KR20220058802A - Bus station context information collection system for based on sensor convergence technology for autonomous large bus rapid transit - Google Patents

Abstract

The present invention relates to a bus station situation information collection system based on a sensor convergence technology for an autonomous large transit express bus, which is able to use the sensor convergence technology in a station of a transit express bus (BRT bus) and precisely detect the station situation information (precise stop, entry/exit of vehicles, obstacles on the road, getting on/off of passengers, the number of waiting people on the station, etc.), comprising: an autonomous transit express bus terminal transmitting vehicle information including the basic vehicle information, vehicle passenger number information, and vehicle emergency situation information to a control system, and receiving the situation information of the next station from the control system; a station system acquiring the situation information of the station, and transmitting the information to the control system, and receiving the vehicle situation information from the control system, and displaying the information on a display device, and providing the waiting passengers on the station with the vehicle-related information; and the control system collecting the situation information of the station from the station system, and analyzing the collected information by the sensor convergence technology, and generating passenger safety information, and transmitting the information to the autonomous transit express bus terminal and the station system.

Description

Bus station context information collection system for based on sensor convergence technology for autonomous large bus rapid transit

The present invention relates to a sensor fusion technology-based stop situation information collection system for an autonomous high-capacity trunk express bus. In particular, the stop situation information (precise stop, It relates to a stop situation information collection system based on sensor convergence technology for autonomous driving large-capacity express buses that can accurately detect vehicle entry and exit, obstacles on the road, passengers getting on and off, number of people waiting at a stop, etc.).

The bus, which has become the most important means of transportation for the common people in city life, is an indispensable means of transportation in city life. Recently, in a situation where bus stops along the roadside are being moved to the middle of the road, such as Bus Information System (BIS), Bus Rapid Transit (BRT), and the implementation of the central bus lane system, buses and people inevitably Accidents, large and small, occur frequently. The side effects that occur as a result frequently occur at bus stops installed on the central bus lane with little occupied space, and even at roadside bus stops, passengers waiting to use the bus are overcrowded, so they are exposed to safety accidents 24 hours a day.

Here, the arterial express bus (BRT) refers to an express bus system that installs bus-only lanes on major roads and operates buses in an express manner. BRT is a public transportation system with significantly improved punctuality, speed, and transport capacity compared to the existing bus operation method by having an arrival information system, bus priority signal system, and transfer terminal.

A dedicated road for only buses will be installed on the entire main arterial road connecting the city center and the outskirts or in the middle of the road, and the toll collection system, platform, transfer station, transfer terminal, and information system will be applied like the subway. In other words, all bus lanes, vehicles, and stops are integrated and managed into one system.

As the use of these express buses increases, safety accidents are also increasing, and the problem of securing passenger safety is emerging as a major issue.

In order to secure the safety of a public transportation system stop and induce a vehicle to stop at the station, a conventionally proposed technique is disclosed in <Patent Document 1> below.

The prior art disclosed in <Patent Document 1> is a new transportation system such as a trunk express bus, a bimodal tram, a wireless tram, and a streetcar that allows the driver to accurately and safely stop the vehicle in the exact location inside the station. To provide a vehicle stop guidance system at a station to guide

However, this prior art has a disadvantage in that it is not possible to automatically recognize an unexpected or emergency situation at a stop due to a falling object or a dangerous situation for passengers and provide a vehicle scheduled to arrive at the corresponding stop. Here, if information on unexpected situations (traffic light failure, etc.) or emergency situations at the stop is delivered to the bus scheduled to arrive at the stop, the bus can prevent a safety accident in advance by driving with caution based on this information.

Republic of Korea Patent No. 10-1489808 (Registered on January 29, 2015) (Public transportation system stop guidance system)

Therefore, the present invention has been proposed to solve the various problems occurring in the prior art as described above, and by using sensor fusion technology at the stop of a trunk express bus vehicle (BRT bus), stop situation information (precise stopping, vehicle entry and exit, The purpose is to provide a sensor fusion technology-based stop situation information collection system for autonomous driving large-capacity express buses that can accurately detect obstacles on the road, passengers getting on and off, number of people waiting at a stop, etc.).

In order to achieve the above object, the "sensor fusion technology-based stop situation information collection system for autonomous driving large-capacity express bus" according to the present invention includes vehicle basic information, vehicle occupant information, and vehicle emergency information. a self-driving trunk express bus terminal that transmits vehicle information to a control system and receives situation information of a next stop from the control system; a stop system that obtains and transmits the status information of a stop to the control system, receives the vehicle status information transmitted from the control system, and displays it through a display device to provide vehicle-related information to passengers waiting at the stop; and a control system that collects stop situation information from the stop system, analyzes the collected information with sensor fusion technology, generates passenger safety information, and transmits it to the autonomous driving trunk express bus terminal and the stop system. .

The autonomous driving trunk express bus terminal is mounted on the autonomous driving trunk express bus, and provides the vehicle identification number, current location information, vehicle speed information, vehicle occupant information, vehicle emergency information, stop arrival information, and stop departure information to vehicle information. It is characterized in that it is created with

The stop system includes: a space detection sensor for measuring a vehicle stopping position and a distance to a road surface, detecting a passenger getting on and off, detecting an obstacle on a traveling path, and detecting a number of people waiting at a stop; a scanning laser sensor that detects the stop position of the autonomous driving express bus, detects vehicle entry and exit from a stop, and detects the approach of a passenger to the driving route; It is characterized in that it includes a camera that acquires the image information of the bus stop, and provides the acquired image information as information for monitoring the number of people waiting at the bus stop and detecting passengers getting on/off.

The stop system is characterized in that it includes a stop controller that promotes passenger safety by controlling the rope blocking film based on the event information and passenger stability information transmitted from the control system.

The control system may include: a traffic information receiver configured to receive traffic information from the autonomous driving trunk express bus terminal and a stop system; a database management unit for storing each traffic information received by the traffic information receiving unit in a database; a stop condition information analysis unit for processing and analyzing the stop condition information transmitted from the stop system among the traffic information stored in the database to generate event information and passenger safety information; a control information display unit for displaying the event information generated by the stop situation information analysis unit and displaying passenger safety information; and a passenger safety information providing unit that transmits the passenger safety information generated by the stop situation information analysis unit to the autonomous driving trunk express bus terminal and the stop system.

In the above, the stop situation information analysis unit measures the distance between the vehicle stopping position and the road surface collected through the space detection sensor (ToF sensor) among the stop situation information, and the passenger at the door position from the 3D coordinate data obtained from the space detection sensor is present, but when determining whether a passenger is present at the door position in the 3D coordinate data, different weights are given according to the measured distance from the vehicle stop position to the road surface to improve the accuracy in determining the presence or absence of a passenger characterized by doing.

In the above, the stop situation information analysis unit detects the obstacle at the stop position by processing the image collected by the camera among the stop situation information with a deep learning algorithm, but the obstacle detected in the vehicle stopping position area is calculated by the deep learning algorithm. It is characterized in that it is determined whether an obstacle is detected by using the accuracy of the detection object.

In the above, the stop situation information analysis unit converts the measured data obtained from the scanning laser sensor among the stop situation information into a measurement angle and a measurement distance value, converts it into a plane coordinate value, and measures the stop position of the bus based on the plane coordinate value Calculate the door location using the bus's financial information, match the door location with the passenger's location information detected by the scanning laser sensor to determine the passengers around the door, but calculate the measured area of the detected object to determine the distance It is characterized in that proportional accuracy is calculated.

In the above, the stop situation information analysis unit determines whether the scanning laser sensor, the space detection sensor, and the camera operate normally among the stop situation information received from the stop system, and when all three sensors operate normally, the standard value of the three sensors is higher. It is characterized in that the detection value of the sensor generating the detection value is used as the detection value in the normal state.

In the above, the stop situation information analysis unit determines whether the scanning laser sensor, the space detection sensor, and the camera operate normally among the stop situation information received from the stop system, and if only two of the three sensors operate normally, the sensor fusion technology is used. Thus, the sensor value of which the detection accuracy of the two normally operated sensors is detected as greater than the first accuracy is used as the situation determination information, and the sensor value in which the detection accuracy of the two sensors is detected as the second accuracy or more is determined as it is. It is characterized in that it is used as information.

In the above, when the stop situation information analysis unit analyzes the information transmitted from the stop system and determines that it is an emergency situation, it generates event information about the emergency situation, displays it on the control information display unit, stores the database, and stores the driving route of the autonomous vehicle and It is characterized in that after the location is analyzed to select a target vehicle for information delivery, the emergency situation information is transmitted to the selected vehicle as passenger safety information.

In the above, the stop situation information analysis unit checks the boarding and alighting information when receiving the boarding and alighting information from the stop system, generates boarding and alighting event information when an event condition occurs, displays it on the control information display unit, and stores it in the database, and the autonomous vehicle It is characterized in that after selecting a target vehicle for information delivery by analyzing the driving route and location of

In the above, when the stop situation information analysis unit receives vehicle emergency information including takeover or vehicle breakdown from the autonomous driving trunk express bus terminal, the emergency situation priority is determined using a preset emergency priority determination criterion, Event information on emergency situations is generated and displayed on the control information display unit and stored in the database. After analyzing the driving route and location of the autonomous driving vehicle, selecting the information delivery target stop It is characterized in that the information is transmitted as passenger safety information.

According to the present invention, using sensor fusion technology at the stop of a trunk express bus vehicle (BRT bus) to accurately detect the stop situation information (precise stopping, vehicle entry and exit, obstacles on the road, passengers getting on and off, the number of people waiting at the stop, etc.) The purpose is to provide a sensor fusion technology-based stop situation information collection system for an autonomous high-capacity express bus.

Another object of the present invention is to obtain the situation information of the stop by using the sensor fusion technology when collecting the situation information of the stop, replacing the faulty sensor using the information of the normally operating sensor even when some sensors fail. It is to provide a stop situation information collection system based on sensor fusion technology for autonomous driving large-capacity express buses.

1 is a schematic configuration diagram of a sensor fusion technology-based stop situation information collection system for an autonomous driving large-capacity express bus according to the present invention;
2 is a conceptual diagram of a sensor fusion technology-based stop situation information collection system for an autonomous driving large-capacity express bus according to the present invention;
3 is a structural diagram of each part of a sensor fusion technology-based stop situation information collection system for an autonomous driving large-capacity express bus according to the present invention;
4A to 4C are exemplary views of collecting stop situation information using a sensor installed at a stop in the present invention;
5 to 9 are diagrams illustrating a process of processing situation information obtained from a stop in the present invention,
10 is an example of detecting the presence or absence of an object such as a falling object, a pedestrian, or a vehicle, or detecting the position of a door of a bus using information of a scanning laser sensor in the present invention.

Hereinafter, a sensor fusion technology-based stop situation information collection system for an autonomous high-capacity trunk express bus according to a preferred embodiment of the present invention will be described in detail with reference to the accompanying drawings.

The terms or words used in the present invention described below should not be construed as being limited to conventional or dictionary meanings, and the inventor may appropriately define the concept of terms to describe his invention in the best way. It should be interpreted as meaning and concept consistent with the technical idea of the present invention based on the principle that it can be.

Accordingly, the embodiments described in this specification and the configurations shown in the drawings are only preferred embodiments of the present invention, and do not represent all of the technical spirit of the present invention, so various equivalents and It should be understood that there may be variations.

1 is a schematic configuration diagram of a stop situation information collection system based on sensor fusion technology for an autonomous driving large-capacity express bus according to a preferred embodiment of the present invention, and FIG. 2 is a sensor for an autonomous driving large-capacity express bus according to the present invention. It is a conceptual diagram of a convergence technology-based stop situation information collection system, and FIG. 3 is an embodiment structural diagram of each part of a sensor fusion technology-based stop situation information collection system for an autonomous driving large-capacity express bus according to the present invention. It includes a terminal 10 , a stop system 100 , and a control system 200 .

The autonomous driving arterial express bus terminal 10 interlocks with the traffic light system to obtain information of the current traffic light, and collects vehicle information including vehicle basic information, vehicle occupant information, and vehicle emergency situation information and traffic light recognition information to the control system 200 ) and serves to receive situation information of the next stop from the control system 200 .

The autonomous driving trunk express bus terminal 10 means a terminal mounted on the autonomous driving trunk express bus.

Preferably, the autonomous driving trunk express bus terminal 10 is mounted on an autonomous driving trunk express bus (BRT bus), and the intersection name, intersection ID, state information, current signal state, pedestrian signal state and signal from the traffic light system installed at the stop Remaining time information is acquired to generate traffic light recognition information, and vehicle identification number, current location information, vehicle speed information, vehicle occupant information, vehicle emergency information, stop arrival information, and stop departure information are generated as vehicle information.

To this end, the autonomous driving trunk express bus terminal 10 may include a vehicle information generator 11 that generates vehicle information and a vehicle information transmitter 12 that transmits vehicle information. The vehicle information transmission unit 12 receives the control information transmitted from the control system 200 to utilize the safe operation information of the autonomous express bus.

Here, the traffic light system serves to transmit traffic light recognition information to the autonomous driving trunk express bus terminal 100 and the control system 200 .

The stop system 100 acquires the status information of the stop, transmits it to the control system 200, receives the vehicle status information transmitted from the control system 200, and displays it through a display device to provide the vehicle to passengers waiting at the stop. It provides related information, and serves to control the opening and closing of the rope blocking membrane according to the rope blocking membrane control signal transmitted from the control system 200 .

The stop system 100 measures the distance between the vehicle stopping position and the road surface, and the space detection sensor 130 for detecting passenger boarding and disembarking, detecting obstacles on the road, and detecting the number of people waiting at the stop, autonomous driving express bus ( 10), the scan laser sensor 120 detects the stop position of the vehicle, detects vehicle entry and exit at the stop, and detects the approach of the passenger to the driving path, obtains image information of the stop, and uses the obtained image information to determine the number of people waiting at the stop. It may include a camera 110 that provides monitoring and passenger entry/exit detection information.

In addition, the stop system 100 is a stop situation information collecting unit 151 that collects stop situation information from each of the sensors 110 , 120 , 130 , and based on the detection information obtained from the stop situation information collecting unit 151 . A stop information generating unit 152 that generates stop information with Based on this, it may include a stop controller 154 that controls the rope blocking film 160 to promote passenger safety.

The control system 200 collects stop situation information from the stop system 100, analyzes the collected information using sensor fusion technology to generate passenger safety information, and the autonomous driving trunk express bus terminal 10 and the stop system It serves to transmit to (100).

The control system 200 includes a traffic information receiver 201 that receives traffic information from the autonomous driving trunk express bus terminal 10 and the stop system 100 , and each traffic information received from the traffic information receiver 201 . a database management unit 202 for storing in the database, a stop situation information analysis unit 203 for generating event information and passenger safety information by processing and analyzing the stop situation information transmitted from the stop system 100 among the traffic information stored in the database ), the control information display unit 205 that displays the event information generated by the stop situation information analysis unit 203 and displays passenger safety information, and the passenger safety information generated by the stop situation information analysis unit 203 autonomously It may include a passenger safety information providing unit 204 that transmits to the running trunk express bus terminal 10 and the stop system 100 .

The stop situation information analysis unit 203 measures the distance between the vehicle stopping position and the road surface collected through a space detection sensor (ToF sensor) 130 among the stop situation information, and obtains from the space detection sensor 130 . In one 3D coordinate data, it is determined whether a passenger is present at the door position, Improves accuracy in judging the presence or absence of passengers.

In addition, the stop situation information analysis unit 203 processes the image collected by the camera 110 among the stop situation information with a deep learning algorithm to detect the obstacle at the stopping position, but the obstacle detected in the vehicle stopping position area For this, it is determined whether an obstacle is detected using the accuracy of the detection object calculated by the deep learning algorithm.

In addition, the stop situation information analysis unit 203 converts the measured data obtained from the scan laser sensor 120 among the stop situation information into a measurement angle and a measurement distance value and converts it into a planar coordinate value, and the Measure the stop position of the bus based on the plane coordinate value, calculate the door position using the bus's financial information, and match the door position with the passenger's position information detected by the scanning laser sensor 120 to ensure that passengers around the door to calculate the accuracy proportional to the distance by calculating the measurement area of the detected object.

In addition, the stop situation information analysis unit 203 determines whether the scan laser sensor 120, the space detection sensor 130, and the camera 110 are operating normally among the stop situation information received from the stop system 100, , if all three sensors operate normally, the detection value of the sensor that has a detection value greater than the reference value among the three sensors is used as the detection value in the normal state.

In addition, the stop situation information analysis unit 203 determines whether the scan laser sensor 120, the space detection sensor 130, and the camera 110 operate normally among the stop situation information received from the stop system 100, If only two of the sensors operate normally, the sensor fusion technology is used to use the sensor value of which the detection accuracy of the two normally operated sensors is greater than or equal to the first accuracy is used as situation judgment information, and the detection of the two sensors is used. A sensor value whose accuracy is detected to be greater than or equal to the second accuracy is used as situation judgment information as it is.

In addition, the stop situation information analysis unit 203 analyzes the information transmitted from the stop system 100 and, if it is determined as an emergency situation, generates event information about the emergency situation and displays it on the control information display unit 205 at the same time The database is stored, the driving route and location of the autonomous vehicle are analyzed to select the target vehicle for information delivery, and the accidental situation information is transmitted to the selected vehicle as passenger safety information.

In addition, the stop situation information analysis unit 203 checks the boarding and alighting information when receiving the boarding and alighting information from the stop system 100, and generates boarding and alighting event information when an event situation occurs, and displays it on the control information display unit 205 At the same time, it is stored in a database, and the vehicle is selected for information delivery by analyzing the driving route and location of the autonomous vehicle, and then boarding and alighting information is transmitted as passenger safety information to the selected vehicle.

In addition, when receiving vehicle emergency information including takeover or vehicle breakdown from the autonomous driving trunk express bus terminal 10, the stop situation information analysis unit 100 uses a preset emergency situation priority determination criterion to perform an emergency It determines the priority of the situation, generates event information about the emergency situation, displays it on the control information display unit, stores it in the database, analyzes the driving route and location of the autonomous vehicle, selects the information delivery target stop, and then selects the selected stop The system transmits the situation information of the autonomous vehicle as passenger safety information.

The operation of the sensor fusion technology-based stop situation information collection system for the autonomous driving large-capacity express bus according to the present invention configured in this way will be described in detail as follows.

First, a traffic light system installed at an intersection or an autonomous driving interfering express bus stop provides real-time traffic light recognition information to the autonomous driving trunk express bus terminal 10 and the control system 200 .

That is, the autonomous driving arterial express bus terminal 10 provides the intersection name, intersection ID, traffic light status information of any one of manual/stop/auto, current signal status information, pedestrian signal status information, and signal remaining time information.

In addition, the control system 200 includes state information such as fixed/sensitive/transitional/manual, direction information on the direction of the intersection, output information including signal display and traffic light status, display time information such as current display total signal time, current display Remaining time information such as remaining time is provided.

The autonomous driving arterial express bus terminal 10 acquires traffic light display information from the traffic light system, and provides vehicle basic information including vehicle identification number, current location information (latitude, longitude) and vehicle speed, vehicle occupant information, and vehicle The vehicle information including vehicle emergency information such as failure or takeover and the traffic light recognition information are transmitted together to the control system 200 .

On the other hand, the stop system 100 installed at the stop where the autonomous driving trunk express bus stops acquires information on the stop and transmits it to the control system 200 .

That is, the space detection sensor 130 of the stop system 100 performs distance measurement information between the vehicle stopping position and the road surface, detection of passenger boarding and disembarkation, detection of obstacles in the traveling path, and detection of the number of people waiting at the stop. To this end, the space detection sensor 130 may use a TOF sensor. The detected information (TOF image/data) is transmitted to the /stop situation information collection unit 151 through Ethernet communication.

That is, as shown in FIG. 5 , the TOF sensor 130 receives spatial sensing data and generates background data through this. Then, the background data is updated, and an object is detected from the background data. When an object is detected, the type of the detected object is classified. Next, the object detection area for the position where the object is detected at the stop is checked. Next, the object detection information is transmitted to the stop situation information collecting unit 151 as obstacle detection information.

The scanning laser sensor 120 installed at a predetermined position of the stop system 100 detects the stop position of the autonomous driving trunk express bus 10, detects vehicle entry and exit at the stop, and detects the approach of the passenger. The detected information (laser detection data) is transmitted to the stop situation information collecting unit 151 through RS485 communication.

That is, as shown in FIG. 6 , the scan laser sensor 120 acquires detection data and converts the acquired detection data into distance data for each point. Next, the distance data for each point is converted into 2D location data, and object types are classified using the 2D location data. When the object type is classified, the area where the object is detected is checked. When the object detection area is identified, obstacle detection information is generated based on this.

In addition, the camera 110 installed at a predetermined position of the stop system 100 acquires image information of the stop, and uses the obtained image information to monitor the number of people waiting at the stop and to detect passengers getting on/off through Ethernet communication through Ethernet communication. It is transferred to the assembling unit 151 .

The stop situation information aggregator 151 collects the detection information detected from the camera 110, the scanning laser sensor 120, and the space detection sensor 130, respectively, and delivers it to the stop information generation unit 152. do.

The stop information generation unit 152 creates three sensor information collected by the stop situation information collection unit 151 in a preset data format and transmits it to the stop information transmission unit 153 as the stop situation information.

The stop information transmitter 153 creates the stop situation information in a set data transmission format under the control of the stop controller 154 and transmits it to the control system 200 .

The traffic information receiver 201 of the control system 200 receives traffic information and stop situation information from the autonomous driving trunk express bus terminal 10 and the stop system 100 . The database management unit 202 stores each of the traffic information and the stop situation information received by the traffic information receiving unit 201 in the database.

4A to 4C are examples of stop situation information obtained by using three sensors at the stop as described above.

Next, the stop situation information analysis unit 203 of the control system 200 processes and analyzes the stop situation information transmitted from the stop system 100 among the traffic information stored in the database to generate event information and passenger safety information. .

The stop situation information analysis unit 203 measures the distance between the vehicle stopping position and the road surface collected through a space detection sensor (ToF sensor) 130 among the stop situation information, and obtains from the space detection sensor 130 . In one 3D coordinate data, it is determined whether a passenger exists at the door position. In this case, when determining whether a passenger is present at the door position in the 3D coordinate data, different weights are assigned according to the measured distance from the vehicle stop position to the road surface to improve accuracy in determining whether a passenger is present.

In addition, the stop situation information analysis unit 203 processes the image collected by the camera 110 among the stop situation information with a deep learning algorithm to detect an obstacle at the stop position. At this time, the presence or absence of obstacle detection is determined using the accuracy of the detection object calculated by the deep learning algorithm with respect to the obstacle detected in the vehicle stopping position area.

In addition, the stop situation information analysis unit 203 converts the measured data acquired by the scan laser sensor 120 among the stop situation information into a measurement angle and a measurement distance value and converts it into a plane coordinate value. Next, the bus stop position is measured based on the converted plane coordinate value, and the door position is calculated using the bus resource information. Next, by matching the location of the door with the location information of the passenger detected by the scanning laser sensor 120, the passenger is determined around the door. At this time, the accuracy proportional to the distance is calculated by calculating the measurement area of the detected object.

10A is an example of determining the position of a door of a bus using detection information of a scanning laser sensor. For the same object, the number of measured indexes varies according to the measurement angle and detection distance. Usually, the closer the number, the greater the number of detections.

10B is an example of determining an object such as a falling object, a pedestrian, a vehicle, etc. using detection information of a scanning laser sensor. For the same object, the number of measured indexes varies according to the measurement angle and detection distance. Usually, the closer the number, the greater the number of detections.

In addition, the stop situation information analysis unit 203, as shown in FIG. 7, analyzes the information sensed by the three sensors with sensor fusion technology, and when it is determined that it is unexpected information, generates event information about the emergency situation and displays the control information At the same time as indicated by (205), the database is saved. Next, the passenger safety information providing unit 204 analyzes the driving route and location of the autonomous vehicle to select a target vehicle for information delivery, and then transmits the emergency situation information to the selected vehicle as passenger safety information. Here, the sensor fusion technology does not mean using only one sensor information, but means using and analyzing the sensing information of three sensors comprehensively.

As shown in FIG. 10 , the autonomous driving interference express bus terminal 10 that has received the unexpected situation information, when receiving the unexpected situation information of the stop where there is a falling object or a dangerous situation for passengers, displays it through a display device or It is used for driving control to prevent accidents in advance from falling objects or dangerous situations for passengers.

In addition, as shown in FIG. 8 , the stop situation information analysis unit 203 analyzes the information transmitted from the three sensors of the stop system 100 using sensor fusion technology, and when it is determined that it is boarding and alighting information, , check boarding and alighting information to generate boarding and alighting event information when an event occurs, and display it on the control information display unit 205 and store it in the database at the same time. Next, the vehicle to be delivered is selected by analyzing the driving route and location of the autonomous vehicle, and then boarding and alighting information is transmitted to the selected vehicle as passenger safety information.

The self-driving interfering express bus terminal 10 that has received the boarding and alighting information uses the boarding information to determine boarding completion, which is used for controlling the door closing and automatically closes the door according to the passenger's boarding in the unmanned autonomous driving. In addition, when getting off is completed based on the alighting information, this is also used as information for automatically controlling the door according to the passenger getting off. Here, the control system 200 also transmits the stop location information to the autonomous driving trunk express bus terminal 10, and the autonomous driving trunk express bus terminal 10 can be used as information for opening the door using the stop position information.

In addition, when receiving vehicle emergency information including takeover or vehicle breakdown from the autonomous driving trunk express bus terminal 10, the stop situation information analysis unit 203 is configured to perform a preset emergency as shown in FIG. 9 . Determine emergency priorities using the situation prioritization criteria. Next, event information about the emergency is generated and displayed on the control information display unit 205 and stored in the database at the same time. Then, after analyzing the driving route and location of the autonomous driving vehicle, the information delivery target stop is selected, and the situation information of the autonomous driving vehicle is transmitted as passenger safety information to the selected stop system.

When the stop system 100 receives the situation information of the autonomous driving vehicle, based on this, the bus stop system 100 displays the information of the autonomous driving vehicle through the display unit. For example, vehicle identification number, vehicle arrival time information, vehicle current location information, vehicle occupant information, stop arrival information, stop departure information, vehicle emergency information, etc. are displayed through the display unit. To control the stop system 100 , the stop system 100 is provided with a stop controller 154 such as a controller.

On the other hand, when the control system 200 analyzes the stop situation information as described above, generates unexpected situation or other event information, and passenger stability information and transmits it to the stop system 100, the stop controller 154 based on this information By controlling the raw rope barrier, the rope barrier 160 is opened for waiting passengers to board the vehicle, or the rope barrier 160 is closed to prevent the passenger from approaching the vehicle in case of an unexpected situation.

In addition, in a situation where the rope blocking film 160 is opened and the passenger boards the autonomous driving bus, when the passenger receives the information that the passenger has completed boarding the autonomous vehicle, the opened rope blocking film 160 is closed to ensure the safety of the passenger. promote

On the other hand, as another feature of the sensor fusion technology of the present invention, the three sensors installed in the stop system 100, that is, the camera 110, the scan laser sensor 120, and the sympathy detection sensor 130, check the operation state, Optimal control information is generated by using sensor fusion technology for a situation in which all three sensors operate normally or a failure occurs in some sensors.

For example, the stop situation information analysis unit 203 determines whether the scan laser sensor 120 , the space detection sensor 130 , and the camera 110 operate normally among the stop situation information received from the stop system 100 , , if all three sensors operate normally, the detection value of the sensor that has a detection value greater than the reference value among the three sensors is used as the detection value in the normal state. That is, when all three sensors generate a detection value of 50% or more compared to the reference value, the generated detection value is used as a detection value in a normal state, and the stop situation information is analyzed. Contrary to this, the detection value of the sensor having the detection value less than the reference value is discarded. Whether the three sensors operate normally can be determined by whether detection values are provided. That is, if all three sensor values are generated, the three sensors are considered to be operating normally, and if there is a sensor that does not generate a sensor value, the corresponding sensor is considered to have failed. In addition, even when the three sensors normally generate detection values, but generate detection values less than the reference value, it is considered that a failure has occurred in the corresponding sensor.

In addition, the stop situation information analysis unit 203 determines whether the scan laser sensor 120, the space detection sensor 130, and the camera 110 are operating normally among the stop situation information received from the stop system 100, If only two of the three sensors operate normally, the sensor fusion technology is used to use the sensor value detected with the detection accuracy higher than the first accuracy (70%) among the two normally operating sensors as the optimal situation judgment information. , a sensor value in which the detection accuracy of the two sensors is detected to be greater than or equal to the second accuracy (50%) is combined and used as situation determination information. Therefore, even if any one of the three sensors fails to detect context information, the data from the other two sensors can be combined to replace the one sensor data having a failure.

The present invention described above detects stop situation information using sensors having three different characteristics, and analyzes the situation by fusion of the detection information, thereby improving the accuracy of the stop situation analysis.

In addition, even if any specific sensor among the three sensors fails, the remaining two sensors are fused to replace the detection value of the failed sensor, so even if a part of the sensor fails, the situation information detection and analysis of the stop are normally performed. will be able to do

Although the invention made by the present inventor has been described in detail according to the above embodiments, the present invention is not limited to the above embodiments and it is common knowledge in the art that various changes can be made without departing from the gist of the present invention. It is self-evident to those who have

10: Self-driving trunk express bus terminal
100: stop system
110: camera
120: scan laser sensor
130: empathy detection sensor (ToF sensor)
151: stop situation information collection unit
152: stop information generating unit
153: stop information transmitter
154: stop controller
200: control system
201: traffic information receiver
202: database management unit
203: stop situation information analysis unit
204: Passenger safety information provision unit
205: control information display unit

Claims (10)

As a system for collecting stop situation information with sensor fusion technology for autonomous driving large-capacity express buses,
an autonomous driving trunk express bus terminal that transmits vehicle information including basic vehicle information, vehicle occupant information, and vehicle emergency information to a control system and receives situation information of a next stop from the control system;
a stop system that obtains and transmits the status information of a stop to the control system, receives the vehicle status information transmitted from the control system, and displays it through a display device to provide vehicle-related information to passengers waiting at the stop; and
and a control system that collects stop situation information from the stop system, analyzes the collected information with sensor fusion technology, generates passenger safety information, and transmits it to the autonomous driving trunk express bus terminal and the stop system A sensor fusion technology-based stop situation information collection system for autonomous driving large-capacity express buses.
The method according to claim 1, The autonomous driving trunk express bus terminal is mounted on the autonomous driving trunk express bus, the vehicle identification number, current location information, vehicle speed information, vehicle occupant information, vehicle emergency situation information, stop arrival information, and stop departure A sensor fusion technology-based stop situation information collection system for autonomous driving large-capacity express bus, characterized in that the information is generated as vehicle information.
The system according to claim 1, wherein the stop system comprises: a space detection sensor for measuring a vehicle stopping position and a distance to a road surface, detecting passengers getting on and off, detecting obstacles in a traveling path, and detecting people waiting at a stop; a scanning laser sensor that detects the stop position of an autonomous express bus, detects vehicle entry and exit from a stop, and detects a passenger's approach to the driving route; Sensor fusion technology-based stop situation information for autonomous driving large-capacity express bus, characterized in that it includes a camera that acquires image information of a stop and provides the acquired image information as information on the number of people waiting at the stop and detection of passengers getting on/off collection system.
The self-driving large-capacity express bus of claim 1 , wherein the stop system includes a stop controller that promotes passenger safety by controlling a rope barrier based on the event information and passenger stability information transmitted from the control system. A sensor fusion technology-based stop situation information collection system for
The system according to claim 1, wherein the control system comprises: a traffic information receiver for receiving traffic information from the autonomous driving trunk express bus terminal and a stop system; a database management unit for storing each traffic information received by the traffic information receiving unit in a database; a stop situation information analysis unit for generating event information and passenger safety information by processing and analyzing the stop situation information transmitted from the stop system among the traffic information stored in the database; a control information display unit for displaying the event information generated by the stop situation information analysis unit and displaying passenger safety information; Sensor fusion technology-based stop situation for autonomous driving large-capacity express bus, characterized in that it comprises a passenger safety information providing unit that transmits the passenger safety information generated by the stop situation information analysis unit to the autonomous driving trunk express bus terminal and the stop system information collection system.
The method of claim 5, wherein the stop situation information analysis unit measures the distance to the road surface and the vehicle stop position collected through a space detection sensor (ToF sensor) among the stop situation information, and uses the 3D coordinate data obtained from the space detection sensor for the entrance door. It is determined whether a passenger is present at the location, but when determining whether a passenger is present at the door location in the 3D coordinate data, different weights are given according to the measured distance from the vehicle stop position to the road surface to determine the presence or absence of a passenger A stop situation information collection system based on sensor fusion technology for an autonomous high-capacity express bus, characterized in that it improves accuracy.
The method as set forth in claim 5, wherein the stop situation information analysis unit processes the image collected by the camera among the stop situation information with a deep learning algorithm to detect obstacles at the stopping position, but with a deep learning algorithm for the obstacles detected in the stopping position area of the vehicle A sensor fusion technology-based stop situation information collection system for an autonomous driving large-capacity express bus, characterized in that it is determined whether an obstacle is detected using the accuracy of the detection object calculated in .
The method according to claim 5, wherein the stop situation information analysis unit converts the measured data obtained from the scanning laser sensor among the stop situation information into a measurement angle and a measurement distance value, converts it into a plane coordinate value, and stops the bus based on the plane coordinate value Measure the location, calculate the door location using the bus’s financial information, match the door location and the passenger’s location information detected by the scanning laser sensor to determine the passengers around the door, but calculate the measured area of the detected object A sensor fusion technology-based stop situation information collection system for an autonomous driving large-capacity express bus, characterized in that it calculates the accuracy proportional to the distance.
The method of claim 5, wherein the stop situation information analysis unit determines whether the scan laser sensor, the space detection sensor, and the camera operate normally among the stop situation information received from the stop system, and if all three sensors operate normally, the standard among the three sensors Sensor fusion for self-driving high-capacity express bus, characterized in that the detection value of the sensor with the detection value greater than the value is used as the detection value in the normal state, and the detection value of the sensor that the detection value is less than the reference value is discarded A technology-based stop situation information collection system.
The method according to claim 5, The stop situation information analysis unit determines whether the normal operation of the scanning laser sensor, the space detection sensor, and the camera among the stop situation information received from the stop system, and if only two of the three sensors operate normally, the sensor fusion By using technology, a sensor value of which detection accuracy is detected above the first accuracy among two normally operating sensors is first used as situation determination information, and a sensor value in which the detection accuracy of the two sensors is detected as greater than or equal to the second accuracy A sensor fusion technology-based stop situation information collection system for an autonomous driving large-capacity express bus, characterized in that it is combined and used as situation judgment information.

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