KR20220067879A - System for generating environment evaluation scenario of autonomous driving road - Google Patents

System for generating environment evaluation scenario of autonomous driving road Download PDF

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KR20220067879A
KR20220067879A KR1020200154619A KR20200154619A KR20220067879A KR 20220067879 A KR20220067879 A KR 20220067879A KR 1020200154619 A KR1020200154619 A KR 1020200154619A KR 20200154619 A KR20200154619 A KR 20200154619A KR 20220067879 A KR20220067879 A KR 20220067879A
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autonomous driving
evaluation scenario
surrounding environment
road
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이명수
김태형
윤형석
윤윤기
임태호
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재단법인 지능형자동차부품진흥원
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • B60W60/001—Planning or execution of driving tasks
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
    • G06T7/00—Image analysis
    • G06T7/30—Determination of transform parameters for the alignment of images, i.e. image registration
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
    • B60W2420/40—Photo, light or radio wave sensitive means, e.g. infrared sensors
    • B60W2420/403—Image sensing, e.g. optical camera
    • B60W2420/42—
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2554/00—Input parameters relating to objects
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2555/00—Input parameters relating to exterior conditions, not covered by groups B60W2552/00, B60W2554/00
    • B60W2555/60—Traffic rules, e.g. speed limits or right of way

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Mathematical Physics (AREA)
  • Computer Vision & Pattern Recognition (AREA)
  • General Physics & Mathematics (AREA)
  • Theoretical Computer Science (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to a system for generating an environmental evaluation scenario which is basic data for determining whether a corresponding road area is an environment suitable for autonomous driving by analyzing a surrounding environment of the road area. The environmental evaluation scenario of the present invention can be used as the data for evaluating autonomous driving safety in the corresponding road area. The system for generating the environmental evaluation scenario of an autonomous driving road of the present invention comprises: a surrounding environment collecting unit; an environmental information classifying unit; and an evaluation scenario generating unit.

Description

자율주행 도로 환경평가 시나리오 생성 시스템{System for generating environment evaluation scenario of autonomous driving road}System for generating environment evaluation scenario of autonomous driving road}

본 발명은 도로영역의 주변 환경을 분석하여 해당 도로영역이 자율주행에 적합한 환경인지 여부를 판단하는 기초자료인 환경평가 시나리오를 생성하는 시스템에 관한 것이다. The present invention relates to a system for generating an environmental evaluation scenario, which is basic data for determining whether the corresponding road area is an environment suitable for autonomous driving by analyzing the surrounding environment of the road area.

차량을 이용하는 사용자의 편의를 위해, 각종 센서와 전자 장치를 포함하는 차량이 제공되고 있다. 특히, 사용자의 운전 편의를 위해 차량 운전자 보조 시스템(ADAS: Advanced Driver Assistance System)에 대한 연구가 활발하게 이루어지고 있다. 나아가, 자율 주행 차량(Autonomous Vehicle)에 대한 개발이 활발하게 이루어지고 있다.For the convenience of a user who uses a vehicle, a vehicle including various sensors and electronic devices has been provided. In particular, research on an advanced driver assistance system (ADAS) is being actively conducted for user's driving convenience. Furthermore, the development of autonomous vehicles (Autonomous Vehicle) is being actively made.

자율 주행차량은 운전자가 없거나 운전자가 있더라도 차량을 직접 조작하지 않고 컴퓨터 등에 의해 주행, 정지, 회전, 가속 또는 감속 등의 운전이 자동으로 이루어지는 차량이다. 자율주행차량은 차량의 주변지형이나 위치를 포함하는 주변 환경을 인식하는 센서가 설치되어 주행 차선의 유지, 인접차량과의 안전거리 확보와 근접 장애물의 검출과 충돌회피, 교통상황이나 도로 환경에 따른 차량속도 제어 등이 자동으로 수행된다.An autonomous vehicle is a vehicle in which driving, stopping, rotating, accelerating or decelerating, etc. is automatically performed by a computer or the like without directly operating the vehicle even if there is no driver or a driver. Self-driving vehicles are equipped with sensors that recognize the surrounding environment, including the surrounding topography and location of the vehicle, to maintain the driving lane, secure a safe distance from adjacent vehicles, detect and avoid collisions with nearby obstacles, and Vehicle speed control is performed automatically.

안전한 자율 주행이 이루어지기 위해서는 자율주행에 적합한 도로 환경에서 운행되어야 하는데, 이에 따라 도로 환경이 자율주행에 적합한지 여부에 대한 평가가 필요하다.In order to achieve safe autonomous driving, it must be operated in a road environment suitable for autonomous driving, and accordingly, it is necessary to evaluate whether the road environment is suitable for autonomous driving.

대한민국 공개특허공보 제10-2010-0005362호에는 (자율주행 제어시스템)In Korean Patent Publication No. 10-2010-0005362 (Autonomous Driving Control System)

따라서, 본 발명은 도로 환경이 자율주행에 적합하지 여부를 평가할 수 있는 기초자료인 평가 시나리오를 생성하는 시스템을 제공하는데 그 목적이 있다.Accordingly, an object of the present invention is to provide a system for generating an evaluation scenario that is basic data for evaluating whether a road environment is suitable for autonomous driving.

상기와 같은 기술적 과제를 해결하기 위하여, 본 발명은 도로영역이 자율주행에 적합한지 여부를 평가하는 시나리오를 생성하는 시스템으로, 도로영역 내의 주변 환경정보를 수집하는 주변 환경 수집부, 수집된 주변 환경정보를 설정된 세부항목 별로 분류하는 환경정보 분류부 및, 세부항목이 포함된 평가 시나리오를 생성하는 평가 시나리오 생성부를 구비한다.In order to solve the above technical problem, the present invention is a system for generating a scenario for evaluating whether a road area is suitable for autonomous driving. It includes an environment information classification unit that classifies information for each set detailed item, and an evaluation scenario generation unit that generates an evaluation scenario including detailed items.

본 발명에 있어서, 주변 환경정보는 카메라에 의해 취득된 영상과 거리 및 위치정보가 포함된 정보이다. In the present invention, the surrounding environment information is information including the image acquired by the camera, and distance and location information.

본 발명에 있어서, 환경정보 분류부는 주변 환경정보를 도로기하 정보, 교통신호 정보, 및 객체정보를 포함하는 세부항목으로 분류한다. In the present invention, the environment information classification unit classifies the surrounding environment information into detailed items including road geometry information, traffic signal information, and object information.

본 발명에 따르면, 도로 영역의 주변 환경을 분석하여, 해당 환경이 자율주행에 적합한 환경인지 여부를 판단하는 환경평가 시나리오를 생성할 수 있어 해당 도로 영역의 자율주행 안전성을 평가하는 자료로 활용될 수 있다. According to the present invention, by analyzing the surrounding environment of the road area, an environment evaluation scenario can be created to determine whether the environment is an environment suitable for autonomous driving, so that it can be used as data for evaluating the safety of autonomous driving in the road area. have.

도 1은 본 발명에 따른 자율주행 도로 환경평가 시나리오 생성 시스템의 블록도이다.
도 2는 본 발명의 주변 환경 수집부에서 수집되는 환경정보를 도시한 사진이다.
도 3은 본 발명의 환경정보 분류부에 의해 분류되는 환경정보의 세부항목의 예가 도시되어 있다. 1 is a block diagram of a system for generating an autonomous driving road environment evaluation scenario according to the present invention.
2 is a photograph showing the environmental information collected by the surrounding environment collecting unit of the present invention.
3 shows an example of detailed items of environmental information classified by the environmental information classification unit of the present invention.

이하, 첨부 도면을 참조하여 본 발명의 실시예를 상세히 설명한다. Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

본 실시예는 당업계에서 평균적인 지식을 가진 자에게 본 발명을 보다 완전하게 설명하기 위해서 제공되어지는 것으로서, 도면에서의 요소의 형상, 요소의 크기, 요소간의 간격 등은 보다 명확한 설명을 강조하기 위해서 과장되거나 축소되어 표현될 수 있다.This embodiment is provided to more completely explain the present invention to those with average knowledge in the art, and the shape of elements in the drawings, the size of elements, the spacing between elements, etc. are to emphasize a clearer description may be exaggerated or reduced for

또한, 실시예를 설명하는데 있어서, 만일 어떤 구성요소가 다른 구성요소에 "형성되어", "포함되어", "결합되어", "고정되어" 있다고 기재된 때에는, 그 다른 구성요소에 직접적으로 형성, 포함, 결합 또는 고정되어 있을 수도 있지만, 중간에 다른 구성요소가 존재할 수도 있다고 이해되어야 할 것이다.In addition, in the description of the embodiment, if a component is described as being “formed”, “included”, “coupled”, or “fixed” to another component, it is directly formed in the other component, It may be included, coupled, or fixed, but it will be understood that other components may be present in between.

또한, 실시 예를 설명하는데 있어서 원칙적으로 관련된 공지의 기능이나 공지의 구성과 같이 이미 당해 기술 분야의 통상의 기술자에게 자명한 사항으로서 본 발명의 기술적 특징을 불필요하게 흐릴 수 있다고 판단되는 경우에는 그 상세한 설명을 생략하기로 한다.In addition, when it is determined that the technical features of the present invention may be unnecessarily obscured as it is already apparent to those skilled in the art, such as known functions or known configurations related in principle in describing the embodiments, the detailed description thereof A description will be omitted.

도 1은 본 발명에 따른 자율주행 도로 환경평가 시나리오 생성 시스템(100)의 블록도로, 본 발명은 도로영역 내의 주변 환경정보를 수집하는 주변 환경 수집부(110), 수집된 주변 환경정보를 설정된 세부항목 별로 분류하는 환경정보 분류부(120), 및 분류된 세부항목이 포함된 평가 시나리오를 생성하는 평가 시나리오 생성부(130)를 포함하여 이루어진다. 1 is a block diagram of an autonomous driving road environment evaluation scenario generation system 100 according to the present invention. The present invention is a surrounding environment collection unit 110 that collects surrounding environment information in a road area, and sets the collected surrounding environment information. It comprises an environment information classification unit 120 for classifying by item, and an evaluation scenario generating unit 130 for generating an evaluation scenario including the classified detailed items.

주변 환경 수집부(110)는 차량에 장착되어 도로영역 내의 주변 환경정보를 수집하는 센서로, 센서 로는 카메라를 포함하여 레이더 센서, 초음파 센서 및 GPS 센서 중 하나 이상이 사용된다. 여기서, 주변 환경정보는 도로를 주행 하면서 수집되는 영상정보와 거리 및 위치정보가 포함된 정보로, 이와 같이 수집되는 환경정보가 도 2에 도시되어 있다. 주변 환경정보의 종류와 내용은 후술토록 한다. The surrounding environment collecting unit 110 is a sensor that is mounted on a vehicle and collects surrounding environment information in a road area, and as a sensor, one or more of a radar sensor, an ultrasonic sensor, and a GPS sensor, including a camera, is used. Here, the surrounding environment information is information including image information and distance and location information collected while driving on a road, and the collected environmental information is shown in FIG. 2 . The types and contents of the surrounding environment information will be described later.

환경정보 분류부(120)는 주변 환경 수집부(110)에 의해 수집된 주변 환경정보를 설정된 세부 항목별로 인식하여 분류한다. 이때, 주변 환경정보는 상술한 바와 같이 카메라에 의한 영상정보가 포함된 정보로, 이를 미리 저장된 세부 항목 이미지와 크기나 형태 및 색상을 매칭되는지 비교하여 인식할 수 있다. 이미지 인식을 위하여 SIFT(Scale Invariant Feature Transform) 알고리즘, SURF(Speed Up Robust Features) 알고리즘과 같은 공지의 특징점 추출 알고리즘을 사용하여 인식할 수 있다. The environment information classification unit 120 recognizes and classifies the surrounding environment information collected by the surrounding environment collection unit 110 for each set detailed item. In this case, the surrounding environment information is information including image information by the camera as described above, and it can be recognized by comparing it with a pre-stored detailed item image in size, shape, and color. For image recognition, a well-known feature point extraction algorithm such as a Scale Invariant Feature Transform (SIFT) algorithm and a Speed Up Robust Features (SURF) algorithm may be used for recognition.

주변 환경정보의 세부 항목은 도로구조(터널, 교량, 교차로 구조 등), 도로형상(차로 수, 차로의 곡률이나 경사와 같은 형상 등), 도로노변 상태(콘크리트 포장, 아스팔트 포장, 비포장 등)와 같은 도로기하 정보와, 교통신호 표지(교차로, 중앙 분리대, 과속 방지턱 등), 노면표지(좌회전 금지, 직진 금지 등), 도로 구조물(가드레일, 분리대, 가로등 등)과 같은 교통신호 정보, 차량, 자전거, 사람, 동물과 같은 객체정보를 포함한다. 이와 같은 환경정보 분류부(120)에 의해 분류되는 환경정보의 세부항목예가 도 3에 도시되어 있다. Detailed items of surrounding environment information include road structure (tunnel, bridge, intersection structure, etc.), road shape (number of lanes, shape such as curvature or slope of lanes, etc.), roadside condition (concrete pavement, asphalt pavement, unpaved, etc.) The same road geometry information, traffic signal information such as traffic signal signs (intersections, median strips, speed bumps, etc.), road signs (no left turn, no straight ahead, etc.) Includes object information such as bicycles, people, and animals. An example of detailed items of environmental information classified by the environmental information classification unit 120 is shown in FIG. 3 .

평가 시나리오 생성부(130)는 이와 같이 환경정보 분류부(120)에 의해 분류된 세부항목이 포함된 평가 시나리오를 생성한다. 이때 평가 시나리오는 주변 환경 수집부(110)에 의해 취득한 도로영역의 주변 환경정보가 설정된 세부항목에 따라 분류된 항목에 해당하는지 여부가 표시되어 환경정보 평가자 등에게 제공된다. The evaluation scenario generation unit 130 generates an evaluation scenario including detailed items classified by the environment information classification unit 120 as described above. At this time, in the evaluation scenario, whether the surrounding environment information of the road area acquired by the surrounding environment collecting unit 110 corresponds to an item classified according to the set detailed items is displayed and provided to the environment information evaluator and the like.

이와 같이 제공되는 평가 시나리오는 평가자의 입력에 따라 취득한 해당 환경정보의 영상정보와 거리 및 위치정보가 제공될 수 있으며, 또한 평가 시나리오에서 분류된 세부 항목을 선택 또는 선택 해제하여 평가 시나리오를 수정할 수 있다. 이와 같이 완성된 평가 시나리오는 환경정보가 수집된 도로 영역이 자율주행에 적합한 환경인지 여부를 판단하는 자료로 사용될 수 있다.In the evaluation scenario provided in this way, image information and distance and location information of the corresponding environmental information acquired according to the input of the evaluator may be provided, and the evaluation scenario may be modified by selecting or deselecting detailed items classified in the evaluation scenario. . The evaluation scenario completed in this way can be used as data for judging whether the road area in which the environmental information is collected is an environment suitable for autonomous driving.

이상 설명한 본 발명은 기재된 실시예에 한정되는 것은 아니고, 본 발명의 사상 및 범위를 벗어나지 않고 다양하게 수정 및 변형할 수 있음은 이 기술의 분야에서 통상의 지식을 가진 자에게 자명하다. 따라서 그러한 변형예 또는 수정예들은 본 발명의 특허청구범위에 속한다 해야 할 것이다.The present invention described above is not limited to the described embodiments, and it is apparent to those skilled in the art that various modifications and variations can be made without departing from the spirit and scope of the present invention. Accordingly, it should be said that such variations or modifications fall within the scope of the claims of the present invention.

100 : 환경평가 시나리오 생성 시스템
110 : 주변 환경 수집부
120 : 환경정보 분류부 130 : 평가 시나리오 생성부100: Environmental evaluation scenario generation system
110: surrounding environment collection unit
120: environmental information classification unit 130: evaluation scenario generation unit

Claims (3)

도로영역이 자율주행에 적합하지 여부를 평가하는 시나리오를 생성하는 시스템에 있어서,
상기 도로영역 내의 주변 환경정보를 수집하는 주변 환경 수집부;
수집된 상기 주변 환경정보를 설정된 세부항목 별로 분류하는 환경정보 분류부; 및,
상기 세부항목이 포함된 평가 시나리오를 생성하는 평가 시나리오 생성부;를 구비하는 것을 특징으로 하는 자율주행 도로 환경평가 시나리오 생성 시스템.A system for generating a scenario for evaluating whether a road area is suitable for autonomous driving, the system comprising:
a surrounding environment collecting unit for collecting surrounding environment information within the road area;
an environment information classification unit for classifying the collected surrounding environment information for each set detailed item; and,
An autonomous driving road environment evaluation scenario generating system comprising a; an evaluation scenario generating unit that generates an evaluation scenario including the detailed items. 제1항에 있어서,
상기 주변 환경정보는,
카메라에 의해 취득된 영상과 거리 및 위치정보가 포함된 정보인 것을 특징으로 하는 자율주행 도로 환경평가 시나리오 생성 시스템.The method of claim 1,
The surrounding environment information is
An autonomous driving road environment evaluation scenario creation system, characterized in that the information includes the image acquired by the camera and distance and location information. 제2항에 있어서,
상기 환경정보 분류부는,
상기 주변 환경정보를 도로기하 정보, 교통신호 정보, 및 객체정보를 포함하는 세부항목으로 분류하는 것을 특징으로 하는 자율주행 도로 환경평가 시나리오 생성 시스템.3. The method of claim 2,
The environmental information classification unit,
The autonomous driving road environment evaluation scenario generation system, characterized in that the surrounding environment information is classified into detailed items including road geometry information, traffic signal information, and object information.
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Citations (1)

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Publication number Priority date Publication date Assignee Title
KR20100005362A (en) 2008-07-07 2010-01-15 현대자동차주식회사 Aytomomous travelling controll system

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100005362A (en) 2008-07-07 2010-01-15 현대자동차주식회사 Aytomomous travelling controll system

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