KR20200108528A - Apparatus for installing warning triangle in autonomous vehicle and method thereof - Google Patents

Abstract

The present invention relates to an apparatus for installing a warning triangle in an autonomous vehicle and a method thereof. Provided are an apparatus for installing a warning triangle in an autonomous vehicle, which calculates a dropping location of a warning triangle on the basis of a distance from a stop prediction location and the speed of neighboring vehicles when the autonomous vehicle emergently stops, and drops the warning triangle to the calculated dropping location of the warning triangle, thereby installing the warning triangle at an optimal location while fundamentally blocking an occurrence of a driver′s accident due to following vehicles, and a method thereof. To this end, the apparatus for installing a warning triangle in an autonomous vehicle comprises: an information collection unit for collecting surrounding environment information; a warning triangle dropping unit for dropping the warning triangle onto the road; and a control unit for calculating a dropping location of the warning triangle on the basis of a distance from a stop prediction location and the surrounding environment information when the autonomous vehicle emergently stops, and controlling the warning triangle dropping unit so that the warning triangle is dropped to the calculated dropping location of the warning triangle.

Description

Safety tripod installation device for autonomous vehicles and its method {APPARATUS FOR INSTALLING WARNING TRIANGLE IN AUTONOMOUS VEHICLE AND METHOD THEREOF}

The present invention relates to an apparatus and method for installing a safety tripod for an autonomous vehicle.

In general, a safety tripod is prescribed as a sign of a faulty vehicle in the Road Traffic Act, and it can be caused by a vehicle that cannot be operated by installing it on the road when the vehicle cannot be operated due to a vehicle breakdown or other reasons. It is a sign measuring 45cm long and 8cm wide installed to prevent accidents and secure smooth communication.

Most of these safety tripods are assembled in a form that is easy to store and carry, and they use a light-emitting reflector so that they can be seen clearly at night.If the car is stopped due to a vehicle breakdown or contact accident, it is difficult to secure visibility only by lighting the emergency light. It is installed to prevent major accidents caused by accidents.

In case the vehicle is stopped due to a vehicle breakdown or contact accident, the vehicle should be stopped at the side of the road and then a safety tripod should be installed about 100m behind the vehicle stop.However, it is safe to move to a long distance in a road situation where vehicles are driving at high speed. Installing a tripod is practically not easy and dangerous situations often arise.

To solve this problem, a triggered safety tripod that can be safely installed over a long distance has been proposed.

In Korean Patent Registration No. 10-1259722, a triggering device consisting of a launcher in which a foldable tripod is mounted inside, a triggering unit that triggers by hitting a foldable tripod inside this launcher, and a driving unit that advances the triggering unit forward. A technology for installing by triggering a foldable safety sign tripod is disclosed.

However, since the above patented invention unfolds the moment the foldable tripod is triggered, there is a problem that it is practically impossible to fly up to 100m rear in accordance with the laws and regulations.

On the other hand, Korean Patent Laid-Open No. 10-2002-0083992 discloses a safety indication tripod in which three sides and one side of a fluorescent reflector mark are automatically unfolded in a triangular pyramid shape by pressing a push button using the principle of an umbrella.

However, since the safety indication tripod disclosed in the above disclosed patent is configured to be opened and used by the user simply by pressing a button, the tripod must be installed after moving directly to a long distance to install the tripod, so there is a limit to reducing the risk of a secondary accident. There is a problem.

As a result, in the prior art, in order to install the safety tripod, the driver must directly move to the corresponding position, and there is a problem in that the optimum installation position of the safety tripod cannot be provided to the driver.

Korean Patent Registration No. 10-1836228

In order to solve the problems of the prior art as described above, the present invention calculates the dropping position of the safety tripod based on the distance to the estimated stop position and the speed of the surrounding vehicle at the time of emergency stop of the autonomous vehicle, and the calculated safety tripod The purpose is to provide a safety tripod installation device and method for autonomous vehicles that can install a safety tripod at the optimal position while fundamentally blocking the occurrence of traffic accidents by the driver by dropping the safety tripod at the dropping position of the vehicle. There is this.

The objects of the present invention are not limited to the objects mentioned above, and other objects and advantages of the present invention that are not mentioned can be understood by the following description, and will be more clearly understood by examples of the present invention. In addition, it will be easily understood that the objects and advantages of the present invention can be realized by the means shown in the claims and combinations thereof.

An apparatus of the present invention for achieving the above object comprises: an information collection unit for collecting surrounding environment information; A safety tripod dropping unit for dropping the safety tripod onto the road; And the safety tripod is dropped to calculate the dropping position of the safety tripod based on the distance to the expected stopping position and the surrounding environment information when the autonomous vehicle is at an emergency stop, and to drop the safety tripod at the calculated dropping position of the safety tripod. It includes a control unit for controlling wealth.

Here, the surrounding environment information may include a speed of a nearby vehicle, a friction coefficient of a road, and a prescribed speed of a road.

In addition, the control unit may calculate a reference distance by summing a braking distance of the surrounding vehicle with a clearance distance, and calculate a point separated by the reference distance from the estimated stopping position as the dropping position of the safety tripod.

In addition, the control unit may calculate the dropping position of the safety tripod based on the prescribed speed of the road.

In addition, the control unit may calculate the dropping position of the safety tripod based on the average speed of the speed of the surrounding vehicle and the prescribed speed of the road.

In addition, when the speed of the surrounding vehicle is not collected, the control unit may calculate the dropping position of the safety tripod based on the speed of the autonomous vehicle before the failure.

In addition, the surrounding environment information may further include curvature information and precipitation information of the road.

In addition, the control unit may calculate the dropping position of the safety tripod by reflecting the additional distance in which the driver's viewing angle is considered according to the curvature of the road.

In addition, the control unit may calculate the dropping position of the safety tripod by reflecting the additional distance according to the precipitation.

Another apparatus of the present invention for achieving the above object is an apparatus for installing a safety tripod for an autonomous vehicle, comprising: an information collection unit for collecting surrounding environment information; And when the autonomous vehicle is at an emergency stop, calculates the dropping position of the safety tripod based on the distance to the estimated stopping position and the surrounding environment information, and when an intersection is located between the estimated stopping position and the dropping position of the safety tripod. , And a control unit for determining the first area before entering the intersection as a dropping position of the first safety tripod, and determining the second area after entering the intersection as the dropping position of the second safety tripod.

Here, when the distance from the end of the intersection to the estimated stopping position exceeds the threshold, the control unit determines the point separated by the first critical distance from the estimated stopping position as the dropping position of the second safety tripod, and predicts stopping from the end of the intersection. If the distance to the position does not exceed the threshold value, the point separated by the second critical distance from the end of the intersection is determined as the dropping position of the second safety tripod.

The method of the present invention for achieving the above object, in the method of installing a safety tripod for an autonomous vehicle, comprising the steps of: collecting information about the surrounding environment by an information collection unit; Calculating, by the control unit, a dropping position of the safety tripod based on the distance to the estimated stopping position and the surrounding environment information when the autonomous vehicle is stopped in an emergency; And a step of dropping the safety tripod to the calculated safety tripod dropping position by the safety tripod dropping unit.

Here, the surrounding environment information may include a speed of a nearby vehicle, a friction coefficient of a road, and a prescribed speed of a road.

In addition, the step of calculating the dropping position of the safety tripod may include calculating a reference distance by summing the braking distance of the surrounding vehicle and the clearance distance, and a point separated by the reference distance from the estimated stopping position as the dropping position of the safety tripod. Can be calculated.

In addition, in the step of calculating the dropping position of the safety tripod, the dropping position of the safety tripod may be calculated based on the prescribed speed of the road.

In addition, the surrounding environment information may further include curvature information and precipitation information of the road.

In addition, in the calculating of the dropping position of the safety tripod, the dropping position of the safety tripod may be calculated by reflecting an additional distance in which the driver's viewing angle is considered according to the curvature of the road.

In addition, in the step of calculating the dropping position of the safety tripod, the dropping position of the safety tripod may be calculated by reflecting the additional distance according to the precipitation.

Another method of the present invention for achieving the above object is, in a method of installing a safety tripod for an autonomous vehicle, comprising the steps of: collecting information about surrounding environment by an information collection unit; And the control unit calculates the dropping position of the safety tripod based on the distance to the estimated stopping position and the surrounding environment information when the autonomous vehicle is at an emergency stop, and an intersection is located between the estimated stopping position and the dropping position of the safety tripod. In this case, determining the first area before entering the intersection as the dropping position of the first safety tripod, and determining the second area after entering the intersection as the dropping position of the second safety tripod.

Here, the step of determining the dropping position comprises: when the distance from the end of the intersection to the estimated stopping position exceeds a threshold value, determining a point separated by the first critical distance from the estimated stopping position as the dropping position of the second safety tripod ; And if the distance from the end of the intersection to the estimated stopping position does not exceed the threshold value, determining a point separated by the second critical distance from the end of the intersection as the dropping position of the second safety tripod.

An apparatus and method for installing a safety tripod for an autonomous vehicle according to an embodiment of the present invention calculate the dropping position of the safety tripod based on the distance to the expected stop position and the speed of the surrounding vehicle when the autonomous vehicle is emergency stopped. , By dropping the safety tripod at the calculated dropping position of the safety tripod, it is possible to install the safety tripod at the optimal location while fundamentally blocking the occurrence of traffic accidents of the driver by subsequent vehicles.

1 is a configuration diagram of an apparatus for installing a safety tripod for an autonomous vehicle according to an embodiment of the present invention,
Figure 2 is an example of an automatic deployment safety tripod used in the present invention,
3 is a diagram showing a stopping method of an autonomous vehicle used in the present invention during emergency stopping;
FIG. 4 is a view showing a dropping position of a safety tripod calculated by a safety tripod installation device of an autonomous vehicle according to an embodiment of the present invention;
5 is a view showing an additional distance calculated based on a curvature of a road by a safety tripod installation device for an autonomous vehicle according to an embodiment of the present invention;
6 is a view showing the dropping position of the safety tripod at an intersection calculated by the safety tripod installation device of an autonomous vehicle according to an embodiment of the present invention;
7 is a flowchart of a method for installing a safety tripod for an autonomous vehicle according to an embodiment of the present invention;
8 is a flowchart of a method of installing a safety tripod for an autonomous vehicle according to another embodiment of the present invention;
9 is a block diagram showing a computing system for executing a method of installing a safety tripod for an autonomous vehicle according to an embodiment of the present invention.

Hereinafter, some embodiments of the present invention will be described in detail through exemplary drawings. In adding reference numerals to elements of each drawing, it should be noted that the same elements are assigned the same numerals as possible even if they are indicated on different drawings. In addition, in describing an embodiment of the present invention, if it is determined that a detailed description of a related known configuration or function obstructs an understanding of the embodiment of the present invention, a detailed description thereof will be omitted.

In describing the constituent elements of the embodiments of the present invention, terms such as first, second, A, B, (a), (b), etc. may be used. These terms are only used to distinguish the component from other components, and the nature, order, or order of the component is not limited by the term. In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. Terms such as those defined in a commonly used dictionary should be interpreted as having a meaning consistent with the meaning in the context of the related technology, and should not be interpreted as an ideal or excessively formal meaning unless explicitly defined in this application. Does not.

1 is a block diagram of an apparatus for installing a safety tripod for an autonomous vehicle according to an embodiment of the present invention.

As shown in Figure 1, the safety tripod installation apparatus 100 of an autonomous vehicle according to an embodiment of the present invention, a storage unit 10, an information collection unit 20, a tripod dropping unit 30, and It may include a control unit 40. On the other hand, according to the method of implementing the safety tripod installation device of an autonomous vehicle according to an embodiment of the present invention, each component may be combined with each other to be provided as one, and in addition, some components may be provided according to the method of implementing the invention. It may be omitted.

Looking at each of the above components, first, the storage unit 10 calculates the dropping position of the safety tripod based on the distance to the expected stop position and the speed of the surrounding vehicle when an emergency stops due to a failure of the autonomous vehicle, and the Various logics, algorithms, and programs required to drop the safety tripod can be stored in the calculated safety tripod dropping position.

In addition, the storage unit 10 may store a phone number for requesting an emergency dispatch service.

In addition, the storage unit 10 includes a flash memory type, a hard disk type, a micro type, and a card type (e.g., an SD card (Secure Digital Card) or an XD card ( eXtream Digital Card)), RAM (Random Access Memory), SRAM (Static RAM), ROM (Read-Only Memory), PROM (Programmable ROM), EEPROM (Electrically Erasable PROM), magnetic memory It may include at least one type of storage medium among (MRAM, Magnetic RAM), magnetic disk, and optical disk type memory.

Next, the information collection unit 20 may collect various types of information through a navigation device, a camera, an illuminance sensor, a radar sensor, an ADAS (Advanced Driver Assistance System), etc. mounted in an autonomous vehicle.

That is, the information collection unit 20 includes lane information (curvature of lanes, width of lanes), surrounding environment information (weather, precipitation, rainfall, illuminance, friction coefficient of roads, speed of neighboring vehicles, curvature of roads, road regulation) Speed, etc.), location information, etc. can be collected.

Also, the information collection unit 20 may collect various types of information through a vehicle network. In this case, the vehicle network includes a Controller Area Network (CAN), a Local Interconnect Network (LIN), a FlexRay, and a Media Oriented Systems Transport (MOST).

Next, the tripod dropping part 30 drops the safety tripod on the road. At this time, the safety tripod is a form that automatically deploys when dropped on the road, and may be implemented in various ways (spring deployment type, gas injection type, etc.).

2 is an exemplary view of an automatic deployment safety tripod used in the present invention.

As shown in Figure 2, the automatic deployment safety tripod used in the present invention is stored in the storage box (2) mounted on the autonomous vehicle and is dropped by the safety tripod dropping device (30), the impact of the safety tripod falling on the road surface. As a result, it is developed in a tetrahedral shape so that the driver of the rear vehicle can recognize the accident situation in front of the vehicle and prevent secondary accidents.

To this end, the safety tripod is fixed in three directions to the weight 7 made of a cone in order to minimize air resistance when dropped on the road surface.

The weight 7 is made of a soft synthetic resin such as urethane so that the safety tripod is not damaged due to collision with the road surface when it is dropped on the road surface, and at the same time prevents vehicle damage or injury to a person when another vehicle or person is hit. It should be manufactured, and a metal material can be embedded inside to reduce the moving distance when dropping the road surface.

The leg 8 installed on the weight 7 of the safety tripod is made of a material having self-bending elasticity, such as a steel wire or a piano wire, so that it can be quickly deployed in a triangle when falling on the road surface. It is preferable to manufacture a part of the coil spring to have (8a).

The leg 8 is connected to and clamped with the clamp 9 so that it can be stored in a folded state in the center direction from the deployed state when stored in the storage box 2.

The clamp (9) is fitted with the rear portion of the weight (7), and a hit capable of clamping the leg (8) to the rear end of the connection pipe (15) and the connection pipe (15) passed through the connection line (4) It consists of a plate (11).

The connection pipe part 15 is elastically connected to the weight 7 so that the spring 12 is weighted so that the connection pipe part 15 is separated from the weight 7 when the weight 7 falls on the road surface. Insert the connection part of (7) so that the connection pipe part 15 is elastically engaged.

And the striking plate 11 installed on the rear side of the connection pipe 15 in a flange shape, the three legs 8 have elasticity due to their own material and elasticity due to the coil spring 8a, so that the locking step ( 11a) to form

In addition, the tripod dropping unit 30 may include a plurality of safety tripods to drop a plurality of safety tripods on the road.

Next, the control unit 40 performs overall control so that the respective components can normally perform their functions. The control unit 40 may be implemented in the form of hardware or software, and may also exist in the form of a combination of hardware and software. Preferably, the control unit 40 may be implemented as a microprocessor, but is not limited thereto.

In addition, the control unit 40 calculates the dropping position of the safety tripod based on the distance to the estimated stop position and the speed of the surrounding vehicles when the autonomous vehicle is emergency stopped, and drops the safety tripod at the calculated dropping position of the safety tripod. In the process of performing various controls. At this time, the control unit 40 may obtain an estimated stop position from the autonomous vehicle.

In addition, the controller 40 may obtain emergency stop information of the autonomous vehicle by interlocking with the autonomous vehicle 200.

For reference, the autonomous vehicle can make an emergency stop as shown in FIG. 3. In FIG. 3, (a) shows an emergency stop on the driving lane because steering is impossible, (b) shows an emergency stop on the shoulder because steering is possible, and (c) shows an emergency stop while driving on a curved road. Indicates the case. At this time, the self-driving vehicle determines the estimated stop position at the time when the emergency stop is determined.

In addition, the control unit 40 calculates the dropping position of the safety tripod during an emergency stop of the autonomous vehicle.

Hereinafter, a process in which the control unit 40 calculates the dropping position of the safety tripod 410 will be described in detail with reference to FIG. 4.

FIG. 4 is a diagram showing a dropping position of a safety tripod calculated by a safety tripod installation device of an autonomous vehicle according to an embodiment of the present invention. At this time, the dropping position is assumed to be a state in which the driving speed of the autonomous vehicle has no effect on the dropping position of the safety tripod in order to facilitate understanding, and in the actual implementation, the dropping point of the safety tripod is considered by considering the driving speed of the autonomous vehicle. Can be adjusted.

As shown in Figure 4, the safety tripod 410 is separated from the predicted stop position'd1' and dropped in the center of the lane. That is, the control unit 40 calculates the dropping position of the safety tripod 410 at the time of determining the stop, and then drops the safety tripod 410 when passing the calculated dropping position in the process of driving to the expected stop. Controls the delivery unit 30. At this time, the center position of the lane can be detected by dividing the width of the lane by half.

Basically, the control unit 40 is the distance (d1) from the estimated stopping position to the safety tripod dropping position based on the surrounding environment information collected by the information collecting unit 20 (speed of the surrounding vehicle and the friction coefficient of the road, etc.) Can be calculated. That is, the control unit 40 may calculate d1 by adding the braking distance of the surrounding vehicle to the margin distance. In this case, the control unit 40 may calculate d1 based on the following [Equation 1] as an example.

[Equation 1]

Here, v represents the speed of the surrounding vehicle (m/s), g represents the gravitational acceleration, and dm represents a constant (for example, 10 m) as the clearance distance. At this time, dm can be arbitrarily set according to the intention of the designer.

In addition, when the information collection unit 20 fails to collect the speed information v1 of the surrounding vehicle, the control unit 40 may calculate d1 based on the prescribed speed v2 of the road. In other words, in [Equation 1], the specified speed of the road can be substituted instead of the speed of the surrounding vehicles.

In addition, the control unit 40 may calculate d1 based on the average speed of the speed v1 of the surrounding vehicle and the prescribed speed v2 of the road collected by the information collecting unit 20. That is, in [Equation 1], the average speed may be substituted for the speed of the surrounding vehicles.

In addition, the control unit 40 calculates d1 based on the speed of the autonomous vehicle before the failure when the information collection unit 20 fails to collect both the speed v1 of the surrounding vehicle and the regulated speed v2 of the road. You may. In other words, in [Equation 1], instead of the speed of the surrounding vehicles, the speed of the autonomous vehicle before the breakdown can be substituted.

Meanwhile, the controller 40 may calculate a distance added to d1 according to a situation.

In the case of a curved road, the controller 40 may calculate a distance according to the curvature of the road collected by the information collection unit 20. For example, the controller 40 may calculate the distance Δw as shown in FIG. 5 based on the following [Equation 2].

[Equation 2]

Δw = w-(c × θ)

Here, w denotes d1 in [Equation 1], c denotes the curvature of the road, and θ denotes the central angle (1.22 rad) considering the driver's viewing angle. For example, if w is 40, Δw is 50m-(40m×1.22)=1.2m. In the end, the final distance from the curved road is d1+Δw, so it becomes 51.2m (50m+1.2m).

When it rains, the control unit 40 may calculate a distance according to the amount of precipitation collected by the information collection unit 20. For example, the controller 40 may calculate the increased distance based on the following [Table 1].

Precipitation Coefficient 10mm 0.2 20mm 0.4 30mm 0.6 40mm 0.8 50mm 1.0

For example, if the amount of precipitation is 30mm, the distance (30m) to be added may be calculated by multiplying d1 (50m) by 0.6. In the end, if the precipitation is 30mm, the final distance is d1+30m, so it is 80m.

The control unit 40 may calculate a distance according to the friction coefficient of the road collected by the information collection unit 20. This is a method that is applied when the amount of precipitation is unknown.For example, when it is in a normal state, the friction coefficient of the road is set to 1, in the case of rain, the friction coefficient of the road is set to 0.7, and in the case of rain, it is set to d1 (50m). It can be multiplied by 0.3 (1-0.7) to calculate the added distance (15m). Eventually, the final distance on a rainy day is 65m.

The controller 40 calculates the final distance by reflecting at least one of the additional distance according to the curvature of the road, the additional distance according to precipitation, and the additional distance according to the friction coefficient of the road in d1 calculated through [Equation 1]. I can. In this case, the additional distance may be reflected in the form of being added to d1 respectively.

On the other hand, the control unit 40 determines the dropping position of the safety tripod 410 in the above-described manner, and then, as shown in FIG. 6, an intersection between the expected stop position of the autonomous vehicle and the dropping position of the safety tripod 410 If located, the process of additionally dropping the safety tripod 410 will be described.

6 is a view showing a dropping position of a safety tripod at an intersection calculated by a safety tripod installation device for an autonomous vehicle according to an embodiment of the present invention.

As shown in FIG. 6, when an intersection is located between the estimated stopping position of the autonomous vehicle and the dropping position of the safety tripod 410, the control unit 40 moves the first safety tripod 410 5-10m before entering the intersection. Drop it between (d4).

Thereafter, if the distance from the end of the intersection to the predicted stopping position of the autonomous vehicle exceeds the threshold, the second safety tripod 420 is dropped at a distance d3 from the estimated stopping position of the autonomous vehicle, and autonomous driving from the end of the intersection. If the distance to the estimated stopping position of the vehicle does not exceed the threshold, the second safety tripod 420 is dropped between 5 and 10 m (d5) from the end of the intersection. In this case, d3 is half of d1, and the threshold value may be a sum of d3 and d5, for example.

Additionally, the control unit 40 may turn on the emergency light when the autonomous vehicle is stopped in an emergency.

In addition, the control unit 40 may contact the emergency dispatch service when the autonomous vehicle is stopped in an emergency.

7 is a flowchart illustrating a method of installing a safety tripod for an autonomous vehicle according to an embodiment of the present invention.

First, the information collection unit 20 collects surrounding environment information (701).

Thereafter, the control unit 40 calculates the dropping position of the safety tripod based on the distance to the estimated stopping position and the surrounding environment information when the autonomous vehicle is stopped in an emergency (702 ).

Thereafter, the safety tripod dropping unit 30 drops the safety tripod to the calculated dropping position of the safety tripod (703).

8 is a flowchart illustrating a method of installing a safety tripod for an autonomous vehicle according to another embodiment of the present invention.

First, the information collection unit 20 collects surrounding environment information (801).

Thereafter, the control unit 40 calculates the dropping position of the safety tripod based on the distance to the estimated stopping position and the surrounding environment information when the autonomous vehicle is stopped in an emergency (802 ).

Then, it is determined whether an intersection is located between the expected stopping position and the dropping position of the safety tripod (803).

As a result of the determination, if the intersection is located, the first area before entering the intersection is determined as the dropping position of the first safety tripod, and after entering the intersection, the second area is determined as the dropping position of the second safety tripod (804).

As a result of the determination, if the intersection is not located, one safety tripod is dropped to the calculated dropping position of the safety tripod (805).

9 is a block diagram showing a computing system for executing a method of installing a safety tripod for an autonomous vehicle according to an embodiment of the present invention.

Referring to FIG. 9, the above-described method of installing a safety tripod for an autonomous vehicle according to an embodiment of the present invention may also be implemented through a computing system. The computing system 1000 includes at least one processor 1100 connected through a system bus 1200, a memory 1300, a user interface input device 1400, a user interface output device 1500, a storage 1600, and A network interface 1700 may be included.

The processor 1100 may be a central processing unit (CPU) or a semiconductor device that processes instructions stored in the memory 1300 and/or the storage 1600. The memory 1300 and the storage 1600 may include various types of volatile or nonvolatile storage media. For example, the memory 1300 may include read only memory (ROM) and random access memory (RAM).

Accordingly, the steps of the method or algorithm described in connection with the embodiments disclosed herein may be directly implemented as hardware, software modules, or a combination of the two executed by the processor 1100. The software module is a storage medium such as RAM memory, flash memory, ROM memory, EPROM memory, EEPROM memory, register, hard disk, solid state drive (SSD), removable disk, CD-ROM (i.e., memory 1300) and/or It may reside in the storage 1600. An exemplary storage medium is coupled to the processor 1100, which is capable of reading information from and writing information to the storage medium. Alternatively, the storage medium may be integral with the processor 1100. The processor and storage media may reside within an application specific integrated circuit (ASIC). The ASIC may reside within the user terminal. Alternatively, the processor and storage medium may reside as separate components within the user terminal.

The above description is merely illustrative of the technical idea of the present invention, and those of ordinary skill in the art to which the present invention pertains will be able to make various modifications and variations without departing from the essential characteristics of the present invention.

Accordingly, the embodiments disclosed in the present invention are not intended to limit the technical idea of the present invention, but to explain the technical idea, and the scope of the technical idea of the present invention is not limited by these embodiments. The scope of protection of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the present invention.

10: storage
20: information collection unit
30: safety tripod deployment
40: control unit

Claims (20)

An information collection unit that collects surrounding environment information;
A safety tripod dropping unit for dropping the safety tripod onto the road; And
When the self-driving vehicle is at an emergency stop, the safety tripod dropping unit calculates the dropping position of the safety tripod based on the distance to the expected stop position and the surrounding environment information, and drops the safety tripod at the calculated dropping position of the safety tripod. Control unit
A safety tripod installation device for an autonomous vehicle comprising a.
The method of claim 1,
The surrounding environment information,
A device for installing a safety tripod for an autonomous vehicle, comprising the speed of surrounding vehicles, the coefficient of friction of the road, and the prescribed speed of the road.
The method of claim 2,
The control unit,
A safety tripod installation device for an autonomous vehicle, characterized in that the reference distance is calculated by summing the braking distance of the surrounding vehicles and the extra distance, and a point separated by the reference distance from the estimated stopping position is calculated as the dropping position of the safety tripod. .
The method of claim 2,
The control unit,
A safety tripod installation device for an autonomous vehicle, characterized in that calculating the dropping position of the safety tripod based on the prescribed speed of the road.
The method of claim 2,
The control unit,
A safety tripod installation device for an autonomous vehicle, characterized in that calculating the dropping position of the safety tripod based on the average speed of the speed of the surrounding vehicles and the prescribed speed of the road.
The method of claim 2,
The control unit,
When the speed of the surrounding vehicle is not collected, the safety tripod installation device for an autonomous vehicle, characterized in that to calculate the dropping position of the safety tripod based on the speed of the autonomous vehicle before the failure.
The method of claim 2,
The surrounding environment information,
A device for installing a safety tripod for an autonomous vehicle, characterized in that it further includes information on curvature of a road and information on precipitation.
The method of claim 7,
The control unit,
A safety tripod installation device for an autonomous vehicle, characterized in that to calculate the dropping position of the safety tripod by reflecting the additional distance in which the driver's viewing angle is considered according to the curvature of the road.
The method of claim 7,
The control unit,
A safety tripod installation device for an autonomous vehicle, characterized in that calculating the dropping position of the safety tripod by reflecting the additional distance according to the precipitation.
An information collection unit that collects surrounding environment information; And
When the autonomous vehicle is at an emergency stop, the safety tripod dropping position is calculated based on the distance to the estimated stopping position and the surrounding environment information, and an intersection is located between the estimated stopping position and the dropping position of the safety tripod, A control unit that determines the first area before entering the intersection as the dropping position of the first safety tripod, and the second area after entering the intersection as the dropping position of the second safety tripod
A safety tripod installation device for an autonomous vehicle comprising a.
The method of claim 10,
The control unit,
If the distance from the end of the intersection to the estimated stopping position exceeds the threshold, the point separated by the first critical distance from the estimated stopping position is determined as the dropping position of the second safety tripod, and the distance from the end of the intersection to the estimated stopping position is determined. If the threshold value is not exceeded, a safety tripod installation device for an autonomous vehicle, characterized in that a point separated by a second critical distance from the end of the intersection is determined as a dropping position of the second safety tripod.
Collecting surrounding environment information by an information collection unit;
Calculating, by the control unit, a dropping position of the safety tripod based on the distance to the estimated stopping position and the surrounding environment information when the autonomous vehicle is stopped in an emergency; And
Step of dropping the safety tripod to the calculated safety tripod dropping position by the safety tripod dropping unit
A safety tripod installation method for an autonomous vehicle comprising a.
The method of claim 12,
The surrounding environment information,
A method of installing a safety tripod for an autonomous vehicle, comprising the speed of surrounding vehicles, the coefficient of friction of the road, and the prescribed speed of the road.
The method of claim 13,
The step of calculating the dropping position of the safety tripod,
A method for installing a safety tripod for an autonomous vehicle, characterized in that the reference distance is calculated by summing the braking distance of the surrounding vehicles and the extra distance, and a point separated by the reference distance from the estimated stopping position is calculated as the dropping position of the safety tripod. .
The method of claim 13,
The step of calculating the dropping position of the safety tripod,
A safety tripod installation method for an autonomous vehicle, characterized in that calculating the dropping position of the safety tripod based on the prescribed speed of the road.
The method of claim 13,
The surrounding environment information,
A safety tripod installation method for autonomous vehicles that further includes road curvature information and precipitation information.
The method of claim 16,
The step of calculating the dropping position of the safety tripod,
A method of installing a safety tripod for an autonomous vehicle, characterized in that the dropping position of the safety tripod is calculated by reflecting an additional distance in which the driver's viewing angle is considered according to the curvature of the road.
The method of claim 17,
The step of calculating the dropping position of the safety tripod,
A method of installing a safety tripod for an autonomous vehicle, characterized in that calculating the dropping position of the safety tripod by reflecting the additional distance according to the precipitation.
Collecting surrounding environment information by an information collection unit; And
The control unit calculates the dropping position of the safety tripod based on the distance to the estimated stopping position and the surrounding environment information when the autonomous vehicle is stopped, and an intersection is located between the estimated stopping position and the dropping position of the safety tripod. In this case, determining the first area as the dropping position of the first safety tripod before entering the intersection, and determining the second area as the dropping position of the second safety tripod after entering the intersection
A safety tripod installation method for an autonomous vehicle comprising a.
The method of claim 19,
The step of determining the drop position,
If the distance from the end of the intersection to the estimated stopping position exceeds the threshold, determining a point separated by the first critical distance from the estimated stopping position as a dropping position of the second safety tripod; And
If the distance from the end of the intersection to the estimated stopping position does not exceed the threshold, determining the point separated by the second critical distance from the end of the intersection as the dropping position of the second safety tripod
A safety tripod installation method for an autonomous vehicle comprising a.

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