KR20220112872A - Rescue system for self driving cars - Google Patents

Abstract

The present invention provides a structure system of an autonomous driving vehicle, which identifies a missing person by using an autonomous driving vehicle, relieves anxiety of the missing person, and safely moves the missing person to a related destination. Therefore, according to one aspect of the present invention, the structure system of an autonomous driving vehicle comprises: a detection unit detecting the missing person; an output unit outputting a display or a sound for guiding boarding of the missing person; and a control unit or a server setting the destination of the missing person.

Description

Rescue system for autonomous vehicle {RESCUE SYSTEM FOR SELF DRIVING CARS}

The present invention relates to a rescue system, and relates to a rescue system for an autonomous vehicle in which the autonomous vehicle safely moves a missing person, such as an infant, to a target point.

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 the 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 the 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.

As such, it is predicted that the use of autonomous vehicles will explosively increase new user experiences. In addition, an autonomous vehicle that normally performs transportation according to autonomous driving but performs another additional function in special circumstances is also conceivable. For example, as in the prior art literature, a method of finding a missing child using a smartphone may also be diverted to identifying a missing child using autonomous driving and transporting the missing child.

Korean Patent Publication No. 10-2004999 (2017. 2. 9.), Apparatus and Method For Finding Lost Child Using Smart Phone

As described above, the present invention provides a rescue system for an autonomous vehicle that uses the autonomous vehicle to identify a missing person, reassure the missing person, and safely move the missing person to a related destination.

A rescue system for an autonomous vehicle according to an aspect of the present invention includes a sensing unit for detecting a missing person, an output unit for outputting a boarding guidance indication or sound for the missing person, and a control unit or server for setting a destination of the missing person.

In this case, the sensing unit may collect the biometric information of the missing person, and the control unit or the server may compare the biometric information with the information stored in the server.

In addition, the output unit may output a boarding guidance display or output a sound to be read in the area where the missing person is located.

In addition, when the missing person is on board, the sensing unit may acquire an image of the missing person, and the output unit may output a safety guidance image or sound therein.

In addition, the output unit may output the content that the missing person has been found or the content that the missing person is on board to be made of at least one of a color, a shape, a shape, and a text or output as a sound.

In addition, the server stores missing person information, and the destination may be set according to the missing person information.

The present invention has the effect of identifying the missing person using the autonomous vehicle, reassuring the missing person, and safely moving the missing person to the relevant destination.

1 is a configuration diagram of a structural system of an autonomous vehicle 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.
4 to 7 are diagrams illustrating an output of the output unit.
FIG. 8 is a configuration diagram illustrating the control unit in FIG. 1 in more detail.
9 is a configuration diagram illustrating the server in FIG. 1 in more detail.

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, a structural system for an autonomous vehicle according to an embodiment of the present invention will be described. 1 is a configuration diagram of a structural system of an autonomous vehicle 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 a configuration diagram showing an output unit in FIG. 1 in more detail 4 to 7 are diagrams illustrating the output of the output unit, FIG. 8 is a diagram illustrating the control unit in FIG. 1 in more detail, and FIG. 9 is the server in FIG. 1 in more detail It is the configuration diagram shown.

Referring to the drawings, first, the rescue system 1000 of an autonomous driving vehicle according to an embodiment of the present invention is provided with an autonomous driving vehicle 100 and a missing person database DB, and is a server 200 that searches for missing persons in real time. is done To this end, 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. However, in the rescue system according to the present embodiment, since the destination is set by receiving the destination related to the missing person from the server 200 , the destination input by the input unit 110 may be omitted.

On the other hand, the detection unit 120 includes a radar 121 and a lidar 122 to detect a missing person, and may further include a camera 123, and mainly detects the movement of people and people who are objects outside the road. .

First, the radar 121 may generate information on an object 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 position 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 on 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.

The radar 121 and the lidar 122 as described above detect people on the sidewalk or off the road, but in the case of a missing person such as a missing person, considering that the missing person is alone in an excited state, whether the missing person is alone and the relative movement speed moves in the sidewalk Concentrate on detecting slow points compared to other people who do it.

Meanwhile, the camera 123 may generate information about an object outside the autonomous vehicle 100 by using the image. 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 image of the missing person collected by the camera is compared with the database provided with the server 200 to determine whether the missing person is a missing person. Thus, the missing person is judged.

In this case, the camera 123 may be at least one of a mono camera, a stereo camera, and an AVM (Around View Monitoring) camera. The camera 123 may obtain position information of an object, distance information from an object, or relative speed information with an 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.

Also, the camera 123 may acquire distance information and relative velocity information from an object based on disparity information in a stereo image obtained from the stereo camera. 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 . Location data of the autonomous vehicle 100 may be generated based on a signal generated from 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).

Meanwhile, the sensing unit 120 may further include a microphone 125 to intervene in autonomous driving by voice or the like even if the passenger does not perform a steering operation.

The biometric information sensor 126 detects the body information of the missing person in order to check whether the self-driving vehicle 100 preliminarily checks the missing person and transmits it to the server to check whether the missing person is registered. At this time, the heart rate, pinch pressure, brain waves, fingerprints, iris, etc. of a lost child are sensed. In addition, by using the biometric information sensor 126 , the autonomous vehicle 100 may detect that a missing person, such as a lost child, boards or alights.

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 and surrounding people of the vehicle. It can provide predictability.

In more detail, the output unit 130 according to the present embodiment further includes an external output module 131 and an internal output module 132 .

First, the external output module 131 may change the color of the vehicle according to the driving purpose as shown in FIG. 4 . The external output module 131 does not separately output to the outside of the vehicle in the case of general driving as shown in FIG. 4A , but may indicate a special situation as in FIG. 4B when a lost child is discovered or a lost child is transported. . At this time, the external output module 131 may output the content that the missing person has been found or the content that the missing person is on board to be made of at least one of a color, a shape, a shape, and a text, or output it as a sound.

Furthermore, the external output module 131 first outputs a boarding guidance display when the above-described sensing unit 120 detects a missing person. Here, the boarding guidance display will be described as an example of a case in which the missing person is a missing child. In the case of a lost child, it is very desirable to output a generally well-known character image as shown in FIG.

Also, it is preferable that the external output module 131 outputs a sound for inducing the boarding of the vehicle using an actual voice. Furthermore, as described above, there is a possibility that the child is determined to be a lost child based on the data collected by the sensing unit 120 , but when it is not confirmed, the external output module 131 may directly inquire of the missing child as shown in FIG. 6 .

In addition, the external output module 131, as shown in FIG. 7, when the probability of being determined as a missing child is very high, and when the child expected to be a lost child refuses to board the vehicle, a boarding guidance display or sound is displayed to the child expected to be a missing child A boarding guidance indication or sound may be further output so that people around can easily check it in a setting range from the area where is located. As shown in FIG. 7 , the boarding guidance display or sound at this time may be at least one of a text, an image, and a sound for requesting help for boarding from a person nearby.

In addition, when it is determined that the child is a registered missing child, the external output module 131 may connect a call with the parent of the missing child so that the parent's voice and image are output in real time.

The internal display module 132 outputs a safety guidance image or sound to the missing child from the inside of the vehicle when boarding of the missing child is completed. In this case, the image or sound may be the above-described image or voice of the parent, and a generally well-known character such as a boarding guidance image may be output.

Meanwhile, the control unit 140 includes a driving control module 141 , an input/output control module 142 , and a real-time communication control module 143 . 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 output of the vehicle's color, boarding guidance image, sound, and safety guidance image to control the above-described output unit 130 . The real-time communication control module 143 transmits the detected video and audio to the server in real time with the detection unit 120 first detecting whether the child is missing or missing and the server 200 determines that there is a possibility as a point of time. The communication unit 160 is controlled to transmit.

Meanwhile, the server 200 includes an information database 210 , a situation collection module 220 , an identity verification module 230 , and a route calculation module 240 . The information database 210 refers to a database in which identity information of a missing person is stored. Here, the identity information is about biometric information, social security number, the situation at the time of disappearance, lacquer, and special matters.

The situation collection module 220 serves to collect images that are likely to be missing persons from CCTV using a control server (not shown). At this time, if the situation collection module 220 determines that it is necessary to secure a more detailed image of a missing child, a request command is sent to the autonomous vehicle located in the area, and the autonomous vehicle detects the video and voice of the missing person in more detail. will do

Thereafter, the identification module 230 checks the identity of the missing child according to the data provided from the control server or the video and voice of the missing person collected in more detail. After boarding the vehicle, a route is formed to the parent's home or related area, and the autonomous driving vehicle starts to operate. In this case, when the parent-related person is absent, the operation is started to a hospital or a police station, and as described above, a series of situations are all stored in the server.

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: rescue system of autonomous vehicle
100: autonomous vehicle
110: input unit
120: detection unit
130: output unit
140: control unit
150: communication department
160: driving unit
200: server

Claims (6)

a detection unit for detecting missing persons;
an output unit for outputting a boarding guidance indication or sound of a missing person; and
Control unit or server for setting the destination of the missing person;
A rescue system for an autonomous vehicle comprising a.
According to claim 1,
The sensing unit collects the biometric information of the missing person,
and the control unit or the server compares the biometric information with the information stored in the server.
According to claim 1,
The output unit outputs a boarding guidance display or a sound to be read in an area where the missing person is located.
According to claim 1,
When the missing person is on board, the detection unit acquires an image of the missing person, and the output unit outputs a safety guidance image or sound therein.
According to claim 1,
and the output unit outputs the content that the missing person has been found or the content that the missing person has boarded in at least one of a color, a shape, a shape, and a text or outputs it as a sound.
According to claim 1,
The server stores missing person information,
The destination is a rescue system for an autonomous vehicle, characterized in that set according to the missing person information.

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