KR20220067275A - Optimum speed providing method and system for each section in routing path - Google Patents

Abstract

According to a preferred embodiment of the present invention, disclosed is a method for providing an optimal speed for each section, comprising steps of: receiving an optimal speed request and target vehicle information from a target vehicle; defining a section for calculating an optimal speed based on the target vehicle information and static information; checking whether dynamic information such as traffic light information and safety information within a defined section can be received, and receiving the dynamic information if the dynamic information can be received; deriving an optimal speed for each section in consideration of available information among the target vehicle information, static information, and dynamic information; and providing the derived optimal speed for each section to the target vehicle. An objective of the present invention is to estimate the optimal speed for each section on a route using dynamic/static information on a driving environment within the route to a destination, and to provide an optimal speed guide for the driving section of a vehicle.

Description

Method and system for providing optimal speed for each route section {OPTIMUM SPEED PROVIDING METHOD AND SYSTEM FOR EACH SECTION IN ROUTING PATH}

The present invention relates to providing an optimal driving guide.

A navigation system that guides the route to the current destination has become commonplace. A route guidance system such as a conventional navigation system predicts arrival time in consideration of road traffic conditions for each route section to a destination, and presents one or more candidate routes based on minimum time, shortest distance, priority on highway, recommended route, etc. , dynamically recommends new routes by reflecting traffic conditions on real-time routes or changes the guidance route to help driving convenience.

However, in the case of using the conventional route guidance system, the vehicle is driving at a low speed according to the driving habits of each driver, thereby impeding the overall traffic flow.

For example, if you are driving at a speed with a cut-in, etc., it may interfere with the driving of other vehicles and cause inconvenience. can do.

That is, since the conventional route guidance system does not guide the optimal speed of the section currently being driven, drivers have no choice but to drive according to their driving habits because there is no guide for the driving speed of their own vehicle. In this case, the overall traffic flow is hindered And there is a possibility that fuel efficiency loss of each vehicle may occur.

An object of the present invention is to estimate an optimal speed for each section on a route by using dynamic/static information on a driving environment in a route to a destination, and to provide an optimal speed guide for a driving section of a vehicle.

According to an aspect of the present invention, a method for providing an optimal speed for each road section while a target vehicle is driving includes the steps of receiving an optimum speed request and target vehicle information from a target vehicle, and the optimum speed based on the target vehicle information and static information Defining a section to calculate and deriving an optimal speed for each section in consideration of available information, and providing the derived optimal speed for each section to the target vehicle.

The step of receiving the target vehicle information includes receiving target vehicle information including the location, speed, acceleration, route to the destination, and relative speed with respect to the preceding vehicle from the target vehicle through a communication network, The defining step includes collecting static information including geometry information, road attribute information, and lane information of a road on a route, and defining a section using the target vehicle information and the static information.

The section may be a section of variable length based on the speed of the target vehicle and the shape of the road.

In the step of collecting static information, the geometric information of the road on the route, road property information, and lane information are collected using the road map, or the curvature of the road detected by the target vehicle with its own sensor, the speed limit for each road, and whether there is a child protection zone You can receive and collect information about

The derivation of the optimum speed for each section is performed step by step according to the type of information available to obtain either the optimum speed at the road level or the optimum speed at the lane level.

An optimal speed providing system according to another aspect of the present invention includes a communication unit that transmits and receives a target vehicle, surrounding vehicles and infrastructure facilities, a static information DB that stores and manages static information including road information, and the communication unit and the correction information DB It includes a section definition unit that receives target vehicle information and static information from the station to define a section, and an optimum speed calculator that calculates the defined optimal speed for each section based on collectible information.

The communication unit receives a request for providing an optimal speed from the target vehicle, and receives target vehicle information including the location, speed, acceleration, route to the destination, and relative speed with respect to the preceding vehicle, and the derived section It transmits each optimal speed to the target vehicle, and also receives infrastructure and dynamic information such as surrounding vehicles and/or traffic lights around the target vehicle.

The section definition unit defines a section for calculating the optimum speed based on target vehicle information and static information in response to a request for providing the optimum speed from the target vehicle, and the calculated section is a variable section according to vehicle speed, road shape and properties can

The optimum speed calculation unit calculates the optimum speed with step-by-step accuracy according to obtainable information.

According to the present invention, a speed guideline may be provided to a driver-driving vehicle, and a target speed and driving strategy may be provided to an autonomous vehicle.

In this way, it is possible to primarily improve the fuel efficiency of the vehicle and reduce driving/boarding fatigue, and secondarily, improve the flow of traffic flow on the road.

1 is a conceptual diagram illustrating the technical idea of the present invention.
2 is a flowchart illustrating an optimal speed calculation method for each section according to the present invention.
3 is a block diagram of an optimal speed calculation system for each section according to the present invention.

Objects and effects of the present invention are not limited to those mentioned above, and the objects and effects of the present invention, and technical configurations for achieving them will become clear with reference to the embodiments described below in detail in conjunction with the accompanying drawings.

In describing the present invention, if it is determined that a detailed description of a well-known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted. In addition, the present invention is not limited to the embodiments disclosed below, but may be implemented in various different forms. Each of the following examples are provided so that the disclosure of the present invention is complete, and to completely inform those of ordinary skill in the art to which the present invention belongs, the scope of the invention, and it is intended to limit the scope of the present invention not.

Throughout the specification, when a part "includes" or "includes" a certain element, it means that other elements may be further included, rather than excluding other elements, unless otherwise stated. . In addition, terms such as "...unit", "...device", "...device", "...unit" or "...module" described in the specification refer to at least one function or operation. It means a processing unit, which may be implemented as hardware or software or a combination of hardware and software.

On the other hand, in each embodiment of the present invention, each component, functional blocks or means may be composed of one or more sub-components, and the electrical, electronic, and mechanical functions performed by each component are electronic circuits. , an integrated circuit, an ASIC (Application Specific Integrated Circuit), etc., may be implemented as various well-known devices or mechanical elements, and may be implemented separately or two or more may be integrated into one.

As shown in FIG. 1 , the present invention collects information from a vehicle (target vehicle) to be provided with optimal speed guide information, vehicles surrounding the target vehicle, and various road infrastructures to identify the traffic flow on the route to the destination of the target vehicle. and to provide the optimal speed for each section on the route is a key technical point.

A method of providing an optimal speed according to the present invention will be described in detail with reference to FIG. 2 .

The target vehicle periodically collects target vehicle information including its location, state (speed, acceleration), route to the destination, and relative speed with respect to the preceding vehicle (forward object) to update its DB (S210).

The collection of target vehicle information may be performed by receiving sensing information obtained from a sensor of the target vehicle through wireless communication.

When the target vehicle requests the optimum speed from the control center (S220), the control center server receives target vehicle information (S230), and defines a section for calculating the optimal speed based on the target vehicle information and static information (S240).

In the present invention, the section for deriving the optimum speed is not a fixed section, but a variable section according to the vehicle speed and the shape and properties of the road.

That is, the control center is to find the optimal speed within the variable section that is affected by the vehicle speed and the shape of the road, and each section can belong to the route to the destination suggested by the route guidance system, regardless of route guidance. It may be a road section on which the target vehicle travels.

The control center checks whether dynamic information such as traffic light information and safety information within the defined section is receivable (S250), and if receivable, receives the dynamic information (S260), and considers all the collected information to determine the optimal speed within the section It is derived and provided to the target vehicle (S270).

If the dynamic information is not receivable, the optimum speed is derived based on the target vehicle information and the static information and provided to the target vehicle (S270).

This process continues until arrival at the destination (S280).

As another embodiment, the calculation and guidance of the optimal speed for each section may be performed for a front section defined at a location in which the target vehicle is driving regardless of route guidance.

Hereinafter, each of the above-described steps will be described in more detail.

<Acquisition of information>

The control center server, which can be configured in the form of a cloud server, acquires three pieces of information: target vehicle information, static information, and dynamic information, and derives the optimal speed based on this.

The details of the three categories of information obtained and used are shown in Table 1 below.

Classification subcategory More information Target vehicle information location information Location information with road/lane level accuracy status information speed, acceleration Route route to destination Forward Obstacle Information Relative speed to the preceding vehicle, etc. silence road geometry information Intersection, curvature, longitudinal/lateral slope road property information Road speed limit, child sanctuary lane information lane color, lane type (solid line, dashed line),
number by car, dynamic Traffic light information (I2V) Current signal, next signal, remaining time Safe Driving Information (I2V) Construction section, hazardous section, etc. Vehicle status information within the section (V2V) Basic Safety Information (BSM)

The target vehicle periodically collects target vehicle information, including its location, status (speed, acceleration), route to the destination, and relative speed with respect to the preceding vehicle (forward object) through a sensor installed in the vehicle, and the control center can be obtained by receiving from the target vehicle through a communication network.

In addition, as static information, the control center collects road geometry information, road attribute information, and lane information on a route. The curvature of the road, the speed limit for each road, and whether there is a child protection zone are important reference information in deriving the optimal speed. Static information can be obtained using the road map provided by the control center, or the target vehicle can use its own sensor to detect the curvature of the road, speed limit for each road, and whether there is a child protection zone and transmit it to the control center. can be obtained.

Dynamic information includes traffic light information on the route, safe driving information (construction section, dangerous section, etc.), and other vehicle status information in the section (basic safety information). Through this, the target vehicle can be configured to collect the above information and transmit it to the control center.

<Classification of speed information calculation method>

The present invention calculates optimum speed information for the current driving section by using the above information. The optimal calculation method is divided into three steps according to the available information, and the more information there is, the higher the optimum speed calculation accuracy.

In one embodiment, specific step-by-step usage information is summarized in Table 2 below. Step 1 is to find the optimal speed at the road level, and Steps 2 and 3 are to find the optimal speed at the lane level, and the level of information used in each step is different.

Classification subcategory Step-by-step required information Stage 1 Step 2 Step 3 Target vehicle information location information Road Lv Lane Lv lane LV status information O O O Route O O O Forward Obstacle Information O silence road geometry information O O O road property information O O O lane information O O dynamic Traffic light information (I2V) O O Safe Driving Information (I2V) O O Vehicle status information within the section (V2V) O

<Definition of variable driving section>

The present invention provides optimal speed information for a driving section, and the driving section is determined through Equation 1 below.

은 속도 유지를 위한 최소 시간,

는 대상 차량의 현재 속도,

와

은 각각 현재 위치부터

과

를 통해 나온 거리까지의 도로의 최소 곡률과 교차로, 분기로, 합류로 등의 개수이다. α와 β는 각각 가중치를 의미한다. here,

the minimum time to maintain the speed,

is the current speed of the target vehicle,

Wow

are each from the current position

class

The minimum curvature of the road up to the distance through α and β denote weights, respectively.

<Calculation of optimal speed for each section>

The control center provides the optimal speed profile to the vehicle or driver by calculating the optimal speed according to the driving section defined according to the above procedure and available information.

The constraints required for calculating the optimal speed are as follows.

1) The speed profile means the requested speed for each location of the own vehicle within the section, and is calculated so that the initial speed at the time of calculation becomes the speed at the end point of the defined driving section.

[Equation 2]

Velocity profile = initial velocity + (arrival velocity - initial velocity)*distance/section distance from initial position to current position

2) The amount of velocity change in the velocity profile must not exceed the longitudinal acceleration threshold.

3) The optimal speed in the curved section should be a speed at which the vehicle's lateral acceleration does not exceed the lateral acceleration threshold.

[Equation 3]

Optimal speed ≤ (radius of curvature*lateral acceleration threshold) ^1/2

4) The speed limit in the longitudinal and lateral directions can be changed according to the driver's setting.

5) The optimal speed provided cannot exceed the maximum speed limit of the road.

6) Even if the expected speed at the end point of the defined driving section is expected to be 0 km/h according to traffic light information, etc., it must be higher than the minimum speed limit before the safe braking distance unless it is decelerated by the forward traffic flow.

[Equation 4]

Safe braking distance = minimum speed * slack time + minimum speed ² /(2*proper deceleration)

7) If a system that can acquire lane-level vehicle location information requires a lane change, it must maintain a value greater than or equal to the current speed before lane change.

Hereinafter, an optimal speed providing system for each section according to the present invention will be described with reference to FIG. 3 .

The control center server according to the present invention, that is, the optimal speed providing system 300, is a static information DB 320 that stores and manages static information such as a target vehicle, a communication unit 310 for transmitting and receiving with surrounding vehicles and infrastructure facilities, and road information. , a section definition unit 330 that receives target vehicle information and static information from the communication unit 310 and the correction information DB 320 to define a section, and an optimal speed calculator 340 that calculates an optimal speed for each section. include

The communication unit 310 receives target vehicle information including a location, a state (speed, acceleration) of the target vehicle, a route to a destination, and a relative speed with respect to a preceding vehicle (a forward object).

In addition, a request for providing the optimum speed is received from the target vehicle, and the derived optimum speed for each section is transmitted to the target vehicle.

In addition, the communication unit 310 receives infrastructure and dynamic information such as surrounding vehicles and/or traffic lights around the target vehicle.

The static information DB 320 stores/manages geometry information of a road on a route, road attribute information, and lane information. Static information can be obtained using the road map provided by the control center, or the target vehicle can use its own sensor to detect the curvature of the road, speed limit for each road, and whether there is a child protection zone and transmit it to the control center. can be obtained. The static information DB 320 is also updated with the latest information periodically or when necessary.

The section definition unit 330 defines a section for calculating the optimum speed based on the target vehicle information and the static information in response to the optimum speed request according to Equation (1).

The defined section is not a fixed section, but a variable section according to the speed of the vehicle and the shape and properties of the road.

The optimum speed calculation unit 340 calculates an optimum speed using target vehicle information, static information, and dynamic information for each defined section, and provides it to the target vehicle through the communication unit 310 .

If the dynamic information is not receivable, an optimal speed is derived based on the target vehicle information and the static information and provided to the target vehicle.

The calculation of the optimum speed may be divided into, for example, three steps, and the more information there is, the higher the optimum speed calculation accuracy.

In one embodiment, specific step-by-step usage information is as summarized in Table 2 above. Step 1 is to find the optimal speed at the road level, and Steps 2 and 3 are to find the optimal speed at the lane level, and the level of information used in each step is different.

The optimum speed calculation unit 340 calculates the optimum speed for each section that satisfies the restrictions described in the <Calculation of the optimum speed for each section> section.

The present invention is applicable to a vehicle in three forms: manual driving, ADAS driving, and autonomous driving (ADS).

1) Driver driving: It can be applied to a driving mode in which the driver directly performs longitudinal/lateral control of the vehicle, and the calculated optimal speed for each section is provided to the driver through the HMI for optimal speed information for each section.

2) Driving with longitudinal speed support: If cruise control or adaptive cruise control is installed in the target vehicle, the calculated optimum speed is It is automatically applied to the longitudinal control system.

3) Autonomous driving: If the target vehicle supports autonomous driving, target speed information can be provided to the autonomous driving system regardless of the optimal speed information calculation method stage , overtaking request information, lane change timing information for path tracking, and the like may be provided to the system.

The configuration of the present invention has been described in detail with reference to some embodiments above. However, this is merely an example, and various modifications and changes are possible within the scope of the technical spirit of the present invention. Accordingly, the scope of the present invention should be defined by the description of the following claims.

Claims (14)

A method of providing an optimal speed for each road section while a target vehicle is driving, comprising:
Receiving an optimum speed request and target vehicle information from the target vehicle;
defining a section for calculating an optimal speed based on the target vehicle information and static information;
Checking whether dynamic information such as traffic light information and safety information within a defined section is receivable, and receiving the dynamic information if receivable;
deriving an optimal speed for each section in consideration of available information among the target vehicle information, static information, and dynamic information;
providing the derived optimal speed for each section to the target vehicle
A method of providing optimal speed for each section, including The method of claim 1, wherein the receiving of the target vehicle information comprises:
Receiving target vehicle information including the location, speed, acceleration, route to the destination, and relative speed with respect to the preceding vehicle from the target vehicle through a communication network of the target vehicle
How to provide optimal speed for each in-section. According to claim 1, wherein the step of defining the section,
Collecting static information including geometry information, road attribute information, and lane information of the road on the route;
defining a section using the target vehicle information and the static information
A method of providing optimal speed for each section that includes. The method of claim 3, wherein defining the section comprises:
The optimal speed providing method for each section is to define a section of variable length based on the speed of the target vehicle and the shape of the road. The method of claim 3, wherein the collecting of the static information comprises:
A method of providing optimal speed for each section in which geometry information, road attribute information, and lane information are collected on a route using a road map. The method of claim 3, wherein the collecting of the static information comprises:
A method of providing the optimal speed for each section by receiving and collecting information on the curvature of the road, the speed limit for each road, and whether there is a child protection zone detected by the target vehicle with its own sensor. The method of claim 1, wherein the step of deriving an optimal speed for each section in consideration of the available information comprises:
A method of providing optimal speed for each section, which is performed step by step according to the type of available information. The method of claim 1, wherein the step of deriving an optimal speed for each section in consideration of the available information comprises:
A method of providing the optimum speed for each section, wherein any one of the optimum speed at the road level and the optimum speed at the lane level is obtained. A communication unit that transmits and receives the target vehicle, surrounding vehicles, and infrastructure facilities;
A static information DB that stores and manages static information including road information;
a section definition unit for receiving target vehicle information and static information from the communication unit and the correction information DB to define a section;
An optimal speed calculator that calculates the defined optimal speed for each section based on collectible information
Optimal speed delivery system including. The method of claim 9, wherein the communication unit,
Receives a request for providing the optimum speed from the target vehicle, receives target vehicle information including the location, speed, acceleration, route to the destination, and relative speed with respect to the preceding vehicle, and the derived optimum speed for each section An optimal speed providing system that transmits to the target vehicle. The method of claim 9, wherein the communication unit,
An optimal speed providing system that receives infrastructure and dynamic information such as traffic lights and/or surrounding vehicles around the target vehicle. The method of claim 9, wherein the section defining unit,
and defining a section for calculating the optimum speed based on target vehicle information and static information in response to a request for providing the optimum speed from the target vehicle. The method of claim 12, wherein the section defining unit,
An optimal speed providing system that defines variable sections according to vehicle speed and road shape and properties. The method of claim 9, wherein the optimum speed calculation unit,
An optimal speed providing system that calculates an optimal speed with step-by-step accuracy based on available information.

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