KR20200058613A - Apparatus and method for controlling Autonomous vehicle using control system in intersection - Google Patents

Abstract

The present invention relates to an intersection crossing support device of an autonomous driving vehicle using a control system. More specifically, the intersection crossing support device, which is the intersection crossing support device of the autonomous driving vehicle using a control system, comprises: an intersection crossing support server installed on one side of the intersection, obtaining vehicle information data of an approaching vehicle approaching in real time and infrastructure information to calculate a vehicle driving control signal based on the vehicle information data and the infrastructure information, and transmitting the vehicle driving control signal to a vehicle control terminal; and a vehicle control terminal provided in the autonomous driving vehicle and controlling the driving of the autonomous driving vehicle based on the vehicle driving control signal received from the control server.

Description

Apparatus and method for controlling Autonomous vehicle using control system in intersection}

The present invention relates to an apparatus and method for supporting the passage of an autonomous vehicle using a control system.

The existing autonomous driving system decided whether to proceed after recognizing the traffic light using a camera to pass through the pedestrian crossing or intersection where the signal exists. However, when the signal is recognized only by the camera, even if the recognition performance is perfect, only the information on the traffic light of the approaching vehicle at the opposite position is simply provided to the autonomous vehicle.

In addition, although a technique for transmitting signal information to a surrounding vehicle is applied in a V2X communication device installed in a conventional traffic light, there is a problem that it is impossible to control how the autonomous vehicle should move specifically at an intersection by simply transmitting signal information. .

In addition, most of the prior art concentrates on a technology for displaying information about an intersection and information about an approaching vehicle at an opposing position in a display unit such as a windshield of an autonomous vehicle, and specifically, autonomous driving by any technique at an intersection. It does not describe how to control the vehicle.

1 is a view showing a basic component of a map for each lane of a traffic light and surrounding roads according to the prior art 1; The configuration of the autonomous driving system of a vehicle according to prior art 1 (KR 20170090672 A), when a front traffic light exists during autonomous driving, receives traffic light signal information and map information of a driving position from a server through a network, and receives the received map information An autonomous driving device mounted on a vehicle that performs autonomous driving according to a set route if the received traffic light signal information according to its driving route information is a driving permission signal after mapping the stored map information with; And transmitting the map information and traffic light signal information of the surroundings to the autonomous driving device through the network to the autonomous driving device, receiving crossroads or pedestrian crossing passage route information having a traffic light from the autonomous driving device, and receiving the route information. After analyzing the possibility of collision between autonomous vehicles in accordance with the analysis, it comprises a server that adjusts the signal for crosswalks or intersections according to the analysis results.

2 is a schematic diagram showing the operation of an intelligent traffic warning and control system according to the prior art 2. Prior art 2 (US 9035797 B) relates to an intelligent traffic warning and control system, and to a system that warns a driver approaching a traffic intersection controlled by a traffic light, for the impending change in signal status from green to red. It warns you ahead of time and describes technologies that can safely stop the vehicle.

However, prior arts provide only traffic information and traffic light information for autonomous vehicles, and only the purpose and configuration to support driving and stable passage at intersections are analyzed. It does not refer to a specific configuration that can be calculated by and calculated on whether or not a specific movement of an autonomous vehicle is possible.

Therefore, it is required to develop a crossing support system that can control a vehicle by determining whether or not a self-driving vehicle has a specific movement in an intersection traffic situation.

Korean Patent Publication No. 2017-0090672 US registered patent US 9035797

Therefore, the present invention has been devised to solve the above-described conventional problems, and according to an embodiment of the present invention, in a situation where an autonomous vehicle (car, bus, etc.) passes through an intersection, information on traffic lights, intersection infrastructure Based on the information and information about the approaching vehicle, it not only calculates the possibility of collision and the risk of the approaching vehicle through the control server for crossing passage support, but also forms information data and approaching autonomous driving control signals for the approaching vehicle to autonomously Provided to the driving vehicle side, the autonomous vehicle provides the intersection information sharing system of the autonomous vehicle that can control autonomous driving at the intersection based on such risk data, approach vehicle information data, and autonomous driving control signals. have.

According to an embodiment of the present invention, an autonomous driving control signal is transmitted based on infrastructure information and vehicle information data, and situation information can be shared between vehicles in an intersection area through a control server, and a motion detection sensor is provided in the control server The purpose of each vehicle is to provide an intersection information sharing system for autonomous vehicles that can transmit pedestrian access and crossing to the vehicle through a pedestrian detection signal.

In addition, according to an embodiment of the present invention, the type and number of the route number, which is the content of the road sign installed at the intersection, through the road sign image recognition unit, the direction the route is facing, and which other route the route is connected to automatically It can be recognized and provided to the vehicle control terminal. Based on the traffic signal, vehicle information data, and driving route signal in conjunction with the control server through the advertisement device, the vehicle is being stopped in response to at least one of the location and direction in which the advertisement is output. The objective is to provide an intersection information sharing system of an autonomous vehicle that can output an advertisement by controlling an advertisement output direction to face the driveway side.

On the other hand, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned are clearly understood by a person having ordinary knowledge in the technical field to which the present invention belongs from the following description. Will be understandable.

The first object of the present invention is to install a vehicle based on the vehicle information data and the infrastructure information by obtaining vehicle information data and infrastructure information of an approaching vehicle that is installed on one side around the intersection and accesses in real time in an intersection passage support device. A traffic control support control server that calculates and transmits a driving control signal to a vehicle control terminal; And a vehicle control terminal provided in the autonomous vehicle and controlling driving of the autonomous vehicle based on the vehicle driving control signal received from the control server. It can be achieved as a device.

In addition, the control server includes: a communication unit that receives vehicle information data and driving route information from a vehicle control terminal mounted on each autonomous vehicle and transmits the generated autonomous vehicle control signal to the autonomous vehicle; And a vehicle data collection unit that stores vehicle operation information data transmitted from the vehicle control terminal, data on the vehicle itself, driving path information, and vehicle location and speed information after a predetermined time.

In addition, the control server, the surrounding map DB for storing the surrounding map information, and a traffic signal receiving unit for recognizing the signal state of the traffic light from the image in front of the driving path, obstacles by recognizing obstacles and possible driving areas on the path during autonomous driving An infrastructure information collecting unit having a driving environment recognition unit for generating information and information about a driveable area; And autonomous driving control signals based on the surrounding map information, surrounding environment data, traffic signal information, and vehicle information data received from each of the vehicle control terminals, driving route information, traffic light information, and pedestrian detection signals collected from the infrastructure information collection unit. It may be characterized in that it further comprises; a vehicle driving control signal generator for transmitting.

In addition, the vehicle control terminal receives the autonomous driving control signal calculated by the control server, infrastructure data, risk analysis data, driving map, traffic light information, and sign information, and transmits vehicle information data and driving route information to the control server. Communication module; And a driving control unit that controls driving of the vehicle based on the autonomous driving control signal.

In addition, the control server is equipped with an SRT card (Signal Remaining Time Card) that includes identification codes for identification functions for each direction along the direction of travel of multiple traffic lights installed at intersections. It may be characterized in that it further comprises a traffic light information generating unit for receiving the residual signal time in real time and coding the residual signal time together with the identification code to generate one piece of information and transmit it to the vehicle control terminal.

And a sign image recognition unit that automatically recognizes the type and number of the route number as the content of the sign, the direction the route is facing, and which other route the route is connected to and provides it to the vehicle control terminal. It can be characterized as.

In addition, the sign image recognition unit converts and inputs an analog image signal into a digital signal that can be digitally processed, and recognizes a road sign from the image converted to a digital signal through the image input unit and recognizes the size and type of the road sign. The road sign extraction unit extracting, and the road number recognition unit for identifying, classifying and recognizing route numbers from the road signs extracted through the road sign extraction unit, and the road numbers identified, classified and recognized through the route number recognition unit The direction recognition unit that recognizes the direction information on the route number of the sign according to the type of the road sign, and the results of the road sign extraction unit, the route number recognition unit, and the direction recognition unit are DB, and the user can visually check them. It may be characterized in that it comprises an output for outputting so.

And in conjunction with the traffic control server, based on traffic signals, vehicle information data, and driving route signals, the advertisement output direction is controlled by outputting advertisements by controlling the advertisement output direction toward the stopping ramp in response to at least one of the location and direction in which the advertisement is output. It may be characterized in that it further comprises an advertising device.

In addition, the advertisement device controls the advertisement output direction toward the stationary driveway side to generate a control signal, an advertisement DB storing advertisement information including advertisement images, and outputs advertisements to the stationary driveway side. And a control unit that checks the control signal received from the display and the control signal generator and outputs the advertisement to the display by calling advertisement information to be output from the advertisement DB to the driveway corresponding to the stop signal of the control signal. Can be done with

And it may be characterized in that it further comprises a motion detection sensor that is connected to the driver's traffic light or pedestrian traffic light at the intersection and detects the pedestrian's approach and movement, and transmits a pedestrian detection signal to the vehicle control terminal through the communication unit.

In addition, the vehicle control terminal may further include a vehicle information collection unit that stores information about the vehicle itself, that is, information about the vehicle type, the number of passengers, the load, size, and weight, and transmits the vehicle information to the control server. .

In addition, the vehicle control terminal may further include a path prediction unit for predicting a future location after a predetermined time of the own vehicle using the current speed and location information, and transmitting the prediction information to the control server and another vehicle.

The second object of the present invention is an intersection passing support method using an intersection passing support device of an autonomous vehicle using the control system according to the first purpose mentioned above, wherein the intersection passing support control server installed on one side of the intersection is in real time. Obtaining vehicle information data and infrastructure information of an approaching vehicle approaching, calculating a vehicle driving control signal based on the vehicle information data and infrastructure information, and transmitting the vehicle driving control signal to the vehicle control terminal; And a vehicle control terminal provided in the autonomous vehicle, controlling the driving of the autonomous vehicle based on the vehicle driving control signal received from the control server; the intersection of the autonomous vehicle using the control system, comprising: It can be achieved as a pass-through method.

And the step of transmitting to the vehicle control terminal, surrounding map information, surrounding environment data, traffic signal information collected from the infrastructure information collection unit, vehicle information data received from each of the vehicle control terminal, driving route information, traffic light information, pedestrians An autonomous driving control signal may be transmitted to the vehicle control terminal based on the detection signal.

In addition, a motion detection sensor connected to a driver's traffic light or a pedestrian traffic light at an intersection may further include the step of detecting a pedestrian's approach and movement and transmitting a pedestrian detection signal to a vehicle control terminal through a communication unit.

And through the advertisement device interlocked with the control server, based on traffic signals, vehicle information data, and driving route signals, the advertisement output direction is controlled so as to face the stopping ramp in response to at least one of the location and direction in which the advertisement is output. It may be characterized in that it further comprises the step of outputting the advertisement.

According to the crossing passage support device of an autonomous vehicle using a control system according to an embodiment of the present invention, in a situation in which an autonomous vehicle (car, bus, etc.) passes through an intersection, information about traffic lights, intersection infrastructure information, and access vehicles Based on the information on the information, it not only calculates the possibility of collision and risk for the approaching vehicle through the control server to support the passage of the intersection, but also forms the information data and the autonomous driving control signal for the approaching vehicle and provides it to the autonomous vehicle. And, the autonomous vehicle has an effect of controlling autonomous driving at an intersection based on such risk data, approach vehicle information data, and autonomous driving control signals.

According to an apparatus and method for supporting crossing of an autonomous vehicle using a control system according to an embodiment of the present invention, an autonomous driving control signal is transmitted based on infrastructure information and vehicle information data, and the vehicle is intersected at an intersection area through a control server. The situation information can be shared, and the control server is equipped with a motion sensor, so that each vehicle has the effect of transmitting pedestrian access and crossing to the vehicle through a pedestrian detection signal.

In addition, according to an apparatus and method for supporting the passage of an autonomous vehicle using a control system according to an embodiment of the present invention, the type and number of the route number and the corresponding route, which are the contents of the road sign installed on the side of the intersection through the road sign image recognition unit It can automatically recognize the direction to which it is headed and which other route the route is connected to and provide it to the vehicle control terminal. Based on the traffic signal, vehicle information data, and driving route signal in connection with the control server through the advertisement device Accordingly, there is an advantage in that the advertisement can be output by controlling the advertisement output direction so as to face the driveway that is stopped in correspondence with at least one of the location and direction in which the advertisement is output.

On the other hand, the effects that can be obtained in the present invention are not limited to the above-mentioned effects, and other effects that are not mentioned will be clearly understood by those skilled in the art from the following description. Will be able to.

The following drawings attached to the present specification illustrate a preferred embodiment of the present invention, and serve to further understand the technical spirit of the present invention together with the detailed description of the present invention, and therefore the present invention is limited to those described in those drawings. It should not be construed limitedly.
1 is a view showing a basic component of a map for each lane of traffic lights and surrounding roads according to the prior art 1;
Figure 2 is a schematic diagram showing the operation of an intelligent traffic warning and control system according to the prior art 2,
3 is a block diagram of an apparatus for supporting passage of intersections of autonomous vehicles using a control system according to an embodiment of the present invention;
4 is a block diagram of an infrastructure information collecting unit according to an embodiment of the present invention,
5 is a configuration diagram of a control server according to an embodiment of the present invention,
6 is a configuration diagram of a road sign image recognition unit according to an embodiment of the present invention,
7 is a block diagram of an advertising device according to an embodiment of the present invention,
8 is a block diagram of a vehicle control terminal according to an embodiment of the present invention.

The above objects, other objects, features and advantages of the present invention will be readily understood through the following preferred embodiments associated with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided to ensure that the disclosed contents are thorough and complete and that the spirit of the present invention is sufficiently conveyed to those skilled in the art.

In the present specification, when a component is referred to as being on another component, it means that it may be formed directly on another component, or a third component may be interposed between them. In addition, in the drawings, the thickness of the components is exaggerated for effective description of the technical content.

Embodiments described herein will be described with reference to cross-sectional views and / or plan views, which are ideal exemplary views of the present invention. In the drawings, the thicknesses of the films and regions are exaggerated for effective description of technical content. Therefore, the shape of the exemplary diagram may be modified by manufacturing technology and / or tolerance. Therefore, the embodiments of the present invention are not limited to the specific shapes shown, but also include changes in shapes generated according to the manufacturing process. For example, the area illustrated at a right angle may be rounded or may have a shape having a predetermined curvature. Therefore, the regions illustrated in the drawings have attributes, and the shapes of the regions illustrated in the drawings are for illustrating a specific shape of the region of the device and are not intended to limit the scope of the invention. In various embodiments of the present specification, terms such as first and second are used to describe various components, but these components should not be limited by these terms. These terms are only used to distinguish one component from another component. The embodiments described and illustrated herein also include its complementary embodiments.

The terminology used herein is for describing the embodiments and is not intended to limit the present invention. In the present specification, the singular form also includes the plural form unless otherwise specified in the phrase. As used herein, 'comprises' and / or 'comprising' does not exclude the presence or addition of one or more other components.

In describing the specific embodiments below, various specific contents have been prepared to more specifically describe and understand the invention. However, a reader who has knowledge in this field to understand the present invention can recognize that it can be used without a variety of specific content. It should be noted that, in some cases, parts that are commonly known in describing the invention and which are not significantly related to the invention are not described in order to prevent chaos from coming in without any reason in describing the invention.

Hereinafter, a configuration and a function of a crossing passage support device of an autonomous vehicle using a control system according to an embodiment of the present invention will be described. 3 is a block diagram showing an apparatus for assisting the passage of an intersection of an autonomous vehicle using a control system according to an embodiment of the present invention. The apparatus for supporting the passage of an intersection of an autonomous vehicle using a control system according to an embodiment of the present invention, as shown in FIG. 3, a control server and an autonomous vehicle for supporting the passage of an autonomous vehicle crossing installed at a location close to the intersection as a whole. It can be seen that the vehicle control terminal is installed in the vehicle. Therefore, each vehicle can share infrastructure information and is configured to share situation information between vehicles.

The control server according to an embodiment of the present invention is installed on one side of the intersection, receives vehicle information data and driving path information from the vehicle, and detects autonomous driving control signals, surrounding map information, traffic light information, surrounding environment data, signage information, and pedestrians. It is configured to transmit signals to autonomous vehicles.

In addition, the control server according to an embodiment of the present invention, as described in detail later, a communication unit, an infrastructure information collection unit, a vehicle data collection unit, a traffic light information generation unit, a traffic light control unit, a vehicle driving control signal generation unit, a road sign image recognition It comprises a wealth, advertising devices, and the like.

In addition, the autonomous vehicle controller according to an embodiment of the present invention is provided on the autonomous vehicle and controls driving of the autonomous vehicle based on the vehicle driving control signal transmitted from the control server.

4 is a block diagram of an infrastructure information collecting unit according to an embodiment of the present invention. And Figure 5 shows the configuration of the control server according to an embodiment of the present invention. The control server 100 according to the present invention includes a communication unit 110, an infrastructure information collection unit 110, a vehicle data collection unit 130, a traffic light information generation unit 140, a traffic light control unit 150, and a vehicle driving control signal. It may be configured to include a unit 160, a motion detection sensor 190, a sign image recognition unit 170, an advertisement device 180, a motion detection sensor.

The communication unit 110 of the control server 100 according to an embodiment of the present invention receives vehicle information data and driving route information from the vehicle control terminal 200 mounted on each autonomous vehicle, and the control server 100 It is configured to transmit the generated autonomous driving control signal, surrounding map information, traffic light information, surrounding environment data, pedestrian detection signal, signage information, and pedestrian detection signal to the autonomous driving vehicle.

In addition, the vehicle data collection unit 130 according to an embodiment of the present invention provides vehicle operation information data transmitted from the vehicle control terminal 200, data about the vehicle itself, driving route information, and vehicle position and speed information after a preset time. It is configured to store.

In addition, the infrastructure information collecting unit 120 according to an embodiment of the present invention, as shown in FIG. 4, the surrounding map DB (212) for storing the surrounding map information based on the map information and driving route information transmitted from each vehicle ), The traffic signal receiving unit 122 for recognizing the signal state of the traffic light from the image in front of the driving path, and surroundings that generate obstacle recognition information and information about the driving area by recognizing obstacles and driving area on the path during autonomous driving It is configured to include an environmental recognition unit 123.

In addition, the surrounding environment recognition unit 123 according to an embodiment of the present invention includes traffic accident history information for each section, traffic information for each section (for example, traffic volume, speed, occupancy, time between points, etc.), weather information from public institutions. , It can be configured to receive the surrounding area information, news information, etc., store it in the control server 100 and transmit the information to the vehicle control terminal 200 of the vehicle entering the intersection to share the information.

And the traffic light information generating unit 140 provided in the control server 100 according to an embodiment of the present invention is a SRT card (Signal) including an identification code for a plurality of traffic lights installed at the intersection for identification function by direction according to the driving direction Remaining Time Card) is installed to receive the color and residual signal time of the currently lit traffic light from the traffic light controller 150 in real time, and code the remaining signal time together with the identification code to generate one piece of information to generate the vehicle control terminal 200 ). Therefore, the vehicle can share such traffic light information and remaining time information.

In addition, the control server 100 according to an embodiment of the present invention may be configured to include a motion sensor. The motion detection sensor is configured to transmit a pedestrian detection signal to the vehicle control terminal 200 through a communication unit by detecting a pedestrian's approach and movement by being connected to a driver's traffic light or a pedestrian traffic light at an intersection.

In addition, the vehicle driving control signal generation unit 160 according to an embodiment of the present invention from the surrounding map information, surrounding environment data, traffic signal information, and the vehicle control terminal 200 collected from the infrastructure information collecting unit 120 It is configured to generate an autonomous driving control signal based on the received vehicle information data, driving route information, traffic light information, and a pedestrian detection signal detected by a motion detection sensor.

In addition, the vehicle driving control signal generation unit 160 collects vehicle information data in an intersection area and compares vehicle information data between different vehicles to determine the possibility of collision when passing an intersection to control the progress of the vehicle's intersection. To do so, an autonomous driving control signal is generated.

In addition, when the vehicle is driven according to the autonomous driving control signal, it is configured to receive driving route information according to whether it passes or not and transmit it to the vehicle control terminal 200 in another vehicle in the intersection.

6 is a block diagram of a road sign image recognition unit 170 according to an embodiment of the present invention. The sign image recognition unit 170 according to an embodiment of the present invention automatically recognizes the type and number of the route number as the content of the sign, the direction the route is facing, and which other route is connected to the vehicle, thereby controlling the vehicle. It is configured to provide to the terminal. .

The sign image recognition unit 170 converts and inputs an analog image signal into a digital signal that can be digitally processed, and recognizes a road sign from the image converted to a digital signal through the image input unit and recognizes the size and type of the road sign. A road sign extraction unit for extracting, and a route number recognition unit for identifying, classifying and recognizing route numbers from the road signs extracted through the road sign extraction unit, and route numbers identified, classified and recognized through the route number recognition unit The direction recognition unit that recognizes the direction information for the route number of the road sign according to the type of the road sign, and the results of the road sign extraction unit, the route number recognition unit, and the direction recognition unit are DB and the user can visually check It is configured to include an output unit for outputting.

In addition, an advertisement device 180 may be provided in an intersection passing support device according to an embodiment of the present invention. 7 is a block diagram of an advertisement device according to an embodiment of the present invention. The advertisement device 180 outputs an advertisement so as to be directed to a stopped driveway in correspondence with at least one of a location and a direction in which the advertisement is output based on a traffic signal, vehicle information data, and a driving route signal in conjunction with the control server 100 The advertisement is output by controlling the direction.

As illustrated in FIG. 7, the advertisement device 180 according to an embodiment of the present invention includes a control signal generation unit for generating a control signal, an advertisement DB storing advertisement information including advertisement images, and an advertisement toward a stationary driveway And a control unit that checks the control signal received by the control signal generator and outputs the advertisement to the display by calling the advertisement information to be output to the driveway corresponding to the stop signal of the control signal from the advertisement DB. Can be configured.

8 is a block diagram of a vehicle control terminal according to an embodiment of the present invention. Vehicle control terminal 200 according to an embodiment of the present invention is mounted on each vehicle, as shown in Figure 8, the communication module 210, the drive control unit 250, the vehicle operation sensing unit 220, vehicle information It can be seen that it comprises a collection unit 230, a path prediction unit 240, a display unit 260.

The communication module 210 receives the autonomous driving control signal calculated by the control server 100, infrastructure data, risk analysis data, driving map, autonomous driving control signal, pedestrian detection signal, traffic light information, sign information, and vehicle information Data and driving route information are transmitted to the control server.

And the driving control unit 250 is configured to control the driving of the vehicle based on the autonomous driving control signal transmitted from the control server 100.

In addition, the vehicle operation sensing unit 220 detects the location, map, speed, proximity distance and direction of the vehicle, and transmits vehicle operation data to the control server 100 through the communication module 210.

In addition, the vehicle information collection unit 230 stores information about the vehicle itself, that is, information about the vehicle type, the number of passengers, the load, size, and weight, and transmits the vehicle information to the control server 100.

In addition, the route prediction unit 240 is configured to predict the future position of the own vehicle after a predetermined time using the current speed and location information, and transmit the prediction information to the control server 100 and the other vehicle.

Therefore, according to the intersection passing support device of the autonomous vehicle using the control system according to the embodiment of the present invention, in the situation where the autonomous vehicle (car, bus, etc.) passes through the intersection, information about traffic lights, intersection infrastructure information, access Based on the information on the vehicle, it not only calculates the possibility of collisions and risks for the approaching vehicle through the control server for supporting the passage of intersections, but also forms the information data and the autonomous driving control signal for the approaching vehicle to the side of the autonomous vehicle. Provided, the autonomous vehicle can control autonomous driving at intersections based on such risk data, approach vehicle information data, and autonomous driving control signals.

In addition, according to an apparatus and method for supporting the passage of an autonomous vehicle using a control system according to an embodiment of the present invention, an autonomous vehicle control signal is transmitted based on infrastructure information and vehicle information data, and a vehicle is used in the intersection area through a control server. It is possible to share situation information between each other, and the control server is equipped with a motion sensor, so that each vehicle can communicate pedestrian access and crossing status to the vehicle through a pedestrian detection signal.

In addition, according to an apparatus and method for supporting the passage of an autonomous vehicle using a control system according to an embodiment of the present invention, the type and number of the route number and the corresponding route, which are the contents of the road sign installed on the side of the intersection through the road sign image recognition unit It can automatically recognize the direction to which it is headed and which other route the route is connected to and provide it to the vehicle control terminal. Based on the traffic signal, vehicle information data, and driving route signal in connection with the control server through the advertisement device In response, the advertisement output direction may be controlled to output the corresponding advertisement in response to at least one of a location and a direction in which the advertisement is output, so that the advertisement output direction is directed toward a stopped ramp.

In addition, the apparatus and method described above are not limited to the configuration and method of the above-described embodiments, and the above-described embodiments are selectively combined in all or part of each embodiment so that various modifications can be made. It may be configured.

100: control server
110: communication department
120: infrastructure information collection unit
121: surrounding map DB
122: traffic signal receiver
123: main transducer recognition unit
130: vehicle data collection unit
140: traffic light information generating unit
150: traffic light control
160: vehicle driving control signal generation unit
170: Road sign image recognition department
180: advertising device
200: vehicle control terminal
210: communication module
220: vehicle operation sensing unit
230: vehicle information collection unit
240: path predictor
250: drive control unit
260: display unit

Claims (16)

In the crossing support device,
It is installed on one side of the intersection and supports the passage through the intersection, which acquires vehicle information data and infrastructure information of the approaching vehicle approaching in real time, calculates the vehicle driving control signal based on the vehicle information data and infrastructure information, and transmits it to the vehicle control terminal. Control server; And
It is provided in the autonomous vehicle, a vehicle control terminal for controlling the driving of the autonomous vehicle based on the vehicle driving control signal received from the control server; Autonomous vehicle crossing support device using a control system comprising a .
According to claim 1,
The control server,
A communication unit that receives vehicle information data and driving route information from a vehicle control terminal mounted on each autonomous vehicle and transmits the generated autonomous vehicle control signal to the autonomous vehicle; And
Using a control system characterized in that it further comprises a; vehicle operation information data transmitted from the vehicle control terminal, and data for the vehicle itself, driving path information, a vehicle data collection unit for storing the vehicle position and speed information after a predetermined time; An autonomous vehicle crossing support device.
According to claim 2,
The control server,
Peripheral map DB that stores the surrounding map information, traffic signal receiving unit that recognizes the signal state of the traffic light from the image in front of the driving route, and recognizes obstacles and driving area on the route during autonomous driving, thereby identifying obstacle recognition information and driving area An infrastructure information collecting unit having a driving environment recognition unit generating information; And
It transmits autonomous driving control signals based on the surrounding map information, surrounding environment data, traffic signal information, and vehicle information data received from each of the vehicle control terminals, driving route information, traffic light information, and pedestrian detection signals collected from the infrastructure information collection unit. A vehicle driving control signal generation unit; an intersection passing support device of an autonomous vehicle using a control system, further comprising a.
According to claim 3,
The vehicle control terminal,
A communication module that receives the autonomous driving control signal calculated by the control server, infrastructure data, risk analysis data, driving map, traffic light information, and sign information, and transmits vehicle information data and driving route information to the control server; And a driving control unit for controlling driving of the vehicle based on the autonomous driving control signal.
The method of claim 4,
The control server,
SRT card (Signal Remaining Time Card), which includes identification codes for identification function for each direction along the driving direction, is installed on the intersection of multiple traffic lights. Further comprising: a traffic light information generating unit that receives and codes the remaining signal time together with the identification code to generate one piece of information and transmits it to the vehicle control terminal; an apparatus for supporting the passage of an intersection of an autonomous vehicle using a control system, further comprising: .
According to claim 1,
It further includes a sign image recognition unit that automatically recognizes the type and number of the route number as the content of the sign, the direction the route is facing, and which other route the route is connected to and provides it to the vehicle control terminal. Crossing support device for self-driving vehicles using a control system.
The method of claim 6,
The sign image recognition unit,
An image input unit that converts and inputs analog image signals into digital signals that can be digitally processed, and a road sign extraction unit that recognizes road signs from images converted to digital signals through the image input unit and extracts the size and type of the road signs. , A route number recognition unit for identifying, classifying and recognizing route numbers from the road signs extracted through the road sign extraction unit, and directions for route numbers of the road signs in which route numbers are identified, classified, and recognized through the route number recognition unit It includes a direction recognition unit for recognizing information according to the type of road sign, and an output unit for DB outputting the results of the road sign extraction unit, the route number recognition unit, and the direction recognition unit to be visually checked by a user Crossing support device for autonomous vehicles using a control system, characterized in that.
The method of claim 7,
An advertisement that outputs advertisements by controlling the advertisement output direction toward the stopping ramp in response to at least one of the location and direction in which the advertisement is output based on the traffic signal, vehicle information data, and driving route signal in conjunction with the control server A crossing passage support device of an autonomous vehicle using a control system, further comprising a device.
The method of claim 8,
The advertising device
A control signal generation unit that controls the advertisement output direction to face a stopped driveway to generate a control signal, an advertisement DB storing advertisement information including advertisement images, a display for outputting advertisements to the stopped driveway side, and a control signal A control system comprising a control unit that checks the control signal received by the generator and outputs the advertisement to the display by calling advertisement information to be output from the advertisement DB to the driveway corresponding to the stop signal of the control signal. A device to support the passage of intersections of autonomous vehicles.
The method of claim 9,
Autonomous driving using a control system further comprising a motion detection sensor connected to a driver's traffic light or pedestrian traffic light at an intersection to detect pedestrian access and movement, and transmit a pedestrian detection signal to the vehicle control terminal through a communication unit. Vehicle crossing support device.
The method of claim 10,
The vehicle control terminal further comprises a vehicle information collecting unit that stores information about the vehicle itself, that is, vehicle type, passenger number, load amount, size, and weight, and transmits vehicle information to a control server. Support device for passing through intersections of autonomous vehicles.
The method of claim 11,
The vehicle control terminal, using the current speed and location information to predict the future position of the vehicle after a predetermined time, the control system further comprising a route prediction unit for transmitting the prediction information to the control server, another vehicle A device to support the passage of intersections of autonomous vehicles.
In the crossing support method using the crossing support device of an autonomous vehicle using the control system according to any one of claims 1 to 12,
The traffic control control server installed on one side around the intersection acquires vehicle information data and infrastructure information of an approaching vehicle approaching in real time, and calculates a vehicle driving control signal based on the vehicle information data and infrastructure information to the vehicle control terminal. Transmitting; And
A vehicle control terminal provided in the autonomous vehicle, controlling the driving of the autonomous vehicle based on the vehicle driving control signal received from the control server; passing through the intersection of the autonomous vehicle using a control system comprising a How to apply.
The method of claim 13,
The step of transmitting to the vehicle control terminal,
Autonomous to the vehicle control terminal based on the surrounding map information, surrounding environment data, traffic signal information, and vehicle information data received from each of the vehicle control terminals, driving route information, traffic light information, and pedestrian detection signals collected from the infrastructure information collection unit A method for supporting the passage of an intersection of an autonomous vehicle using a control system, characterized in that it transmits a driving control signal.
The method of claim 14,
A motion detection sensor connected to a driver's traffic light or a pedestrian traffic light at an intersection, further comprising the step of transmitting a pedestrian detection signal to a vehicle control terminal through a communication unit by detecting whether or not the pedestrian approaches or moves. How to support crossing of autonomous vehicles.
The method of claim 15,
The advertisement output direction is controlled through the advertisement device interlocked with the control server to face the approaching driveway in response to at least one of the location and direction in which the advertisement is output based on the traffic signal, vehicle information data, and driving route signal. A method of supporting the passage through an intersection of an autonomous vehicle using a control system, further comprising outputting an advertisement.

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