KR20200083684A - Precise Positioning System and Traveling Guidance System and Method for Autonomous Guided Vehicle using the Precise Positioning System - Google Patents

Abstract

The present invention relates to a precise positioning system, to a driving system of an autonomous driving system using the same, and to a method thereof. Location information is corrected based on information obtained at least one of a radar device, a Lidar device, and other devices mounted in a state-of-the-art vehicle including an intelligent vehicle, an autonomous driving vehicle, and the like to provide more accurate location information, a wireless location wireless signal on a plurality of lanes is transmitted to the vehicle. A unique number is included on the transmitted information, the reception approach time is stored in the vehicle, and automatic driving can be performed after grasping a location of the vehicle by using the unique number and the reception approach time.

Description

Precise Positioning System and Traveling Guidance System and Method for Autonomous Guided Vehicle using the Precise Positioning System}

The present invention relates to a precision positioning system and a driving system and method for an autonomous vehicle using the same.

When a navigation device including a conventional GPS device uses only a first position setting unit such as a GPS device in setting position information, an error may be included in the set position information according to the strength of a GPS signal received from a satellite. In particular, in the case of an urban area with many tall buildings, there is a problem in that the received GPS signal strength is weak, and thus the error in the set location information must increase.

In addition, in the case of an inertial navigation device, the error continues to accumulate, and in the case of a satellite navigation device, space and time are limited. For an unmanned driving function, a long distance situation for a driving direction must be known, and a proximity obstacle situation Should know immediately. However, the conventional autonomous vehicle as described above has a problem in that there is no active intervention of the road equipment only to solve the autonomous vehicle by judging the above situation.

In addition, in an autonomous vehicle, when using a magnetic marker, there is a problem of not recognizing a lateral position, and when using a vision sensor, there is a problem of not recognizing a lane when the state of the lane is not good, and a laser sensor is used. In the case of use, it is not practical when attaching a real vehicle due to expensive equipment, and it is possible to obtain obstacle information in front of the road, but there is a problem in obtaining road shape information, and a solution is required.

(1) Korea Patent Office Registration No. 10-0873472 (2) Republic of Korea Patent Office Registration No. 10-1017604

The present invention is to provide a user with a precise positioning system and a driving system and method for an autonomous vehicle using the same.

An object of the present invention is to provide a precise location setting device and method for setting location information using a GPS signal and correcting set location information using collected structure information.

That is, the present invention provides more accurate location information by correcting location information based on information obtained from at least one of a radar device, a lidar device, and other devices mounted on a state-of-the-art vehicle including an intelligent vehicle, an autonomous vehicle, and the like. It is aimed at.

In addition, the present invention transmits a wireless location wireless signal to a vehicle in a plurality of lanes, and the information to be transmitted includes a unique number, stores the time of arrival at the vehicle, and uses the unique number and the time of arrival to determine the location of the vehicle. It is characterized by performing autonomous driving after grasping.

In addition, the present invention arranges a plurality of transverse magnetic field sensors in the width direction of the road in an autonomous vehicle, installs a longitudinal magnetic field sensor in the center of the transverse magnetic field sensor, and then uses the sensing values input therefrom to autonomously drive. An object of the present invention is to provide an autonomous driving method for estimating a tilted angle and a lateral position of a vehicle and controlling the position of the autonomous vehicle according to the estimated value.

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 those skilled in the art from the following description. Will be understandable.

A precision positioning device, which is an aspect of the present invention for achieving the above technical problem, receives a GPS signal from a satellite, sets a position based on the received GPS signal, and transmits the set position information and stiffness of the position information A first position setting unit; A map information unit for storing map and structure information according to the location; A radar that transmits a radar signal, receives the reflected radar signal, and transmits the received radar signal when the transmitted radar signal is reflected by surrounding structures; A signal processing unit processing the radar signal transmitted from the radar to remove noise, and identifying structure information based on the radar signal from which the noise has been removed; And mapping a first location according to the location information transmitted by the first location setting unit to a map of the map information unit, setting a search range based on the first location mapped to the map, and within the set search range. A control unit for comparing the structure information of the map information unit with the structure information transmitted by the signal processing unit, searching for a location where the shapes match, and setting a location where the searched shapes match as final location information (second location information); It may include.

On the other hand, another aspect of the present invention for achieving the above technical problem is a wireless induction system, precision positioning device; A plurality of reference position wireless signal generators installed in the lane and transmitting reference position wireless signals including information on position coordinates and radio wave transmission time; An autonomous driving device for receiving the reference position wireless signals from the plurality of reference position wireless signal generating devices, and performing autonomous driving by identifying a position using the received reference position wireless signal; And a road surface control device that manages the plurality of reference position wireless signal generating devices and transmits context information on a region adjacent to a vehicle on which the autonomous driving device is mounted to the autonomous driving device.

In addition, the plurality of reference position wireless signal generating device, the first reference position wireless signal generating device installed in the first lane; A second reference position wireless signal generator installed in a second lane adjacent to and parallel to the first lane; And a third reference position wireless signal generator installed in the first lane and the third lane adjacent to the second lane.

In addition, the autonomous driving device uses the reference position wireless signal received from the first reference position wireless signal generator and the reference position wireless signal received from the second reference position wireless signal generator, thereby allowing the vehicle You can calculate the distance.

In addition, the autonomous driving device may perform autonomous driving using the situation information.

In addition, the autonomous driving device compares a pseudo-random noise (PRN) code set in advance with the reference position wireless signal, and uses the code correlation to identify the unique numbers and received signals of the plurality of wireless signal generators. A data demodulation and PRN code processing unit for deriving an arrival time; And an autonomous driving control device that calculates the location using the unique number and the arrival time of the received signal.

In addition, the autonomous driving device may transmit speed, position, and direction information of the vehicle to the road surface control device.

In addition, the road surface control device may manage synchronization, sleep mode, and wakeup mode for the plurality of reference position wireless signal generators.

In addition, the plurality of reference position wireless signal generators may generate the reference position wireless signal using a unique pseudo random noise (PRN) code.

On the other hand, another aspect of the present invention for achieving the above technical problem is a wheat position setting device; A feeding device installed in the longitudinal direction on the feeding road; And a current collector that is supplied with electric power by a self-induction method from the power feeding device, the autonomous driving device of an online electric vehicle comprising: to sense a lateral magnetic field value generated from the power feeding device with respect to a driving direction of the online electric vehicle. A lateral magnetic field sensor installed in the online electric vehicle; A longitudinal magnetic field sensor installed in the on-line electric vehicle to sense a longitudinal magnetic field value generated from the feeding device with respect to the driving direction of the on-line electric vehicle; A microprocessor for estimating a lateral position by using an angle inclined with respect to a road longitudinal direction of the on-line electric vehicle using the lateral magnetic field value and the longitudinal magnetic field value input from the lateral magnetic field sensor and the longitudinal magnetic field sensor; And a vehicle control for estimating the driving direction of the online electric vehicle using the tilted angle information provided from the microprocessor and the lateral position estimation information, and then controlling the position through steering and acceleration/deceleration control of the online electric vehicle. The module; includes, the lateral magnetic field sensor, it is possible to arrange a plurality of lateral magnetic field sensors in the N column in the width direction of the feeding road.

In addition, the autonomous driving device of the on-line electric vehicle further includes an A/D converter that converts an analog sensing value input from the horizontal magnetic field sensor and a vertical magnetic field sensor into a digital sensing value and outputs the digital sensing value to the microprocessor. Can.

In addition, the autonomous driving device of the online electric vehicle may further include a monitoring module that visually displays and provides tilted angle information and lateral position estimation information provided from the microprocessor.

In addition, the monitoring module may display driving information of the online electric vehicle on the feeding road.

In addition, the lateral magnetic field sensor may have an odd number.

In addition, the longitudinal magnetic field sensor may be located on an upper surface of the transverse magnetic field sensor located at the center of the plurality of transverse magnetic field sensors.

In addition, the microprocessor, using the lateral magnetic field value and the longitudinal magnetic field value input from the lateral magnetic field sensor and the longitudinal magnetic field sensor, the inclined angle between the driving direction of the on-line electric vehicle and the longitudinal direction of the feeding road Calculate, adjust the scale of the lateral magnetic field value according to a preset value according to the inclined angle, and then match the scaled lateral magnetic field value with a reference lateral magnetic field pattern that is pre-stored or transmitted in real-time to locate the lateral position. Can be estimated.

In addition, the reference lateral magnetic field pattern may sense a magnetic field value in a state in which the center line of the feeding device and a plurality of the lateral magnetic field sensors are perpendicularly intersected with the center line of the lateral magnetic field sensor located at the center.

The present invention can provide a user with a precise position positioning system and a driving system and method for an autonomous vehicle using the same.

According to the present invention, it is possible to correct the position using the received data of the precise radar, so that it is possible to accurately set the position.

In addition, according to an embodiment of the present invention, autonomous driving with high stability and accuracy can be performed by performing autonomous driving using a signal received from a wireless device installed in a lane.

In addition, according to an embodiment of the present invention, since it is possible to grasp the situation information of the adjacent area through the road surface control device, the vehicle can know the state of the surrounding vehicle within a short time without directly observing the movement of the surrounding vehicle.

In addition, it is possible to grasp the situation of the vehicle running from the road surface control device even in a curved section in which the field of view is not secured, thus enabling safe operation.

In addition, a plurality of transverse magnetic field sensors are arranged in the width direction of the road in a vehicle, and a longitudinal magnetic field sensor is installed at the center of the transverse magnetic field sensor, and then the inclined angle and transverse angle of the vehicle using sensing values input therefrom. By estimating the position of the direction and controlling the operation of the autonomous vehicle according to these values, safe driving may be possible without leaving the lane.

In addition, according to the present invention, the current collecting efficiency can be maximized by moving the vehicle to a region having the strongest magnetic field formed on the feeding road through the current lateral position estimation result.

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

1 is a view for explaining a conventional technique.
2 is a view for explaining a precise positioning device according to an embodiment of the present invention.
3 is a flow chart for explaining a precise positioning method according to an embodiment of the present invention.
4 is a view showing a wireless induction system according to an embodiment of the present invention.
5 is a view showing the internal configuration of a reference position wireless signal generator (IPRS, 100) according to an embodiment of the present invention.
6 is a view showing a method of measuring the position of a vehicle in a wireless induction system according to an embodiment of the present invention.
7 is a view showing the internal configuration of an autonomous driving device according to an embodiment of the present invention.
8 is an explanatory view showing an autonomous driving device of an online electric vehicle according to the present invention applied to an online electric vehicle.
9 is a block diagram showing the configuration of an autonomous driving device for an online electric vehicle according to the present invention.
10 is a process diagram for explaining an autonomous driving method of an online electric vehicle according to the present invention.
11 is a view illustrating an angle estimation method in an autonomous driving method of an online electric vehicle according to the present invention.
12 and 13 are views illustrating an angle estimation method in an autonomous driving method of an online electric vehicle according to the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

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

In describing the present invention, terms such as first and second may be used to describe various components, but the components may not be limited by the terms. The terms are used only for the purpose of distinguishing one component from other components. For example, the first component may be referred to as a second component without departing from the scope of the present invention, and similarly, the second component may be referred to as a first component.

When a component is referred to as being connected to or connected to another component, it may be understood that other components may exist in the middle, although they may be directly connected to or connected to the other components. . On the other hand, when it is mentioned that one component is directly connected to or connected to another component, it can be understood that no other component exists in the middle.

The terms used herein are only used to describe specific embodiments, and are not intended to limit the present invention. Singular expressions may include plural expressions unless the context clearly indicates otherwise.

In this specification, terms such as include or include are intended to designate the existence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, one or more other features or numbers, It may be understood that the existence or addition possibilities of steps, actions, components, parts or combinations thereof are not excluded in advance.

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

Example 1-Method for setting precise position for driving of autonomous vehicle

In Embodiment 1 according to the present invention, a method for setting a precise position for driving an autonomous vehicle is proposed.

Specifically, an object of the present invention is to provide a precise positioning device and method for setting position information using a GPS signal and correcting set position information using collected structure information.

That is, the present invention provides more accurate location information by correcting location information based on information obtained from at least one of a radar device, a lidar device, and other devices mounted on a state-of-the-art vehicle including an intelligent vehicle, an autonomous vehicle, and the like. It is aimed at.

In general, in a city center area where a high-rise building is dense, since the reception strength of the GPS signal used for positioning is weak, it is difficult to determine the exact location only with the received GPS signal.

That is, if the location is set using only the GPS signal, a certain level of error is included in the set location (the set location information is not correct), and especially in areas with many buildings, the reception strength of the GPS signal is weak. The included errors are bound to be large.

1, the navigation device 100 including a GPS device, as shown in FIG. 1, includes a control unit 101, a first location setting unit 102, a map information unit 103, and a screen unit ( 104).

The first location setting unit 102 is a GPS device, receives a GPS signal from a satellite, sets a location based on the received GPS signal, and transmits the set location information to the control unit 101.

The control unit 101 finds the location information transmitted by the first location setting unit 102 on the map of the map information unit 103, and the map information corresponding to the location information through the screen unit 104 Express.

On the other hand, when the navigation device 100 including a conventional GPS device uses only the first position setting unit 102 such as a GPS device in setting position information, a position set according to the strength of a GPS signal received from a satellite An error may be included in the information, and particularly, in an urban area where there are many high buildings, the received GPS signal strength is weak, so there is a problem that the error in the set location information must increase.

State-of-the-art automobiles, including intelligent vehicles, autonomous vehicles, etc., proposed by the present invention include a lidar (including a radar) device, and can measure distances to surrounding objects within a few centimeters, and the present invention provides such precision. We want to set precise location information using the signal of a high radar device.

Hereinafter, a precision positioning device according to an embodiment of the present invention will be described with reference to FIG. 2. 2 is a view for explaining a precise positioning device according to an embodiment of the present invention.

As shown in FIG. 2, the precision positioning device 200 of the present invention includes a control unit 201, a first positioning unit 202, a map information unit 203, a screen unit 204, and a signal processing unit 205. And radar 206.

The first position setting unit 202 provides position information and rigidity of the position information where the precision positioning device 200 of the present invention is mounted.

For example, the first location setting unit 202 is a GPS device, receives a GPS signal from a satellite, sets a location based on the received GPS signal, and controls the set position information and the stiffness of the location information 201 To pass on.

That is, when the precision positioning device 200 of the present invention is mounted on a vehicle, the first position setting unit 202 sets the position of the vehicle based on the GPS signal received from the satellite, and the location information and position of the set vehicle The stiffness of the information is transmitted to the control unit 201.

The map information unit 203 stores structure information (fixed building or structure information) according to the location.

The radar 206 transmits a radar signal, and when the transmitted radar signal is reflected by surrounding structures, receives the reflected radar signal and transmits the received radar signal to the signal processing unit 205.

Meanwhile, the radar signal includes not only signals reflected by surrounding vehicles and fixed objects, but also signals reflected by moving objects.

The signal processing unit 205 processes the radar signal transmitted from the radar 206 to remove noise, and recognizes radar structure information (fixed structure or non-fixed object) based on the radar signal from which the noise has been removed.

The signal processing unit 205 may use the map data of the map information unit 203 in grasping radar structure information, and particularly may use vehicle information such as speed and direction of the vehicle when removing noise to identify non-fixed objects.

That is, the signal processing unit 205 processes radar signals transmitted from the radar 206 to set radar structure information including fixed buildings and structures or non-fixed objects, and transmits the set radar structure information to the control unit 201 do.

The control unit 201 sets a search range according to the first location information transmitted by the first location setting unit 202 and the stiffness of the first location information.

That is, the control unit 201 may variably operate the search range of the map information unit 203 according to the stiffness (signal sensitivity) of the first location information transmitted by the first location setting unit 202.

For example, the control unit 101 maps the first location according to the location information transmitted by the first location setting unit 202 to a map of the map information unit 103, and searches for the first location mapped to the map. To set.

The control unit 201 compares the structure information of the map information unit 203 and the radar structure information transmitted by the signal processing unit 205 within a set search range to search for a location where the shapes match, and locates the locations where the searched shapes match. It is set as the final position information (second position information).

Meanwhile, the control unit 201 may correct the set position information by using vehicle information including vehicle speed or direction.

In setting the first location, the first location setting unit 202 may receive data from the outside, set first location information, and provide the set first location information.

The control unit 201 may set the first location information using image information such as a camera, or may use the first location information thus set to set the second location.

As described above, according to the present invention, the position can be corrected by using the received data of the precise radar, so that the position can be accurately set.

As described above, the precise positioning apparatus according to an embodiment of the present invention is described with reference to FIG. 2, and the precise positioning method according to an embodiment of the present invention will be described below with reference to FIG. 3. 3 is a flow chart for explaining a precise positioning method according to an embodiment of the present invention.

As shown in FIG. 3, the control unit 201 performs the following operation at a predetermined cycle (S301).

The signal processor, that is, the structure information of the reliable radar 206 is received from the signal processing unit 205 (S302), and the first position information (first position data) including an error from the first position setting unit 202 and The stiffness of the first location information is received (S303).

The control unit 201 sets the search area R based on the received first location information and the stiffness of the first location information (S304).

The structure information of the radar 206 and the structure information of the map information unit 203 are compared in the set search area R to search for a location where the shapes match (matching) (S305), and where the searched shapes match. It is set as the final position information (second position information) (S306).

On the other hand, in setting the structure information of the radar 206, the signal processing unit 205 must remove the unfixed features.

That is, the signal processing unit 205 may be set as a floating feature when it is not in a fixed position when measured at regular time intervals, and may separate the fixed feature and the floating feature using data of the map information unit 203 again. In this way, the structure information of the radar 206 having only fixed features is completed and transmitted to the control unit 201.

In addition, since the control unit 201 utilizes the first location information, there may be many similar forms, to reduce the search range, data is searched within an area or range set based on the first location.

The range of the data search can be variably set according to the stiffness of the first positioning signal.

Example 2-Method for determining vehicle position of autonomous vehicle

In Embodiment 2 according to the present invention, a method for grasping the vehicle position of an autonomous vehicle will be proposed.

Specifically, the present invention transmits a wireless location wireless signal to a vehicle in a plurality of lanes, and the information to be transmitted includes a unique number, stores the time of arrival at the vehicle, and uses the unique number and the time of arrival to locate the vehicle. It is characterized by performing autonomous driving after grasping.

Hereinafter, a wireless induction system for driving a vehicle according to an embodiment of the present invention will be described in detail with reference to the drawings.

4 is a view showing a wireless induction system according to an embodiment of the present invention.

As shown in FIG. 4, the wireless induction system according to an embodiment of the present invention includes a reference position wireless signal generator 1000, an autonomous driving device 2000 and a road surface control device 3000.

A reference position wireless signal generating device (Implanted Road Positioning Signaler, IPRS) 1000 is installed on the road lane and performs the same function as a GPS satellite. The reference position wireless signal generator (IPRS, 1000) transmits a reference position wireless signal to a vehicle driving in a nearby area, and the autonomous driving device (2000) installed in the vehicle wirelessly references the reference position received from the wireless signal generator (1000). Use the signal to locate the vehicle. The reference position wireless signal generator (IPRS, 1000) is managed by the road surface control device 3000 installed outside the road. That is, the reference position wireless signal generator (IPRS, 1000) is adjusted by the road surface control device 300, the sleep mode (sleep mode) and wake-up mode (wakeup mode) is adjusted.

A plurality of reference position wireless signal generators (IPRS, 1000) located at a short distance from each other can form a group, and all reference position wireless signal generators (IPRS, 1000) belonging to a group are time synchronized. It can be operated and can send radio signals in the same frequency band. In addition, a plurality of reference position radio signal generators (IPRS, 1000) belonging to the same group modulate data using a unique Pseudo Random Noise (PRN) code, and this unique Pseudo Random Noise (PRN) code Each reference position radio signal generator is distinguished by. The data modulated by the pseudo-random noise (PRN) code includes the location coordinates (hereinafter referred to as'IPRS location coordinates') in which the reference location wireless signal generator (IPRS, 1000) is located, and the time at which the reference location wireless signal is transmitted. (Hereinafter, it is referred to as'propagation transmission time').

5 is a view showing an internal configuration of a reference position wireless signal generator (IPRS, 1000) according to an embodiment of the present invention.

5, the reference position wireless signal generator (IPRS, 1000) according to an embodiment of the present invention includes an antenna 1100, a high frequency converter 1200, a modulator 1300, a PRN code processor 1400, It includes a demodulation unit 1500, a time setting unit 1600, a control unit 1700 and a memory unit 1800.

The antenna 1100 receives or transmits a wireless signal, and the high frequency converter 1200 converts the received high frequency signal into a low frequency signal or converts a low frequency signal to be transmitted into a high frequency signal.

The modulator 1300 modulates data to be transmitted.

The PRN code processing unit 1400 generates a unique pseudo random noise (PRN) code to distinguish each radio signal generator (IPRS, 1000). The method of generating and processing the intrinsic pseudo-random noise (PRN code) is easily understood by those skilled in the art to which the present invention pertains, and thus a detailed description thereof will be omitted.

The demodulator 1500 demodulates the received data, and a demodulation method may be set differently according to a modulation method.

The time setting unit 1600 generates time information by using a synchronization signal received from the road surface control device 3000.

The control unit 1700 controls the overall operation of the reference position wireless signal generators (IPRS, 1000), and the memory unit 1800 provides information (for example, IPRS position coordinates) for each wireless signal generator (IPRS, 1000). ).

The autonomous driving device 2000 is mounted on a vehicle and uses a reference position wireless signal received from a plurality of reference position wireless signal generators (IPRS, 1000) to identify the position of the vehicle, and based on the identified position, Control autonomous operation.

6 is a view showing a method of measuring the position of a vehicle in a wireless induction system according to an embodiment of the present invention.

In FIG. 6, the autonomous driving apparatus 2000 indicates its position to be measured as. It is assumed that the autonomous driving device 2000 has received the reference position wireless signals from the reference position wireless signal generators 1000A, 1000B, and 1000C respectively installed in at least three lanes. In addition, the reference position wireless signal generator 1000A and the reference position wireless signal generator 1000B are adjacent to each other and are respectively located in parallel lanes.

)로 결정할 수 있다. 다시 말하면, 자율 주행 장치(2000)는 기준위치 무선신호 발생장치(1000A, 1000B, 1000C)로부터 각각 수신한 기준위치 무선신호에서 수신 신호의 도달 시간 및 IPRS 위치 좌표를 도출하며, 이를 이용하여 자신의 위치(

)를 계산한다.The autonomous driving device 2000 may draw three circles shown in FIG. 6 using the reference position wireless signals received from the reference position wireless signal generators 1000A, 1000B, and 1000C, respectively, and the points where the three circles intersect Their location(

). In other words, the autonomous driving apparatus 2000 derives the arrival time of the received signal and the coordinates of the IPRS location from the reference position wireless signals received from the reference position wireless signal generators 1000A, 1000B, and 1000C, and uses them to derive their own location(

).

)를 계산하는 방법을 수학식으로 나타내면 아래의 수학식 1과 같다.In FIG. 6, the circle radius (Ra, Rb, Rc) indicated by a dotted line means the arrival time of the synchronized reference position radio signal, which is calculated through the radio wave transmission time of the received reference position radio signal. The reference position wireless signal generators 1000A, 1000B, and 1000C each have a fixed position on the road, and have unique numbers and IPRS position coordinates. Autonomous driving device 2000 has its own position (

) Is represented by Equation 1 below.

Equation 1

는 각각 도로 위에 설치된 기준위치 무선신호 발생장치(1000A, 1000B, 1000C)의 IPRS 위치좌표이며, 이는 자율 주행 장치(2000)가 수신한 기준위치 무선신호에 포함되어 있다.

는 자율 주행 장치(2000)가 수신한 기준위치 무선신호의 전파도달시간이며,

는 자율 주행 장치(2000)에 포함되어 있는 시계의 오차를 나타낸다. 그리고 C는 전파의 속도 즉, 빛의 속도를 나타낸다. 각 기준위치 무선신호 발생장치(1000A, 1000B, 1000C)의 위치 좌표는 알려진 값이므로, 자율 주행 장치(2000)는 오차인

와 관계없이 상기 수학식 1을 이용하여 자신의 위치(

)를 구할 수 있다.In Equation 1,

Are IPRS position coordinates of the reference position wireless signal generators 1000A, 1000B, and 1000C installed on the road, respectively, and are included in the reference position wireless signal received by the autonomous driving device 2000.

Is the propagation time of the radio signal at the reference position received by the autonomous driving device 2000,

Indicates an error of the clock included in the autonomous driving device 2000. And C represents the speed of propagation, that is, the speed of light. Since the position coordinates of each reference position wireless signal generators 1000A, 1000B, and 1000C are known values, the autonomous driving device 2000 is an error.

Regardless of his position using Equation 1 above (

).

On the other hand, since the reference position wireless signal generators 1000A and the reference position wireless signal generators 1000B located in parallel lanes maintain the distance of the lane width, the reference position wireless signal generators 1000A, 1000B It can have the meaning of a pair, and use it to increase utilization. The autonomous driving device 2000 uses the reference position wireless signal received from the reference position wireless signal generator 1000A and the reference position wireless signal received from the reference position wireless signal generator 1000B, and the direction line shown in FIG. E can be calculated, and the distance to the center of the lane can be recognized through the calculated direction line E. That is, when the vehicle passes between the reference position wireless signal generator 1000A and the reference position wireless signal generator 1000B, the autonomous driving device 2000 mounted on the vehicle may include two reference position wireless signal generators 1000A, 1000B), the arrival time of the received signal is calculated from the radio signals received at the reference position, and the distance to the center of the lane can be calculated through the difference between the calculated two arrival times. The autonomous driving apparatus 2000 may know how much its position is shifted from the center of the lane through the calculated distance to the center of the lane, and may use this to automatically set the direction toward the center of the lane.

A detailed configuration of the autonomous driving device 2000 for measuring the position of the vehicle in this way will be described with reference to FIG. 7.

7 is a view showing an internal configuration of an autonomous vehicle 2000 according to an embodiment of the present invention.

As shown in FIG. 7, the autonomous driving apparatus 2000 according to the embodiment of the present invention includes a plurality of antennas 2100A to 2100D, a positioning information receiving device 2200 and an autonomous driving control device 2300.

The plurality of antennas 2100A to 2100D may be installed in front and rear of the vehicle. 5 is a view showing that a plurality of antennas 2100A to 2100D of an autonomous vehicle is installed in a vehicle. The antenna 2100A is installed on the front right of the vehicle, and the antenna 2100B is installed on the front left of the vehicle. And the antenna 2100C is installed on the rear right of the vehicle, and the antenna 2100D is installed on the rear left of the vehicle. As described above, the autonomous driving apparatus 2000 according to the exemplary embodiment of the present invention may arrange a plurality of antennas 2100A to 2100D in various positions of the vehicle in order to acquire diversity in front and rear and left and right spaces of the vehicle. Thus, by acquiring spatial information of various positions through the plurality of antennas 2100A to 2100D, it is possible to more accurately grasp the position and direction of the vehicle.

The positioning information receiving device 2200 includes a high frequency converter 2220 and a data demodulation and PRN code processor 2240.

The high frequency converter 2220 is connected to the data demodulation and PRN code processor 2240, and converts the received high frequency signal into a low frequency signal or converts a low frequency signal to be transmitted into a high frequency signal.

The data demodulation and PRN code processing unit 2240 compares the PRN code set in advance with the reference position wireless signal received from the reference position wireless signal generator (1000, IPRS), and generates a wireless signal using code correlation The unique numbers of the devices 1000 and IPRS and the arrival signal arrival time values are derived. Then, the data demodulation and PRN code processing unit 2240 transmits the calculated unique number and the arrival time of the received signal to the autonomous driving control device 2300.

The autonomous driving control device 2300 calculates its own position using the received unique number and the arrival time of the received signal. The autonomous driving control device 2300 can grasp that the reference position wireless signal received through the received unique number is received from the reference position wireless signal generator 1000, through which the reference position wireless signal generator 1000 You can know the IPRS location coordinates. In addition, the autonomous driving control device 2300 may calculate its own position as described in Equation 1 using the position coordinate and the arrival time of the received signal.

The autonomous driving control device 2300 provides its own location information, driving speed, and direction information (direction line E) to the road surface control device 3000 and SRSE through wireless communication, and the autonomous driving control device 2300 is a road surface control device. (3000, SRSE) receives situation information of the nearby area and uses it for autonomous driving.

On the other hand, the autonomous driving control device 2300 may send the unique number and the arrival time of the received signal to the road surface control device 3000 without directly calculating its location. At this time, the road surface control device 3000 calculates the position of the vehicle using the unique number and the arrival time of the received signal, and then transmits it to the autonomous driving control device 2300 again. The autonomous driving control device 2300 may use its received position for autonomous driving.

The autonomous driving control device 2300 may be implemented through a Smart Networked Vehicle Controller (SNVC).

As shown in FIG. 4, a plurality of road surface control devices 3000 (Smart Roadside Equipment, SRSE) are respectively installed at a roadside or a median.

The road surface control devices 3000 and SRSE support time synchronization for each group to which the reference position wireless signal generator 1000 belongs and manages and monitors the reference position wireless signal generator 1000. To perform.

In addition, the road surface control devices 3000 and SRSE collect information through communication with the autonomous driving device 2000 mounted on the vehicle. That is, the road surface control device 3000 collects speed, position coordinates, and direction information of a vehicle traveling in a nearby area through wireless communication. The road surface control device 3000 provides a context information service that transmits the collected data to a vehicle (ie, the autonomous driving device 2000) in a nearby area.

The road surface control devices 3000 and SRSE share information with each other through communication with other road surface control devices 3000, and can exchange various types of information through communication with a central control server (not shown in FIG. 4).

Example 3-Method of controlling the position of the vehicle of the autonomous vehicle

In Embodiment 3 according to the present invention, a method for controlling the position of a vehicle of an autonomous vehicle will be proposed.

Specifically, the present invention is to arrange a plurality of lateral magnetic field sensors in the width direction of the road in an autonomous vehicle, install a longitudinal magnetic field sensor in the center of the lateral magnetic field sensor, and then use the sensing values input therefrom to autonomously drive An object of the present invention is to provide an autonomous driving method for estimating a tilted angle and a lateral position of a vehicle and controlling the position of the autonomous vehicle according to the estimated value.

8 is an explanatory diagram showing a state in which the autonomous driving device of the online electric vehicle according to the present invention is applied to an online electric car, and FIG. 9 is a block diagram showing the configuration of the autonomous driving device of the online electric vehicle according to the present invention. 8 and 9, the autonomous driving device 10000 of the online electric vehicle according to the present invention includes a lateral magnetic field sensor 11000, a longitudinal magnetic field sensor 12000, an A/D converter 13000, and the like. , A microprocessor 14000, a vehicle control module 15000 and a monitoring module 16000.

First, the lateral magnetic field sensor 11000 is installed on the bottom surface of the online electric vehicle 10100 to sense the lateral magnetic field value generated from the power supply device 3 with respect to the driving direction of the online electric vehicle 10100. Here, the lateral magnetic field sensor 11000 arranges a plurality of lateral magnetic field sensors in N rows in the width direction of the feeding road 1, and the number is preferably odd. At this time, the overall width of the lateral magnetic field sensor 11000 is preferably the same as the width of the feeding device 3 installed on the feeding road 1, but may be formed smaller or wider depending on the selection.

Then, the longitudinal magnetic field sensor 12000 is installed in the online electric vehicle 10100 to sense the longitudinal magnetic field value generated from the power supply device 3 with respect to the driving direction of the online electric vehicle 10100. Here, the longitudinal magnetic field sensor 12000 is preferably located on the upper surface of the horizontal magnetic field sensor located at the center.

In addition, the A/D converter 13000 converts and outputs the analog sensing values input from the lateral magnetic field sensor 11000 and the longitudinal magnetic field sensor 12000 into digital sensing values. Here, the A/D converter 13000 may shorten the conversion time by separating the lateral magnetic field sensor 11000 into a plurality of groups according to selection, and forming A/D converters according to the separated groups.

In addition, the microprocessor 14000 uses the lateral magnetic field value and the longitudinal magnetic field value output from the transverse magnetic field sensor 11000 and the longitudinal magnetic field sensor 12000 and converted and input by the A/D converter 13000. The inclined angle between the driving direction of the online electric vehicle 10100 and the longitudinal direction of the feeding road 1 is calculated, and the scale is adjusted after adjusting the scale of the lateral magnetic field value according to a preset value according to the inclined angle. The lateral position is estimated by matching the lateral magnetic field value with a reference lateral magnetic field pattern (Pref) that is pre-stored or transmitted in real time. Here, the reference lateral magnetic field pattern Pref senses a magnetic field value in a state where the center line of the power feeding device 3 and a plurality of lateral magnetic field sensors 11000 perpendicularly intersect with a center line of the lateral magnetic field sensor located at the center. do.

Meanwhile, the vehicle control module 15000 estimates the driving direction of the online electric vehicle 10100 using the tilted angle information provided from the microprocessor 14000 and the lateral position estimation information, and then the online electric vehicle 10100. The position is controlled through the steering and acceleration/deceleration control. At this time, the vehicle control module 15000 performs wireless communication with an external control room, and remote control may be performed according to the control of the control room.

In addition, the monitoring module 16000 visually displays and provides tilted angle information provided from the microprocessor 14000 and lateral position estimation information. Here, the monitoring module 16000 displays driving information of the online electric vehicle 10100 on the feeding road 1 in conjunction with a navigation device (not shown). At this time, the monitoring module 16000 may perform wireless communication with an external control room, and may also display tilted angle information and lateral position estimation information in the control room.

Hereinafter, the autonomous driving method of the online electric vehicle according to the present invention will be described in detail with reference to the accompanying drawings.

10 is a process diagram for explaining an autonomous driving method of an online electric vehicle according to the present invention, and FIG. 11 is a diagram illustrating an angle estimation method in an autonomous driving method of an online electric vehicle according to the present invention, and FIGS. 12 and 13 are A diagram for explaining an angle estimation method in an autonomous driving method of an online electric vehicle according to the present invention.

First, the microprocessor 14000 uses the lateral magnetic field value and the longitudinal magnetic field value output from the transverse magnetic field sensor 11000 and the longitudinal magnetic field sensor 12000 and converted and input by the A/D converter 13000. The inclined angle between the driving direction of the online electric vehicle 10100 and the longitudinal direction of the feeding road 1 is calculated (S100).

When the angle calculation method is described in detail, the inclined angle of the online electric vehicle 10100 detects the lateral magnetic field value (a) and extends vertically from the center of the lateral magnetic field value (a) (C2). By drawing, the inclination angle θ with respect to the center line of the power feeding device 3, that is, the center line C1 of the power supply road 1 is detected. At this time, the inclined angle θ is the same as θ1, and θ1 can be obtained through a trigonometric function.

Equation 2

Then, the microprocessor 14000 adjusts the scale of the lateral magnetic field value with respect to the inclined angle θ according to the preset value (S110).

In this state, the microprocessor 14000 estimates the lateral position of the online electric vehicle 10100 by matching the scaled lateral magnetic field value a with a reference lateral magnetic field pattern Pref that is stored or transmitted in real time. (S120).

Then, the vehicle control module 15000 estimates the driving direction of the online electric vehicle 10100 using the inclined angle information provided from the microprocessor 14000 and the lateral position estimation information (S130).

When the driving direction is estimated, the vehicle control module 15000 controls the position through the steering and acceleration/deceleration control of the online electric vehicle 10100 (S140).

Meanwhile, the monitoring module 16000 displays and provides tilted angle information and lateral position estimation information provided from the microprocessor 14000 (S150).

Effect according to the invention

The present invention can provide a user with a precise position positioning system and a driving system and method for an autonomous vehicle using the same.

According to the present invention, it is possible to correct the position using the received data of the precise radar, so that it is possible to accurately set the position.

In addition, according to an embodiment of the present invention, autonomous driving with high stability and accuracy can be performed by performing autonomous driving using a signal received from a wireless device installed in a lane.

In addition, according to an embodiment of the present invention, since it is possible to grasp the situation information of the adjacent area through the road surface control device, the vehicle can know the state of the surrounding vehicle within a short time without directly observing the movement of the surrounding vehicle.

In addition, it is possible to grasp the situation of the vehicle running from the road surface control device even in a curved section in which the field of view is not secured, thus enabling safe operation.

In addition, a plurality of transverse magnetic field sensors are arranged in the width direction of the road in a vehicle, and a longitudinal magnetic field sensor is installed at the center of the transverse magnetic field sensor, and then the inclined angle and transverse angle of the vehicle using sensing values input therefrom. By estimating the position of the direction and controlling the operation of the autonomous vehicle according to these values, safe driving may be possible without leaving the lane.

In addition, according to the present invention, the current collecting efficiency can be maximized by moving the vehicle to a region having the strongest magnetic field formed on the feeding road through the current lateral position estimation result.

Meanwhile, the above-described embodiments of the present invention may be implemented through various means. For example, embodiments of the present invention may be implemented by hardware, firmware, software, or a combination thereof.

For implementation by hardware, the method according to embodiments of the present invention includes one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs) , Field Programmable Gate Arrays (FPGAs), processors, controllers, microcontrollers, microprocessors, and the like.

In the case of implementation by firmware or software, the method according to embodiments of the present invention may be implemented in the form of a module, procedure, or function that performs the functions or operations described above. The software code can be stored in a memory unit and driven by a processor. The memory unit is located inside or outside the processor, and can exchange data with the processor by various means known in the art.

The detailed description of preferred embodiments of the present invention disclosed as described above has been provided to enable those skilled in the art to implement and practice the present invention. Although described above with reference to preferred embodiments of the present invention, those skilled in the art will appreciate that various modifications and changes can be made to the present invention without departing from the scope of the present invention. For example, those skilled in the art can use each of the configurations described in the above-described embodiments in a manner of combining with each other. Accordingly, the present invention is not intended to be limited to the embodiments presented herein, but rather to give the widest possible range consistent with the principles and novel features disclosed herein.

The present invention may be embodied in other specific forms without departing from the spirit and essential features of the present invention. Accordingly, the above detailed description should not be construed as limiting in all respects, but should be considered illustrative. The scope of the invention should be determined by rational interpretation of the appended claims, and all changes within the equivalent scope of the invention are included in the scope of the invention. The present invention is not intended to be limited to the embodiments presented herein, but rather to give the utmost broadest scope consistent with the principles and novel features disclosed herein. In addition, in the claims, claims that do not have an explicit citation relationship may be combined to constitute an embodiment or may be included as new claims by amendment after filing.

Claims (17)

A first location setting unit for receiving a GPS signal from a satellite, setting a location based on the received GPS signal, and transmitting the set location information and the stiffness of the location information;
A map information unit for storing map and structure information according to the location;
A radar that transmits a radar signal, receives the reflected radar signal, and transmits the received radar signal when the transmitted radar signal is reflected by surrounding structures;
A signal processing unit processing the radar signal transmitted from the radar to remove noise, and identifying structure information based on the radar signal from which the noise has been removed; And
A first location according to the location information transmitted by the first location setting unit is mapped to a map of the map information unit, a search range is set based on the first location mapped to the map, and within the set search range A control unit that compares the structure information of the map information unit with the structure information transmitted by the signal processing unit, searches for a location where the shapes match, and sets a location where the searched shapes match as final location information (second location information); Precision positioning device including. The precise positioning device of claim 1;
A plurality of reference position wireless signal generators installed in the lane and transmitting reference position wireless signals including information on position coordinates and radio wave transmission time;
An autonomous driving device for receiving the reference position wireless signals from the plurality of reference position wireless signal generating devices, and performing autonomous driving by identifying a position using the received reference position wireless signal; And
And a road surface control device that manages the plurality of reference position wireless signal generating devices and transmits context information on a region adjacent to a vehicle on which the autonomous driving device is mounted to the autonomous driving device. According to claim 2,
The plurality of reference position wireless signal generating device,
A first reference position wireless signal generator installed in the first lane;
A second reference position wireless signal generator installed in a second lane adjacent to and parallel to the first lane; And
And a third reference position wireless signal generator installed in the first lane and the third lane adjacent to the second lane. According to claim 3,
The autonomous driving device uses the reference position wireless signal received from the first reference position wireless signal generator and the reference position wireless signal received from the second reference position wireless signal generator to determine the distance of the vehicle from the center of the lane. Wireless induction system to calculate. According to claim 2,
The autonomous driving device is a wireless induction system that performs autonomous driving using the situation information. According to claim 2,
The autonomous driving device,
Data demodulation that compares the pseudo-random noise (PRN) code set in advance with the reference position wireless signal, and derives the unique number and the received signal arrival time of the plurality of wireless signal generators using code correlation and PRN code processing unit; And
And an autonomous driving control device that calculates the position using the unique number and the arrival time of the received signal. According to claim 2,
The autonomous driving device is a wireless induction system that transmits speed, position, and direction information of a vehicle to the road surface control device. According to claim 2,
The road control device is a wireless induction system that manages the synchronization, sleep mode and wake-up mode for the plurality of reference position wireless signal generating device. According to claim 2,
The plurality of reference position wireless signal generating apparatuses are each using a unique pseudo-random noise (PRN) code to generate the reference position wireless signal wireless induction system. The precise positioning device of claim 1; A feeding device installed in the longitudinal direction on the feeding road; In the self-driving device of the on-line electric vehicle consisting of; and a current collector that receives power from the power feeding device in a magnetic induction manner,
A transverse magnetic field sensor installed in the on-line electric vehicle so as to sense a transverse magnetic field value generated from the feeding device with respect to the driving direction of the on-line electric vehicle;
A longitudinal magnetic field sensor installed in the on-line electric vehicle to sense a longitudinal magnetic field value generated from the feeding device with respect to the driving direction of the on-line electric vehicle;
A microprocessor for estimating a lateral position by using an angle inclined with respect to a road longitudinal direction of the on-line electric vehicle using the lateral magnetic field value and the longitudinal magnetic field value input from the lateral magnetic field sensor and the longitudinal magnetic field sensor; And
A vehicle control module for estimating the driving direction of the online electric vehicle using the tilted angle information provided from the microprocessor and the lateral position estimation information, and controlling the position through steering and acceleration/deceleration control of the online electric vehicle ;
The lateral magnetic field sensor is a self-driving device for an online electric vehicle, characterized in that a plurality of lateral magnetic field sensors are arranged in N rows in a width direction of a feeding road. The method of claim 10,
The autonomous driving device of the online electric vehicle,
And an A/D converter for converting the horizontal magnetic field sensor and the analog sensing value input from the longitudinal magnetic field sensor to a digital sensing value and outputting the digital sensing value to the microprocessor. The method of claim 10,
The autonomous driving device of the online electric vehicle,
The autonomous driving device of an on-line electric vehicle, further comprising a monitoring module for visually displaying tilted angle information provided from the microprocessor and lateral position estimation information. The method of claim 12,
The monitoring module,
An autonomous driving device for an online electric vehicle, characterized in that it displays driving information of the online electric vehicle on the feeding road. The method of claim 10,
The lateral magnetic field sensor,
An autonomous driving device for an online electric vehicle, characterized in that the number is odd. The method of claim 14,
The longitudinal magnetic field sensor,
An autonomous driving device for an on-line electric vehicle, characterized in that it is located on an upper surface of a horizontal magnetic field sensor located at a center of the plurality of horizontal magnetic field sensors. The method of claim 14,
The microprocessor,
The inclined angle between the driving direction of the electric vehicle and the longitudinal direction of the feeding road is calculated using the lateral magnetic field value and the longitudinal magnetic field value input from the transverse magnetic field sensor and the longitudinal magnetic field sensor, and the inclined angle Characterized in that, after adjusting the scale of the lateral magnetic field value according to a preset value, the lateral position is estimated by matching the scaled lateral magnetic field value with a reference lateral magnetic field pattern that is stored or transmitted in real time. Self-driving device for online electric vehicles. The method of claim 16,
The reference lateral magnetic field pattern,
An autonomous driving device for an on-line electric vehicle, wherein the magnetic field value is sensed in a state perpendicularly intersecting the center line of the power feeding device and the center line of the lateral magnetic field sensor located at the center of the plurality of lateral magnetic field sensors.

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