KR20220110346A - Interaction system between self driving car and others - Google Patents

Abstract

The present invention relates to an interaction system between an autonomous vehicle and another person. According to the present invention, a command is sent to an autonomous driving vehicle of a user by the other person. When the command is lawful, the autonomous driving vehicle is temporarily operated to help convenience of the other person. Thus, a new and direct interaction is created between the autonomous driving vehicle and the other person, instead of the user. The interaction system between the autonomous vehicle and the other person according to one aspect of the present invention comprises: a sensing unit which allows the autonomous vehicle to obtain the command comprising the voice or the motion of the other person; and a control unit which processes the command and controls the autonomous vehicle to temporarily drive. The other person is not an authorized user of the autonomous vehicle, which recognizes the command.

Description

INTERACTION SYSTEM BETWEEN SELF DRIVING CAR AND OTHERS

The present invention relates to an interaction system between an autonomous driving vehicle and another person in which one party commands the other autonomous driving vehicle to temporarily move the autonomous driving vehicle in a special situation to solve the special situation.

An automobile may be classified into an internal combustion engine automobile, an external combustion engine automobile, a gas turbine automobile, an electric vehicle, or the like, according to a type of a prime mover used.

An autonomous vehicle is a vehicle that can drive automatically without human driving. Autonomous vehicles drive autonomously by recognizing their surroundings with radar, light detection and ranging (LIDAR), GPS, and cameras and specifying a destination. Unmanned vehicles that have already been put into practical use include unmanned vehicles that patrol preset routes operated by the Israeli military, and unmanned operation systems such as dump trucks operated in overseas mines and construction sites.

The first core technologies of these autonomous vehicles are the driverless vehicle system and the actual system. In addition to simulation in the laboratory, it is a technology that actually builds an unmanned vehicle system. It implements the accelerator, reducer, and steering device, which are driving devices, for unmanned operation, and enables control using the computer, software and hardware installed in the unmanned vehicle. do.

The second core technology is to receive and process visual information using vision and sensors. As the basis of autonomous driving for unmanned driving, it is a technology that accepts image information and extracts necessary information from this image. It uses CCD (charge-coupled device) cameras as well as ultrasonic sensors and range filters to fuse information necessary for distance and driving, so that it can avoid obstacles and cope with unexpected situations through analysis and processing.

The third core technology is the integrated control system and operation monitoring fault diagnosis system technology. This technology establishes a driving monitoring system that monitors vehicle operation and gives appropriate commands according to changing situations, and provides appropriate information to the operator by diagnosing system failures by analyzing various situations occurring from individual processors and sensors. or to perform the function of notifying an alarm.

The fourth core technology is intelligent control and intelligent operation devices. This technology is an unmanned driving technique that generates control commands based on mathematical analysis using real vehicle models. Intelligent Forward Control is a system that maintains the distance from the vehicle in front or obstacles by adjusting the speed by itself without the driver operating the pedals based on radar guide technology. When the driver inputs the distance to the vehicle in front, the long-range radar attached to the front of the vehicle detects the position of the vehicle in front, maintains a constant speed, decelerates, accelerates, and stops completely if necessary, which is useful in weather where visibility is difficult.

The fifth applied technology is the lane departure prevention system. This is a technology that notifies the driver of an unintentional departure situation by detecting a lane with a camera installed inside.

The sixth application technology is the parking assist system. This is a system that helps the car park in reverse line by adjusting the steering system when the driver presses the brake pedal after searching for the assist button and inserts the reverse gear. Based on infrastructure as well as vehicle-mounted sensors, the vehicle is automatically guided from the departure point to the parking space, saving unnecessary time and energy when parking, thereby minimizing cost and environmental pollution.

The seventh application technology is the automatic parking system. This is a technology in which the driver stops the car in front of the parking lot, turns off the engine, gets off, and presses the remote control lock switch twice in succession. to be.

The eighth application technology is a blind spot information guidance system. It is used to change lanes by checking obstacles and vehicles on both sides in complex road conditions, as sensors installed on both sides of the car determine whether there are other vehicles in the blind spot that cannot be seen through the side mirrors and warn the driver. .

The biggest advantage of autonomous driving is that it helps fuel efficiency by avoiding repeated stops by making the control device more even because the driving speed and traffic management data match. will be. In addition, it has the advantages of solving fatigue caused by long-term driving, greatly reducing the risk of traffic accidents, speeding up road traffic flow, and reducing traffic congestion.

The parking problem is expected to be easily solved according to these autonomous vehicles, and related prior art literature is also actively appearing. However, as described in the prior art literature, although research and development are being actively carried out on the part where the autonomous vehicle parks itself, the awareness of the problem occurring after parking is very low.

Korean Patent No. 10-2117821 (2020. 6. 2.), parking management method of autonomous vehicle using designated parking space {METHOD FOR PARKING MANAGEMENT OF AUTONOMOUS VEHICLE}

The present invention is intended to solve the problems of the prior art, and an object of the present invention is to provide an autonomous driving vehicle that commands another person's self-driving vehicle or another person commands his/her own self-driving vehicle to temporarily move the vehicle receiving the command. It provides an interaction system between a driving vehicle and another person.

In an interaction system between an autonomous vehicle and another person according to an aspect of the present invention, a sensing unit for the autonomous vehicle to obtain a command made up of another person's voice or motion, and a controller for controlling the autonomous vehicle to temporarily drive the autonomous vehicle by processing the command wherein the other person is not an authorized user of the autonomous vehicle recognizing the command.

In this case, the autonomous vehicle may further include an output unit, and the output unit may output a recognition display when the sensing unit recognizes another person or obtains a command from the other person.

Also, the controller may determine whether the voice or motion constituting the command is a temporary driving command of the autonomous vehicle.

Also, when the sensing unit detects a command, the control unit may determine whether an autonomous driving vehicle that can be used by the other person is disposed adjacently.

Also, when determining the temporary driving of the autonomous driving vehicle, the controller may determine the temporary driving destination of the autonomous driving vehicle.

In addition, when the controller determines that the autonomous driving vehicle is temporarily driven, but determines that the driving is blocked by another autonomous driving vehicle, a driving command may be transmitted to the other autonomous driving vehicle.

According to the present invention, when a command is transmitted to the self-driving vehicle by another person and the command is legal, the self-driving vehicle is temporarily operated to help the convenience of others. elicit action.

1 is a block diagram of an interaction system between an autonomous vehicle and another person according to an embodiment of the present invention.
FIG. 2 is a configuration diagram illustrating the sensing unit of FIG. 1 in more detail.
FIG. 3 is a configuration diagram illustrating the output unit of FIG. 1 in more detail.
FIG. 4 is a configuration diagram illustrating the control unit in FIG. 1 in more detail.
5 to 8 are diagrams for explaining an operation of an interaction system between an autonomous vehicle and another person according to an embodiment of the present invention.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numbers regardless of reference numerals, and redundant description thereof will be omitted.

The suffixes "module" and "part" for components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have distinct meanings or roles by themselves.

In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in the present specification, the detailed description thereof will be omitted.

In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

Terms including ordinal numbers such as first, second, etc. may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being “connected” or “connected” to another component, it may be directly connected or connected to the other component, but it is understood that other components may exist in between. it should be On the other hand, when it is said that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as “comprises” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It is to be understood that this does not preclude the possibility of the presence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Hereinafter, an interaction system between an autonomous vehicle and another person according to an embodiment of the present invention will be described. 1 is a configuration diagram of an interaction system between an autonomous driving vehicle and another person according to an embodiment of the present invention, FIG. 2 is a configuration diagram illustrating a sensing unit in FIG. 1 in more detail, and FIG. 3 is an output unit in FIG. It is a configuration diagram showing in more detail, and FIG. 4 is a configuration diagram showing the control unit in FIG. 1 in more detail.

Referring to the drawings, first, an interaction system 1000 between an autonomous driving vehicle and another person according to an embodiment of the present invention includes an autonomous driving vehicle 100 , a server 200 auxiliaryly managing autonomous driving, and a user of the autonomous driving vehicle. Alternatively, the user terminal 300 is carried by the owner. In this case, the autonomous vehicle 100 includes an input unit 110 , a sensing unit 120 , an output unit 130 , a control unit 140 , a communication unit 150 , and a driving unit 160 .

The input unit 110 is a device for receiving a user input for driving. In the manual mode, the input unit 110 of the autonomous vehicle 100 may include a steering input device, an acceleration input device, and a brake input device. In addition, the input unit 110 serves to input the destination of the autonomous vehicle, and the controller 140 controls the driving according to the input destination or receives information from the server 200 to continuously set a route.

The sensing unit 120 may include a radar 121 and a lidar 122 , and may further include a camera 123 . First, the radar 121 may generate information on an object (including a person) outside the autonomous vehicle 100 using radio waves. The radar 121 may include at least one processor that is electrically connected to an electromagnetic wave transmitter, an electromagnetic wave receiver, and an electromagnetic wave transmitter and an electromagnetic wave receiver, processes a received signal, and generates data for an object based on the processed signal. have.

The radar 121 may be implemented in a pulse radar method or a continuous wave radar method in view of a radio wave emission principle. The radar 121 may be implemented in a frequency modulated continuous wave (FMCW) method or a frequency shift keyong (FSK) method according to a signal waveform among continuous wave radar methods. The radar 121 detects an object based on a time of flight (TOF) method or a phase-shift method using an electromagnetic wave as a medium, and calculates the position of the detected object, the distance from the detected object, and the relative speed. can be detected. In this case, the radar 121 may be disposed at an appropriate location outside the vehicle in order to detect an object located in the front, rear, or side of the vehicle.

The lidar 122 may generate information about an object outside the autonomous vehicle 100 by using laser light. The lidar 122 is electrically connected to the light transmitter (not shown), the light receiver (not shown), and the light transmitter and the light receiver, processes the received signal, and generates data for the object based on the processed signal. It may include at least one processor.

The lidar 122 may be implemented in a time of flight (TOF) method or a phase-shift method. The lidar 122 may be implemented as a driving type or a non-driven type. When the lidar 122 is implemented as a driving type, the lidar 122 is rotated by a motor and may detect an object around the autonomous vehicle 100 . When implemented as a non-driven type, the lidar 122 may detect an object located within a predetermined range with respect to the vehicle by light steering. The autonomous vehicle 100 may include a plurality of non-driven lidar. The lidar 122 detects an object based on a time of flight (TOF) method or a phase-shift method using a laser light medium, and calculates a position of the detected object, a distance from the detected object, and a relative speed. can be detected. In this case, the lidar 122 may be disposed at an appropriate position outside the vehicle in order to detect an object located in the front, rear or side of the vehicle.

Meanwhile, the camera 123 may generate information about an object outside the autonomous vehicle 100 by using the image. In this case, the camera 123 may take an image of another person close to the outside of the vehicle. In this case, the other person is not an authorized user of the autonomous driving vehicle 100 equipped with the camera 123 but a person who issues a command to be described later.

The camera 123 may include at least one lens, at least one image sensor, and at least one processor that is electrically connected to the image sensor to process a received signal, and generate data about the object based on the processed signal. can

The camera 123 may be at least one of a mono camera, a stereo camera, and an Around View Monitoring (AVM) camera. The camera 123 may obtain position information of an object including others, distance information with respect to the object, relative speed information with the object, and motion information of the object by using various image processing algorithms.

For example, the camera 123 may acquire distance information and relative velocity information from an object based on a change in the size of the object over time in the acquired image. Also, the camera 123 may acquire distance information and relative speed information with respect to an object through a pinhole model, road surface profiling, or the like.

In addition, the camera 123 may acquire basic information about motion, such as distance information, relative speed information, and other people's hand gestures or gestures, based on disparity information in the stereo image obtained from the stereo camera. have. Here, the controller 140 determines whether the obtained information corresponds to a command of another person.

The camera 123 may be mounted at a position where a field of view (FOV) can be secured in the vehicle to photograph the outside of the vehicle. The camera 123 may be disposed adjacent to the front windshield in the interior of the vehicle to acquire an image of the front of the vehicle. Furthermore, the camera 123 may be disposed around the front bumper or radiator grill. The camera 123 may be disposed adjacent to the rear glass in the interior of the vehicle to acquire an image of the rear of the vehicle. In this case, the camera 123 may be disposed around the rear bumper, the trunk, or the tailgate. In order for the camera 123 to acquire an image of the side of the vehicle, it may be disposed adjacent to at least one of the side windows in the interior of the vehicle. Alternatively, the camera 123 may be disposed around a side mirror, a fender, or a door.

In addition, since the sensing unit 120 needs to utilize location information of the autonomous vehicle, it essentially further includes a GPS 124 . The GPS 124 may include at least one of a general global positioning system (GPS) and a differential global positioning system (DGPS) to generate location data of the autonomous vehicle 100 . Position data of the autonomous vehicle 100 may be generated based on a signal generated by at least one of the GPS and DGPS.

In this case, the GPS 124 may correct the location data based on at least one of an Inertial Measurement Unit (IMU) and the camera 123 of the sensing unit 120 . Also, the GPS 124 may be referred to as a Global Navigation Satellite System (GNSS).

On the other hand, the sensing unit 120 may further include a microphone 125 in order for the passenger to intervene in the autonomous driving in addition to the guardian by voice or the like even if the passenger does not perform the steering operation. In addition, the microphone 125 according to the present embodiment acquires information on the voice of another person outside the vehicle. This is to collect commands made up of other people's voices.

Furthermore, the biometric information sensor 126 not only prepares for an emergency by sensing the passenger's heartbeat, pressure, brain waves, etc., but additionally senses fingerprint and iris information when entering and exiting the vehicle to prevent erroneous boarding. can By utilizing the biometric information sensor 126 , the autonomous vehicle 100 may detect that a passenger has boarded or alighted.

The output unit 130 is disposed inside or outside the autonomous driving vehicle 100 to display a driving-related situation and further to display any one of a shape, a shape, and a color on the outside of the vehicle to provide information to the owner of the vehicle and others around the vehicle. It can provide predictability.

In more detail, the output unit 130 according to the present embodiment further includes a stranger recognition output module 131 , a movement direction display module 132 and a command reception display module 133 .

The other person recognition output module 131 may output a specific image or text so that the other person can confirm from the outside of the vehicle that the other person has been detected. For example, if a parked self-driving vehicle is approached by someone unrelated to the vehicle, display on the inside or outside of the vehicle indicating that such access has been recognized or has been acknowledged for others to see. Accordingly, another person may recognize that it is possible for the autonomous vehicle 100 to receive a command made of their own voice or motion thereafter.

Therefore, other people can give commands to the autonomous vehicle using voice or motion. However, in order to indicate that the autonomous driving vehicle has obtained the command, the other person recognition output module 131 outputs such contents to be visible to the outside as well when the other person's command is obtained by the sensing unit 120 . Accordingly, the other person will recognize that the interaction between the autonomous vehicle unrelated to the self-driving vehicle has occurred smoothly.

The movement direction output module 132 serves to display the movement direction when the control unit determines the consistency of the command after the command of another person is obtained. In this case, the direction to be moved is preferably performed using an internal or external display of the vehicle in the same manner as the above-described other recognition output module 131 . For example, it is possible to inform others of the direction of movement by displaying it in the form of a curved arrow. Furthermore, an approximate moving distance may also be indicated by writing a number on the arrow.

Meanwhile, the interaction system between the autonomous vehicle and another person according to the present embodiment may assume a case in which several vehicles are double parked. At this time, if someone else's self-driving vehicle is parked inside and another self-driving vehicle is parked outside, and the other person's self-driving vehicle cannot get out, the other person gives an order to the outside self-driving vehicle to remove the vehicle. However, when there are multiple autonomous vehicles outside and they are intertwined with each other, the plurality of vehicles must be moved so that another person's self-driving vehicle (the same is the case with a manual driving vehicle) parked in the innermost side can get out.

In this case, the communication unit 150 of the autonomous driving vehicle, which has initially issued a command by another person, communicates with another autonomous driving vehicle adjacent to it. to be displayed externally. For example, an output indicating that the command has been received is output to the outside of the vehicle that initially received the command and two adjacent vehicles. Accordingly, another person can know that a command is transmitted to an adjacent vehicle with a single command, thereby enabling a new interaction.

Meanwhile, the control unit 140 includes a drive control module 141 , an input/output control module 142 , a command determination module 143 , a situation determination module 144 , and a location determination module 145 .

First, the driving control module 141 may be configured as a main ECU, and controls the driving unit 160 of the autonomous vehicle 100 .

In this case, the drive control module 141 may include a power train drive control device, a chassis drive control device, a door/window drive control device, a safety device drive control device, a lamp drive control device, and an air conditioning drive control device. The power train drive control device may include a power source drive control device and a transmission drive control device. The chassis drive control device may include a steering drive control device, a brake drive control device, and a suspension drive control device. Meanwhile, the safety device drive control device may include a safety belt drive control device for seat belt control.

In addition, the driving control module 141 includes at least one electronic control device (eg, a control ECU (Electronic Control Unit)). In particular, on the basis of the received signal, it is possible to control the vehicle drive unit. For example, the driving control module 141 may control a power train, a steering device, and a brake device based on a signal received from the sensing unit 120 .

The input/output control module 142 controls the above-described output unit 130 to output the recognition of another person, the acquisition of the command of the other person, the direction of movement, and a display for confirming the command after receiving the command.

The command determination module 143 determines whether the obtained command of another person is a temporary driving command of the vehicle. At this time, when the command of another person is made by voice, it is determined whether the command has been issued by determining whether the vehicle number is specified and whether a word related to the movement of the vehicle is included.

For example, if a voice saying 'Please remove the vehicle from 12, 1234' is recognized, the present vehicle is specified and it can be confirmed that a command for moving the vehicle has been received. Similarly, the command determination module 143 can confirm that the command for moving the vehicle has been received even when the other person's motion indicates that the tip of the hand points to the vehicle and the tip of the hand passes in front of the vehicle. On the other hand, when the command is unclear, it is of course possible to directly communicate between another person and the vehicle user by driving the communication unit and connecting to the user terminal.

The situation determination module 144 determines the consistency of the command. That is, even when the command to remove the car is recognized, the justification does not exist. Accordingly, the situation determination module 144 serves to check whether the vehicle of another person is blocked by the vehicle. At this time, the situation determination module 144 controls the communication unit to perform short-range communication to determine whether the vehicle of another person is adjacent or located in a short distance. Preferably, it is preferable to determine whether the ID of another vehicle provided by another person is searched in a short distance, but the present invention is not limited thereto.

At this time, when the situation determination module 144 determines that the vehicle of another person is located in a short distance, it is determined that the consistency of the initial command is confirmed, and temporary preparation for movement is completed.

Furthermore, when the control unit determines that the autonomous driving vehicle is temporarily driven, but determines that the driving is blocked by another autonomous driving vehicle, the situation determination module 144 transmits a driving command to the other autonomous driving vehicle. ) can be controlled.

The position determination module 145 determines a temporary driving destination in the case of temporary driving. In this case, the temporary driving destination may simply be to move 10m forward and return. However, when several vehicles are entangled, it is possible to drive several vehicles by deriving the number of various cases. Accordingly, the control unit 140 in the present embodiment may instead perform its role in the server 200 for smooth control.

Hereinafter, the operation of the present invention will be exemplified. 5 to 8 are diagrams for explaining an operation of an interaction system between an autonomous vehicle and another person according to an embodiment of the present invention.

First, as shown in FIG. 5 , when the second vehicle on the right is someone else's vehicle, the other person is not able to remove his/her own vehicle. Accordingly, when a specific vehicle (29 or 1234) is called as shown in FIG. 6 and a command to 'get out' is transmitted, the control unit confirms the command, communicates with another's vehicle, determines that it is located in a short distance, and recognizes that the command is legitimate. Prepare for temporary operation. Thereafter, driving is performed as shown in FIG. 7 , and as described above, when many vehicles are entangled, a driving command is transmitted to all such vehicles to facilitate the escape of other vehicles. Thereafter, as shown in FIG. 8 , the fact is transmitted to the owner or user of the driven vehicle.

As such, those skilled in the art to which the present invention pertains will understand that the present invention may be embodied in other specific forms without changing the technical spirit or essential characteristics thereof.

In addition, the present specification and drawings have been disclosed with respect to preferred embodiments of the present invention, and although specific terms are used, these are only used in a general sense to easily explain the technical content of the present invention and help the understanding of the present invention, It is not intended to limit the scope of the invention. It will be apparent to those of ordinary skill in the art to which the present invention pertains that other modifications based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

1000: an interaction system between an autonomous vehicle and another person
100: autonomous vehicle
110: input unit
120: detection unit
130: output unit
140: control unit
150: communication department
160: driving unit
200: server
300: user terminal

Claims (6)

In an interaction system between an autonomous vehicle and another person,
The autonomous vehicle may include: a sensing unit configured to obtain a command composed of another person's voice or motion; and a control unit that processes the command to temporarily control the autonomous vehicle to be driven.
and the other person is not an authorized user of the autonomous vehicle recognizing the command.
According to claim 1,
The self-driving vehicle further includes an output unit, wherein the output unit outputs a recognition display when the sensing unit recognizes the other person or obtains a command from the other person.
According to claim 1,
and the control unit determines whether the voice or motion constituting the command is a temporary driving command of the autonomous driving vehicle.
According to claim 1,
and the control unit determines whether an autonomous driving vehicle that can be used by the other person is adjacently disposed when the sensing unit detects a command.
According to claim 1,
and the control unit determines a temporary driving destination of the autonomous driving vehicle when determining the temporary driving of the autonomous driving vehicle.
According to claim 1,
Interaction between an autonomous vehicle and another person, characterized in that the controller transmits a driving command to the other autonomous vehicle when it is determined that the autonomous driving vehicle is temporarily driven but the driving is blocked by another autonomous vehicle system.

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