unit. Generating information about points of different avoidance paths based on different input conditions and storing them in a table form in advance;
Recognizing an obstacle in front of the autonomous driving vehicle while driving;
Monitoring the driving behavior of the autonomous vehicle being driven and the driving behavior of other vehicles around the autonomous vehicle;
Based on the information in the recognizing step and the monitoring step, the information of the points of the avoidance route matching the current monitoring result by the monitoring step is read from the table and output as the entry into the avoidance mode is determined. To do; And
And generating an actual avoidance route based on the information of the points of the output avoidance route. The method according to claim 11,
The step of storing in advance,
Setting a corresponding driving avoidance point, a target driving avoidance point, and an intermediate point for each input condition; And
And generating information of points constituting an avoidance path connecting the travel avoidance point and the target travel avoidance point via the intermediate point. The method according to claim 12,
The driving avoidance point is a point indicating a position of a left end or a right end in front of the autonomous vehicle,
The target driving avoidance point is a point that is a position away from the obstacle by a safe distance to the left or right,
The safety distance is a distance from a position at the left end of the rear of the obstacle to a distance a distance to the left or a distance from a position at the right end of the rear of the obstacle to a distance at a right from the obstacle. How to create an obstacle avoidance path in. The method according to claim 12,
The midpoint,
A method for generating an obstacle avoidance path in an autonomous vehicle, which is set according to a preset driving environment for each input condition, wherein the driving environment includes at least one of a surrounding situation and a vehicle speed. The method according to claim 14,
The midpoint,
(0.1, 0.1), (0.9, 0.9) diagonal obstacle avoidance path generation method in an autonomous vehicle, characterized in that it is present in a square range. The method according to claim 12,
The step of generating information of points constituting an avoidance path connecting the driving avoidance point and the target driving avoidance point may include:
And calculating a position of points to be newly photographed on an avoidance path connecting the travel avoidance point and the target travel avoidance point using a filter. The method according to claim 16,
The filter,
mask4 = {-w, 1/2 + w, 1/2 + w, -w} or mask6 = {θ,-(1/16 + 3θ), 9/16 + 2θ, 9/16 + 2θ,-( 1/16 + 3θ), θ},
The w and θ are variables having a value to make the avoidance path bend gently, the w is -1/2 ≤ w ≤ 1/2, and the θ is -1/2 ≤ θ ≤ 1/2 Obstacle avoidance path generation method in an autonomous vehicle, characterized in that. The method according to claim 16,
The step of calculating the position of the new point to be taken,
A method of generating an obstacle avoidance path in an autonomous vehicle, characterized in that the position of the boundary is determined by applying any one of continuous, mirror, periodic, and zero padding. The method according to claim 11,
In the pre-storing step, information about points of different avoidance routes is provided,
A method of generating an obstacle avoidance path in an autonomous vehicle, characterized by taking a continuous curve of a gentle S-shape. The method according to claim 11,
And displaying the actual avoidance route; further comprising an obstacle avoidance route generation method in an autonomous vehicle.

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