KR20230033159A - Autonomous vehicle patrol system pointing to patrol targets - Google Patents

Abstract

The present invention provides a patrol system for an autonomous vehicle directly displaying an object to be patrolled from the outside of the vehicle so as to significantly reduce the rate of crime while closely patrolling the patrol region using the autonomous vehicle. Accordingly, the patrol system for the autonomous vehicle according to one aspect of the present invention includes a patrol server which designates a patrol route, and an autonomous vehicle which detects surroundings by autonomous driving according to the designated patrol route. The autonomous vehicle includes a detection unit and an output unit. The detection unit detects an object to be patrolled, and the output unit outputs light or an image to the object to be patrolled or an area adjacent to the object to be patrolled.

Description

Autonomous vehicle patrol system pointing to patrol targets}

The present invention relates to a patrol system, and more particularly, to a patrol system for an autonomous vehicle displaying a patrol target.

Vehicles may be classified into internal combustion engine vehicles, external combustion engine vehicles, gas turbine vehicles, electric vehicles, and the like, depending on the type of prime mover used.

Autonomous vehicles are vehicles that can drive automatically without human intervention. Self-driving vehicles drive autonomously by designating a destination by recognizing the surrounding environment with radar, LIDAR (light detection and ranging), GPS, and camera. Examples of self-driving vehicles that are already in practical use include unmanned vehicles operated by the Israeli military that patrol preset routes and unmanned operation systems such as dump trucks operated at overseas mines and construction sites.

The first core technology of these self-driving vehicles is the self-driving vehicle system and the actual system. It is a technology that builds autonomous vehicle systems in practice as well as simulations in the laboratory. Accelerators, decelerators, and steering devices, which are driving devices, are implemented to suit unmanned operation, and control is performed using computers, software, and hardware installed in autonomous vehicles. make it possible

The second key technology is to receive and process visual information using vision and sensors. It is the basis of autonomous driving for unmanned operation, and it is a technology that accepts image information and extracts necessary information from the image. This uses not only a CCD (charge-coupled device) camera, but also sensors such as ultrasonic sensors and range filters to fuse information necessary for distance and driving, allowing obstacle avoidance and unexpected situations to be dealt with through analysis and processing.

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

The fourth key technology is intelligent control and intelligent driving devices. This technology generates control commands based on mathematical analysis using actual vehicle models as an unmanned driving technique, and the first applied technology currently being applied to autonomous vehicles is the Adaptive Cruise Control (ACC) system. Intelligent forward control is a system based on radar guide technology that maintains the distance from the vehicle in front or obstacles by adjusting the speed on its own without the driver manipulating the pedals. When the driver inputs the distance to the vehicle in front, the long-range radar attached to the front of the vehicle detects the location of the vehicle in front, maintains a constant speed, decelerates or accelerates, and comes to a complete stop if necessary, which is useful in poor visibility weather.

The fifth applied technology is the lane departure prevention system. This is a technology in which a camera installed inside detects the lane and informs the driver of an unintentional deviation situation. In an autonomous vehicle, it distinguishes between walking and the center line so that the vehicle can safely drive along the lane.

The sixth applied technology is a parking assist system. When the driver searches for the assist button, puts the reverse gear in and presses the brake pedal, the car adjusts the steering to assist in parallel parking in reverse. It automatically guides the vehicle from the starting point to the parking space based on infrastructure as well as vehicle-mounted sensors to save unnecessary time and energy when parking, thereby minimizing cost and environmental pollution.

The seventh applied technology is an 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 a row. am.

The eighth applied technology is a blind spot information guidance system. Sensors mounted on both sides of the car determine if there is another vehicle in the blind spot that is not visible through the side mirror and warn the driver. .

The biggest advantage of autonomous driving is that driving speed and traffic management data match, so it helps fuel efficiency by avoiding repeated stops by adjusting the control device more evenly, and that it can be used by people who cannot drive, such as the elderly, children, and the disabled. will be. In addition, it has the advantage of solving fatigue caused by long-time driving, greatly reducing the risk of traffic accidents, speeding up traffic flow on the road and reducing traffic congestion.

However, discussions on additional user experiences using autonomous vehicles have not yet been actively conducted. In particular, self-driving vehicles can perform tasks that replace people, and may replace patrols, which are the main police task. Therefore, it is time for detailed discussion.

Korean Patent Publication No. 2017-0061968 (2017. 06. 07.), Title of Invention: Monitoring and Security System Using Robot {Patrol system using robot}

The present invention is to solve the above-mentioned problems of the prior art, and an object of the present invention is to display an object to be patrolled directly from the outside of the vehicle so as to significantly reduce the rate of crime while carefully patrolling the patrol area using an autonomous vehicle. A patrol system for driving vehicles is provided.

A patrol system for an autonomous vehicle according to an aspect of the present invention includes a patrol server for designating a patrol route and an autonomous vehicle for autonomously detecting surroundings according to the designated patrol route, wherein the autonomous vehicle includes a sensing unit and It comprises an output unit, wherein the detection unit detects an object to be patrolled, and the output unit outputs light or an image to the object to be patrolled or an area adjacent to the object to be patrolled.

At this time, the self-driving vehicle further includes a control unit, and the control unit is configured to display a different output from the output unit initially on the patrolling object on the hand or an area adjacent to the hand, when the detected object to be patrolled is a hand of the hand. You can control it.

In addition, in the case of displaying the display in an area adjacent to the handed person, it may be a case where a person is detected in the adjacent area.

In addition, the self-driving vehicle may create a new path by detecting the movement of the person holding the hand.

In addition, when the person moving to a specific place where vehicles cannot enter, the patrol server may monitor the specific place in real time or control a support system that displays the terrain or features of the specific place in real time.

In the present invention, patrolling is performed using an autonomous vehicle, but the patrolling object is displayed, and the beholder is separately specified and displayed. Because patrols are performed, significant crime prevention and crackdown effects can be derived.

1 is a block diagram of a patrol system for an autonomous vehicle according to an embodiment of the present invention.
FIG. 2 is a configuration diagram showing the sensing unit in FIG. 1 in more detail.
FIG. 3 is a configuration diagram showing the output unit in FIG. 1 in more detail.
4 is a configuration diagram showing the control unit in FIG. 1 in more detail.
5 is a configuration diagram showing the patrol server in FIG. 1 in more detail.
6 is a diagram illustrating the operation of a patrol system for an autonomous vehicle according to an embodiment of the present invention.

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

The suffixes "module" and "unit" for components used in the following description are given or used together in consideration of ease of writing the specification, and do not have meanings or roles that are distinct from each other by themselves.

In addition, in describing the embodiments disclosed in this specification, if it is determined that a detailed description of a related known technology may obscure the gist of the embodiment disclosed in this specification, the detailed description thereof will be omitted.

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

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

It is understood that when an element is referred to as being "connected" or "connected" to another element, it may be directly connected or connected to the other element, but other elements may exist in the middle. It should be. On the other hand, when an element is referred to as “directly connected” or “directly connected” to another element, it should be understood that no other element exists in the middle.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

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

Hereinafter, a patrol system 1000 for an autonomous vehicle according to an embodiment of the present invention will be described.

1 is a configuration diagram of a patrol system for an autonomous vehicle according to an embodiment of the present invention, and FIG. 2 is a configuration diagram showing the sensing unit in FIG. 1 in more detail. 3 is a configuration diagram showing the output unit in FIG. 1 in more detail, FIG. 4 is a configuration diagram showing the control unit in FIG. 1 in more detail, and FIG. 5 is a configuration showing the patrol server in FIG. 1 in more detail. It is also

Referring to the drawings, first, a patrol system 1000 for an autonomous vehicle according to an embodiment of the present invention includes a patrol server 200 that controls overall patrol of the autonomous vehicle 100 . 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 that receives a user input for driving. In the manual mode, the input unit 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, receives information from the server 200 according to the input destination, and continuously sets a route. However, since the patrol system of the autonomous vehicle according to the present embodiment needs to avoid fixed patrol, it is preferable to directly designate a patrol route in the patrol server 200 to be described later.

Meanwhile, the sensing unit 120 may include a radar 121 and a lidar 122, and may further include a camera 123. In this embodiment, a main object, a patrol object, is detected using the radar 121, lidar 122, and camera 123, and detects a pedestrian, a pedestrian's line of sight, a pedestrian's movement, a pedestrian's moving direction, and a pedestrian's gesture. do. Accordingly, it is possible to track and deal with pedestrians when they are standing.

First, the radar 121 may generate information about an object that is a patrol target outside the self-driving vehicle 100 by using radio waves. The radar 121 may include an electromagnetic wave transmitter, an electromagnetic wave receiver, and at least one processor electrically connected to the electromagnetic wave transmitter and electromagnetic wave receiver, processing a received signal, and generating data about an object based on the processed signal. there is.

The radar 121 may be implemented in a pulse radar method or a continuous wave radar method in terms of radio wave emission principles. 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 through electromagnetic waves, and measures the position of the detected object, the distance to 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 to detect an object located in front, rear or side of the vehicle.

Next, the LIDAR 122 may generate information about an object including a patrol target outside the self-driving 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 an object based on the processed signal. It may include at least one processor that

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 driven or non-driven type. When implemented as a driven type, the lidar 122 is rotated by a motor and detects objects such as pedestrians around the self-driving vehicle 100. can do. When implemented as a non-driving 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 lidars.

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 the position of the detected object, the distance to the detected object, and the relative speed. can be detected. At this time, the lidar 122 may be disposed at an appropriate location outside the vehicle to detect an object located in the front, rear, or side of the vehicle.

Meanwhile, the camera 123 may generate information about an object such as a pedestrian outside the self-driving vehicle 100 by using an image. The camera 123 may include at least one lens, at least one image sensor, and at least one processor electrically connected to the image sensor to process a received signal and to generate object data based on the processed signal. can At this time, among the collected patrol objects, the human is received by the patrol server 200 and determined as a raised hand, or the control unit 140 of the autonomous vehicle 100 itself may be determined as a raised hand as will be described later.

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 with respect to the object, or relative speed information with the object by using various image processing algorithms.

For example, the camera 123 may obtain distance information and relative speed information with respect to the object based on a change in the size of the object over time in the obtained image. In addition, the camera 123 may obtain distance information and relative speed information with an object through a pinhole model, road profiling, and the like.

In addition, the camera 123 may obtain distance information and relative speed information with respect to an object based on disparity information in a stereo image obtained from a stereo camera. The camera 123 may be mounted in a position where a field of view (FOV) can be secured in the vehicle in order to photograph the exterior of the vehicle.

The camera 123 may be disposed close to the front windshield inside the vehicle to obtain an image of the front of the vehicle. Furthermore, the camera 123 may be disposed around a front bumper or a radiator grill. The camera 123 may be disposed close to the rear glass inside the vehicle to obtain an image behind the vehicle. In this case, the camera 123 may be disposed around a rear bumper, a trunk, or a tailgate. The camera 123 may be disposed close to at least one of the side windows in the interior of the vehicle in order to acquire an image of the side of the vehicle. Alternatively, the camera 123 may be disposed around side mirrors, fenders, or doors.

Also, in this embodiment, the camera 123 may recognize the gaze of the pedestrian. In this case, the camera 123 is a wide view field camera for finding the eye position in a wide area and pan-tilt-focusing to the found eye position to obtain a high-quality eye image. It may consist of a narrow view field camera for acquisition.

In addition, the camera 123 may perform calibration and rectification of a stereo camera, calibration between a stereo camera and a narrow-angle camera, and user calibration in order to track the gaze of a pedestrian. At this time, when each calibration is completed, it is possible to receive images from the stereo camera and detect a face region and an eye region from each of the input images.

Then, based on the detected 2D coordinates of the eye and the user's location information acquired through calibration, 3D location information for the pedestrian's eye area is calculated, and based on this, panning and tilting of the narrow-angle camera are performed. ), auto-focus is performed, and a high-quality eye image is acquired through this. Then, the center of the pupil is detected from the acquired high-quality eye image, and corneal reflection light reflected on the eye by infrared illumination is detected. The location and movement of the gaze of the pedestrian can be calculated from the information on the center of the pupil detected through this process and the information on the reflected light from the cornea.

Accordingly, it is possible to further increase the consistency in the case of judging as a raised hand when it is determined and moved in the direction of the gaze of the pedestrian.

In addition, since the sensing unit 120 needs to utilize the location information of the self-driving vehicle, the GPS 124 is essentially further included. 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 self-driving vehicle 10 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).

Meanwhile, the sensing unit 120 may further include a microphone 125 so that passengers other than guardians may intervene in autonomous driving by voice or the like even if the passenger, who is a patrolman, does not perform a steering operation. Furthermore, the biometric information sensor 126 not only senses the patrolman's or passenger's heart rate, blood pressure, brain waves, etc. to prepare for emergencies, but additionally has a function to prevent erroneous boarding by sensing fingerprint and iris information when entering and exiting the vehicle. can be done separately. Utilizing the biometric information sensor 126, the self-driving vehicle 100 can detect that a passenger has boarded or alighted.

Meanwhile, the output unit 130 includes a general display module 141, a target display module 142, and a raised-number display module 143.

The general display module 141 is normally disposed inside or outside the self-driving vehicle 100 to display a driving-related situation. Furthermore, any one of shape, shape, and color may be displayed on the outside of the vehicle to provide predictability to the owner of the vehicle and people around.

The target display module 142 outputs light or an image to a patrolling target or an area adjacent to the patrolling target. Here, the patrolling object means the one detected by the above-mentioned detection unit, and the general public feels relieved by the act of outputting light or an image to the patrolling object, and the beholder avoids the area to promote safety.

When the control unit 140, which will be described later, compares the detected patrol object with the data of the patrol server 200 or judges it by itself and determines that it is a raised person, the raising hand display module 143 initially outputs light or an image to the patrol object. produces a different output than For example, when the self-driving vehicle outputs blue light to an object to be patrolled, white light may be directly output to the raised-handed person when a raised-handed person is found. In this case, it is preferable that the raised-handed person display module 143 widely displays a white light not only on the raised-handed person but also on the adjacent area including the raised-handed person to inform the surroundings of the danger and to give up the predicted behavior for the raised-handed person.

In addition, in this case, in case of setting the adjacent area including the beholder, it is desirable to promote the safety of the surrounding people together, so when the sensing unit detects a nearby person, the light is displayed for the area together and output to ask for attention. It is also more desirable to

On the other hand, since the above-described detection unit 120 continuously grasps the movement or movement of the benefactor in this case, the patrol server 200 does not set a route anymore and determines the detection value of the detection unit 120 for tracking the benefactor. so that the route of the autonomous vehicle 100 is set. Thus, a new route is established.

Meanwhile, the controller 140 includes a drive control module 141 and an input/output control module 142. First, the driving control module 141 may be configured as a main ECU and controls the driving unit 160 of the self-driving 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 driving control device may include a power source driving control device and a transmission driving 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 driving control device may include a seat belt driving control device for controlling seat belts.

In addition, the drive control module 141 includes at least one electronic control device (eg, a control ECU (Electronic Control Unit)). In particular, the vehicle driving device may be controlled based on the received signal. 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 . Meanwhile, the input/output control module 142 serves to control the output unit 130 described above.

Meanwhile, the communication unit 150 may exchange a signal with a device located outside the autonomous vehicle 100, and may exchange a signal with at least one of an infrastructure (eg, a server, a broadcasting station), another vehicle, and a terminal. there is. The communication unit 150 may include at least one of a transmission antenna, a reception antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

For example, the communication device may exchange signals with an external device based on C-V2X (Cellular V2X) technology. In addition, the communication unit 150 transmits external devices and signals based on Dedicated Short Range Communications (DSRC) technology based on IEEE 802.11p PHY/MAC layer technology and IEEE 1609 Network/Transport layer technology or Wireless Access in Vehicular Environment (WAVE) standard. can be exchanged.

On the other hand, the patrol server 200 reconfirms or determines the person detected by the detection unit 120 and sets a patrol route, including the route creation module 210 and the surrounding support control module 220 in more detail. It is done.

The path generation module 210 initially creates a routine patrol path in a certain area. Routine here does not always mean a fixed route, but refers to a route with different waypoints in the area to be patrolled even if the starting point and destination are the same. At this time, the path creation module 210 sets at least one path set in the patrolling target area so that the path is not continuous during each patrolling.

In addition, this patrol route can be divided into a routine route and a non-routine route. The routine route refers to the concept of selecting one of a plurality of routes determined during this patrol as described above, and the non-routine route refers to a route that is not pre-determined and designated in real time by the patrol server to set the route. For example, when a new criminal situation is predicted by the patrol server 200, a route may be newly created as a non-routine route to focus on related geographical features.

This is defined as a special route, and the route creation module 210 changes the waypoint in real time, while the starting point and destination of the routine route are the same.

However, both the routine route and the non-routine route may need to be changed due to a new reason, such as the escape of a person in the middle of operation. In this case, the path creation module 210 creates a new path based on the detection value of the above-described sensing unit to track a person or other objects to be patrolled. That is, in the autonomous vehicle patrol system according to the present embodiment, the path is initially set by the patrol server, but the path may be changed based on the detection value of the sensing unit in the middle.

The surrounding support control module 220 plays a role when the person moving to a specific place where the vehicle 100 cannot enter. At this time, the surrounding support control module 220 controls the support system 300 including CCTVs around a specific place or a separate output device disposed at a specific place. More specifically, the surrounding support control module 220 allows the support system 300 to continuously detect a specific place, or transmits light or images in real time to the terrain or features related to the beholder through a separate output device. It maximizes the effect of patrol and crime prevention by printing out.

Hereinafter, the operation of the present invention is exemplified and described. 5 is a diagram illustrating an operation of a patrol system for an autonomous vehicle according to an embodiment of the present invention.

As shown in FIG. 5 , in the present embodiment, patrol area and behavioral information of a person on patrol can be transmitted to the device for recognizing and chasing a person on patrol. Furthermore, it may be desirable to remotely control a vehicle from a police station or the like when necessary. In addition, light is lit under the beholder's feet to let the beholder and surroundings recognize that it is a recognition target.

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

In addition, the present specification and drawings disclose preferred embodiments of the present invention, and although specific terms are used, they are only used in a general sense to easily explain the technical content of the present invention and help understanding of the present invention. It is not intended to limit the scope of the invention. It is obvious to those skilled in the art that other modified examples based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

1000: patrol system for autonomous vehicles
100: autonomous vehicle
110: input unit
120: sensing unit
130: output unit
140: control unit
150: communication department
160: driving unit
200: patrol server
300: support system

Claims (5)

Patrol server designating a patrol route; and
an autonomous vehicle that senses surroundings through autonomous driving according to the designated patrol route;
including,
The self-driving vehicle includes a sensing unit and an output unit,
The patrol system of an autonomous vehicle, characterized in that the sensor detects an object to be patrolled, and the output unit outputs light or an image to the object to be patrolled or an area adjacent to the object to be patrolled.
According to claim 1,
The self-driving vehicle further includes a control unit, and the control unit controls to display a different output from the output unit initially on the patrolling object in the hand or an area adjacent to the hand when the detected object to be patrolled is a hand. A patrol system for autonomous vehicles, characterized in that.
According to claim 2,
The patrol system of an autonomous vehicle, characterized in that when displaying in an area adjacent to the beholder, a person is detected in the adjacent area.
According to claim 2,
The self-driving vehicle patrol system, characterized in that the self-driving vehicle creates a new path upon detecting the movement of the person.
According to claim 4,
When the person moving to a specific place where vehicles cannot enter, the patrol server monitors the specific place in real time or controls a support system that displays the terrain or features of the specific place in real time. vehicle patrol system.

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