KR20210043910A - Apparatus for sharing positioning information of autonomous vehicle and control method thereof - Google Patents

Abstract

Disclosed are an apparatus for sharing positioning information of an autonomous vehicle and a method for controlling the same for smooth autonomous driving by extending a control range. According to the present invention, the apparatus for sharing positioning information of an autonomous vehicle comprises: a positioning sensing unit for measuring the position and path of the vehicle; a storage unit for storing positioning information, map information, and lane information; a vehicle communication unit for communicating with surrounding vehicles; and a control unit which provides the lane information according to a map matching result to the surrounding vehicles through the vehicle communication unit or receives the lane information from the vehicle communication unit to update the positioning information based on the positioning information measured from the positioning sensing unit according to the transmission and reception setting of the positioning information.

Description

Positioning information sharing device of autonomous vehicle and its control method {APPARATUS FOR SHARING POSITIONING INFORMATION OF AUTONOMOUS VEHICLE AND CONTROL METHOD THEREOF}

The present invention relates to a positioning information sharing device of an autonomous vehicle and a control method thereof, and more particularly, by sharing and compensating the positioning information with surrounding vehicles according to the reliability of the positioning information in the autonomous vehicle, a low-spec positioning detection unit is provided. The present invention relates to a device for sharing positioning information of an autonomous vehicle and a method for controlling the same, which enables a single vehicle to perform smooth autonomous driving by extending a control range using high-spec positioning information.

In general, automatic driving devices that are built into various driving means and perform automatic driving through search for driving locations are mainly applied to ships, aircraft, etc., but are recently applied to vehicles traveling on roads, for example, driving routes and roads. Various information such as congestion is notified to the user through a monitor, or an automatic driving device drives a vehicle by itself or controls a driving state.

However, the automatic driving device has not yet been commercialized. For example, in the case of a moving object moving at a high speed such as a vehicle, the driving environment (for example, front vehicle recognition, obstacle detection, etc.) is recognized in real time and notified to the driver. Or, it is necessary to determine the driving environment in real time and perform each emergency function corresponding to it by itself, and for this, a high-performance processor capable of processing a large amount of data in real time is required.

In addition, since it is necessary to recognize the driving environment and detect surrounding vehicles while in motion, errors often occur when tracking objects because objects such as vehicles and the background cannot be accurately divided, and moving objects are erroneously recognized due to changes in lighting. It happens frequently.

On the other hand, in recent years, research on unmanned automatic driving devices is actively being conducted, and such an unmanned automatic driving device detects an available driving section using, for example, a radar, a lidar, or an image sensor. And, after grasping the current location of the unmanned automatic driving device using GPS (global positioning system, hereinafter referred to as'GPS') and an inertial sensor, a driving route of the vehicle for automatically driving to the destination is generated in real time and unmanned. You can perform automatic driving.

For such unmanned automatic driving, it is essential to use various sensors (e.g., radar, lidar, image sensor, etc.) to identify the driving range. In addition to the function of generating the entire driving route to, a function of generating a detailed driving route within any one section is required, and a function of detecting and avoiding an obstacle in the driving section is required.

The background technology of the present invention is disclosed in Korean Patent Publication No. 2015-0086065 (published on July 27, 2015, route tracking system and method for autonomous driving of an unmanned driving vehicle).

In such an autonomous vehicle, the range in which autonomous driving is possible varies depending on the performance of the sensor, advance information on the driving road, and the control capability of the vehicle.

On the other hand, recently, a smart cruise control system (SCC) that supports longitudinal and lateral control of vehicles by installing highly reliable cameras and radars to improve driver convenience and assist drivers for safety as well as autonomous vehicles. , There are vehicles equipped with a lane departure prevention assistance system (LKA) and a lane maintenance assistance system (LFA).

However, when autonomous driving control is performed in a vehicle equipped with a low-cost, low-spec positioning detector, reliable vehicle control is possible in general road conditions, such as a road with gentle curvature and a road with good lanes, but the curvature is very high. In extreme road conditions such as large roads and complex road conditions such as left and right turns and congested sections of an intersection, vehicle control may be limited, and thus the driver's intervention is inevitable and there is a problem that hinders smooth autonomous driving.

The present invention was conceived to improve the above problems, and an object of the present invention according to an aspect of the present invention is to compensate by sharing the positioning information with surrounding vehicles according to the reliability of the positioning information in an autonomous vehicle, thereby providing a low-spec positioning detection unit. It is to provide a positioning information sharing device of an autonomous vehicle and a control method thereof that enables smooth autonomous driving by extending a control range using high-spec positioning information even in equipped vehicles.

An apparatus for sharing positioning information of an autonomous vehicle according to an aspect of the present invention includes: a positioning sensing unit for measuring a position and a path of the vehicle; A storage unit for storing positioning information, map information, and lane information; A vehicle communication unit for communicating with surrounding vehicles; And a control unit that provides lane information according to the map matching result to surrounding vehicles through the vehicle communication unit or receives lane information from the vehicle communication unit to update the positioning information based on the positioning information measured from the positioning detection unit according to the transmission/reception setting of the positioning information. It characterized in that it includes;

In the present invention, the lane information includes at least one of a location and a heading of a vehicle, a curvature of a road, and a rate of change of curvature.

In the present invention, in the case of a positioning providing vehicle according to a transmission/reception setting of positioning information, the control unit searches for a neighboring positioning request vehicle and provides lane information according to a map matching result.

In the present invention, the control unit is characterized in that the control unit searches for the vehicle for positioning and provides lane information of the vehicle for positioning based on the result of matching the positioning information of the vehicle for providing positioning and a map matching result of a high-precision map.

In the present invention, the control unit is characterized by providing lane information generated based on the route information of the positioning request vehicle and the map matching result of the high-precision map when the positioning request vehicle provides route information by searching for the positioning request vehicle. .

In the present invention, in the case of a positioning request vehicle according to a transmission/reception setting of positioning information, the control unit searches for a positioning providing vehicle according to the result of determining the reliability of the positioning information, requests positioning information, and requests the positioning information to the storage unit based on the received lane information. It characterized in that it updates the stored positioning information.

In the present invention, the control unit is characterized in that when requesting the positioning information, the request is made together with the route information.

In the present invention, the control unit is characterized in that it stores the sharing result of the positioning information in the storage unit.

In another aspect of the present invention, a control method of an apparatus for sharing positioning information of an autonomous vehicle includes: searching for a positioning request vehicle when the control unit is a positioning providing vehicle according to a transmission/reception setting of positioning information; And providing, by the control unit, the lane information based on a map matching result according to whether or not route information is provided from the positioning request vehicle when the positioning request vehicle is found.

In the present invention, the lane information includes at least one of a location and a heading of a vehicle, a curvature of a road, and a rate of change of curvature.

In the present invention, the step of providing lane information includes: when route information is not provided from the vehicle requesting positioning, the control unit provides lane information of the vehicle requesting positioning based on the result of matching the positioning information of the vehicle providing the positioning and the map matching result of the high-precision map. It is characterized by that.

In the present invention, the step of providing lane information is characterized in that, when route information is provided from the positioning request vehicle, the control unit provides the lane information generated based on the route information of the positioning request vehicle and a map matching result of the high-precision map. .

The present invention is characterized in that it further comprises the step of storing, by the control unit, a result of sharing the positioning information in a storage unit.

In another aspect of the present invention, a control method of a device for sharing positioning information of an autonomous vehicle includes: determining, by a controller, a reliability of the positioning information when the vehicle is a positioning request vehicle according to a transmission/reception setting of the positioning information; Searching, by the controller, a positioning providing vehicle according to a determination result of the reliability of the positioning information; Requesting, by the controller, positioning information when a vehicle for providing positioning is found; And updating the positioning information stored in the storage unit based on the received lane information after the control unit requests the positioning information.

In the present invention, the step of requesting the positioning information is characterized in that when the control unit requests the positioning information, the request is made together with the route information.

In the present invention, the lane information includes at least one of a location and a heading of a vehicle, a curvature of a road, and a rate of change of curvature.

The present invention is characterized in that it further comprises the step of storing, by the control unit, a result of sharing the positioning information in a storage unit.

According to the reliability of the positioning information in the autonomous vehicle, the positioning information sharing device and the control method thereof according to an aspect of the present invention are compensated by sharing the positioning information with surrounding vehicles according to the reliability of the positioning information in the autonomous vehicle. Using high-spec positioning information, the control range can be expanded to enable smooth autonomous driving.

1 is a block diagram showing an apparatus for sharing positioning information of an autonomous vehicle according to an embodiment of the present invention.
2 is a view for explaining a situation of sharing positioning information by a positioning information sharing device of an autonomous vehicle according to an embodiment of the present invention.
3 is a flowchart illustrating a method of controlling a device for sharing positioning information of an autonomous vehicle according to an embodiment of the present invention.
4 is a flowchart illustrating a control method of a device for sharing positioning information of an autonomous vehicle according to another embodiment of the present invention.

Hereinafter, an apparatus for sharing positioning information of an autonomous vehicle according to the present invention and a control method thereof will be described with reference to the accompanying drawings. In this process, the thickness of the lines or the size of components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of users or operators. Therefore, definitions of these terms should be made based on the contents throughout the present specification.

1 is a block diagram showing a device for sharing positioning information of an autonomous vehicle according to an embodiment of the present invention, and FIG. 2 is a block diagram of positioning information by a device for sharing positioning information of an autonomous vehicle according to an embodiment of the present invention. It is a diagram for explaining the sharing situation.

As shown in FIG. 1, the apparatus for sharing positioning information of an autonomous vehicle according to an embodiment of the present invention includes a positioning detection unit 10, a storage unit 30, a vehicle communication unit 40, and a control unit 20. can do.

The positioning sensor 10 is a sensor module for measuring the location and path of the vehicle, and may include a camera, a lidar, a radar, a GPS, and an inertial sensor.

Here, the positioning sensing unit 10 may be equipped with a high specification or a low specification depending on the vehicle. Therefore, when the high-spec positioning detection unit 10 is mounted, it can be set as a positioning providing vehicle to transmit positioning information, and in the case of a low specification, it can be set as a positioning request vehicle to receive positioning information.

The storage unit 40 may store positioning information, map information, and lane information.

Here, the map information may store a high-precision map when the high-spec positioning detection unit 10 is mounted, and may store a precision map when the low-spec positioning detection unit 10 is mounted.

The vehicle communication unit 40 may communicate with surrounding vehicles based on V2X to search for a vehicle requesting positioning and a vehicle providing positioning for sharing positioning information, and provide or receive lane information.

The control unit 20 provides the lane information according to the map matching result based on the positioning information measured from the positioning detection unit 10 according to the transmission/reception setting of the positioning information to the surrounding vehicles through the vehicle communication unit 40 or the vehicle communication unit 40 It is possible to update the positioning information by receiving lane information from ).

Here, in the case of a positioning providing vehicle according to a transmission/reception setting of positioning information, the control unit 20 may search for a neighboring positioning request vehicle and provide lane information according to a map matching result.

At this time, if the specification of the positioning detection unit 10 is high, it is set as a positioning providing vehicle, and the measured positioning information is provided through the positioning detection unit 10, so that even a vehicle equipped with the positioning detection unit 10 of a low specification has high specifications. Positioning information can be used.

That is, in the case of a positioning providing vehicle, the control unit 20 may search for a positioning request vehicle through the vehicle communication unit 40 and provide lane information of the positioning request vehicle based on the positioning information of the positioning providing vehicle and the map matching result of the high-precision map. I can.

Here, the lane information may include at least one of a location and a heading of a vehicle, a curvature of a road, and a rate of change of curvature.

In addition, in the case of a positioning providing vehicle, the control unit 20 searches for a positioning request vehicle, and when the positioning request vehicle provides route information, the control unit 20 retrieves the lane information generated based on the route information of the positioning request vehicle and the map matching result of the high-precision map. Can provide.

On the other hand, in the case of a positioning request vehicle according to the transmission/reception setting of positioning information, the controller 20 searches for a positioning providing vehicle according to the result of determining the reliability of the positioning information to request positioning information, and a storage unit based on the received lane information. By updating the positioning information stored in (30), smooth autonomous driving and accident reduction can be expected.

That is, when a result of measuring the positioning information in a vehicle equipped with the low-spec positioning sensor 10 and the data is absent or the reliability is low, the controller 20 may search for a positioning providing vehicle and request positioning information.

At this time, the controller 20 may request positioning information together with route information on a driving route of the positioning request vehicle.

As shown in Figure 2, in the case of the positioning request vehicles #1 and #2 equipped with the low-spec positioning detection unit 10 in the left-right turn situation of the intersection, if the data of the positioning information is absent or the reliability is low, the positioning information can be requested. , The positioning providing vehicle may provide positioning information by searching for a positioning request vehicle in the vicinity through the vehicle communication unit 40.

At this time, in the case of the positioning request vehicle #2, as route information on the driving route is provided, the positioning providing vehicle may generate and provide lane information based on the route information of the positioning request vehicle and the map matching result of the high-precision map.

However, to the positioning request vehicle #1, lane information of the positioning request vehicle may be provided based on the positioning information of the positioning providing vehicle and the map matching result of the high-precision map.

On the other hand, the control unit 20 stores the sharing result of the positioning information in the storage unit 30, so that the positioning request vehicle through the compensation system based on the sharing result of the positioning information pays compensation for the provided positioning information, and The providing vehicle may be provided with compensation for providing positioning information.

As described above, according to the positioning information sharing apparatus of an autonomous vehicle according to an embodiment of the present invention, a low-spec positioning sensor is provided by sharing and compensating the positioning information with surrounding vehicles according to the reliability of the positioning information in the autonomous vehicle. Even in one vehicle, it is possible to perform smooth autonomous driving by expanding the control range using high-spec positioning information.

3 is a flowchart illustrating a method of controlling a device for sharing positioning information of an autonomous vehicle according to an embodiment of the present invention.

As shown in FIG. 3, in the control method of the positioning information sharing device of an autonomous vehicle according to an embodiment of the present invention, a prior consent for provision of positioning information is provided by setting it as a positioning providing vehicle according to the transmission/reception setting of positioning information. It is based on the state achieved.

Here, the positioning providing vehicle is equipped with a high-spec positioning sensing unit 10 and may include a high-precision map.

First, the control unit 20 searches for a positioning request vehicle from surrounding vehicles based on V2X communication through the vehicle communication unit 40 (S10).

When the positioning request vehicle is searched by searching for the positioning request vehicle in step S10, the control unit 20 determines whether route information on the driving route is received from the positioning request vehicle (S20).

In step S20, it is determined whether the route information is received together, and when the route warning is received together, the control unit 20 provides the lane information generated based on the route information of the positioning request vehicle and the map matching result of the high-precision map (S30). .

Here, the lane information may include any one or more of a location and a heading of a vehicle, a curvature of a road, and a rate of change of curvature.

On the other hand, in step S20, when it is determined whether the route information is received together and the route warning is not received, the control unit 20 provides the lane information of the vehicle requesting positioning based on the positioning information of the positioning providing vehicle and the map matching result of the high-precision map. Do (S40).

Thereafter, the control unit 20 may store the result of sharing the positioning information in the storage unit 30.

4 is a flowchart illustrating a control method of a device for sharing positioning information of an autonomous vehicle according to another embodiment of the present invention.

As shown in FIG. 4, in the control method of the positioning information sharing device of an autonomous vehicle according to another embodiment of the present invention, the positioning request vehicle is set according to the transmission/reception setting of the positioning information, and prior consent for reception of the positioning information is provided. It is based on the state achieved.

Here, the positioning request vehicle is equipped with a low-spec positioning sensor 10 and may include a precision map.

First, the control unit 20 determines the reliability of the positioning information measured from the positioning detection unit 10 (S100).

Here, the controller 20 may determine whether data is absent or reliability is low as a result of measuring the positioning information through the low-spec positioning sensor 10.

When the reliability of the positioning information is determined in step S100 and the reliability is low, the controller 20 searches for a vehicle for providing positioning in the vicinity through the vehicle communication unit 40 (S110).

After searching for the positioning providing vehicle in step S110, the controller 20 requests positioning information from the positioning providing vehicle (S120).

At this time, the controller 20 may request positioning information together with route information on a driving route of the positioning request vehicle.

After requesting the positioning information in step S120, the controller 20 updates the positioning information stored in the storage unit 30 based on the received lane information, so that smooth autonomous driving and accident reduction can be expected.

Here, the lane information may include any one or more of a location and a heading of a vehicle, a curvature of a road, and a rate of change of curvature.

Above, when the control unit 20 requests the location information along with the route information, it is possible to receive the lane information generated based on the route information of the location request vehicle and the map matching result of the high-precision map. The lane information of the vehicle requesting positioning may be received based on the positioning information of the providing vehicle and the map matching result of the high-precision map.

Thereafter, the control unit 20 may store the result of sharing the positioning information in the storage unit 30.

As a result of sharing the stored positioning information, the positioning request vehicle may be provided with a compensation for the provided positioning information through the compensation system, and the positioning providing vehicle may receive a compensation for providing the positioning information.

As described above, according to the control method of the apparatus for sharing positioning information of an autonomous vehicle according to an embodiment of the present invention, by sharing and compensating the positioning information with surrounding vehicles according to the reliability of the positioning information in the autonomous vehicle, low-spec positioning Even in a vehicle equipped with a sensing unit, it is possible to perform smooth autonomous driving by expanding the control range using high-spec positioning information.

The implementation described herein may be implemented in, for example, a method or process, an apparatus, a software program, a data stream or a signal. Although discussed only in the context of a single form of implementation (eg, only as a method), the implementation of the discussed features may also be implemented in other forms (eg, an apparatus or program). The device may be implemented with appropriate hardware, software and firmware. The method may be implemented in an apparatus such as a processor, which generally refers to a processing device including, for example, a computer, a microprocessor, an integrated circuit or a programmable logic device, or the like. Processors also include communication devices such as computers, cell phones, personal digital assistants (“PDAs”) and other devices that facilitate communication of information between end-users.

Although the present invention has been described with reference to the embodiments shown in the drawings, this is only illustrative, and those of ordinary skill in the field to which the technology pertains, various modifications and other equivalent embodiments are possible. I will understand.

Therefore, the true technical protection scope of the present invention should be determined by the following claims.

10: positioning detection unit
20: control unit
30: storage
40: vehicle communication unit

Claims (17)

A positioning sensing unit that measures the location and path of the vehicle;
A storage unit for storing positioning information, map information, and lane information;
A vehicle communication unit for communicating with surrounding vehicles; And
Provides the lane information according to a map matching result based on the positioning information measured from the positioning detection unit according to the transmission/reception setting of the positioning information to the surrounding vehicle through the vehicle communication unit or receives the lane information from the vehicle communication unit And a control unit for updating the positioning information.
The apparatus of claim 1, wherein the lane information includes at least one of a location and a heading of the vehicle, and a curvature and a rate of change of curvature of a road.
The autonomous vehicle according to claim 1, wherein, in the case of a positioning providing vehicle according to a transmission/reception setting of the positioning information, the control unit searches for a neighboring positioning request vehicle and provides the lane information according to a map matching result. Location information sharing device.
The autonomous driving according to claim 3, wherein the control unit searches for the positioning request vehicle and provides the lane information of the positioning request vehicle based on the positioning information of the positioning providing vehicle and a map matching result of the high-precision map. Vehicle positioning information sharing device.
The method of claim 3, wherein the control unit searches for the positioning request vehicle and provides route information from the positioning request vehicle, the lane generated based on the route information of the positioning request vehicle and a map matching result of a high-precision map. Positioning information sharing device of an autonomous vehicle, characterized in that to provide information.
The method of claim 1, wherein the control unit, in the case of a positioning request vehicle according to a transmission/reception setting of the positioning information, searches for a positioning providing vehicle according to a result of determining the reliability of the positioning information to request the positioning information, and the received Positioning information sharing apparatus of an autonomous vehicle, characterized in that updating the positioning information stored in the storage unit based on lane information.
The apparatus of claim 6, wherein the control unit requests the positioning information together with route information when requesting the positioning information.
The apparatus of claim 1, wherein the control unit stores a result of sharing the positioning information in the storage unit.
If the control unit is a positioning providing vehicle according to a transmission/reception setting of positioning information, searching for a positioning request vehicle; And
And providing, by the control unit, lane information based on a map matching result according to whether or not route information is provided from the positioning request vehicle when the positioning request vehicle is searched; and positioning information of an autonomous vehicle, comprising: How to control the sharing device.
10. The method of claim 9, wherein the lane information includes at least one of a location and a heading of a vehicle, and a curvature and a rate of change of curvature of a road.
The method of claim 9, wherein the providing of the lane information comprises: when the route information is not provided from the positioning request vehicle, the control unit is based on a map matching result of the positioning information of the positioning providing vehicle and a high-precision map. A control method of a device for sharing positioning information of an autonomous vehicle, characterized in that providing the lane information of the positioning request vehicle.
The method of claim 9, wherein the providing of the lane information comprises, when the route information is provided from the positioning request vehicle, the control unit is generated based on a map matching result of the high-precision map with the route information of the positioning request vehicle. A control method of a device for sharing positioning information of an autonomous vehicle, characterized in that providing the lane information.
The method of claim 9, further comprising storing, by the controller, a result of sharing the positioning information in a storage unit.
Determining, by the control unit, the reliability of the positioning information when the vehicle is a positioning request vehicle according to a setting for transmitting/receiving the positioning information;
Searching, by the control unit, a positioning providing vehicle according to a determination result of the reliability of the positioning information;
Requesting, by the control unit, the positioning information when the positioning providing vehicle is found; And
And updating the positioning information stored in a storage unit based on the received lane information after the control unit requests the positioning information.
15. The method of claim 14, wherein the requesting the positioning information comprises requesting the positioning information together with route information when the controller requests the positioning information.
15. The method of claim 14, wherein the lane information includes at least one of a position and a heading of a vehicle, and a curvature and a rate of change of curvature of a road.
15. The method of claim 14, further comprising storing, by the controller, a result of sharing the positioning information in the storage unit.

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