KR20230033160A - Retaliatory driving reporting system for autonomous vehicles - Google Patents

Abstract

Provided is a retaliatory driving control system of an autonomous vehicle, which senses retaliatory driving in the autonomous vehicle, automatically imposes a penalty point on a retaliatory driving vehicle, and retrieves a control right of the retaliatory driving vehicle to realize a healthy autonomous driving operation environment. Accordingly, the retaliatory driving control system of the autonomous vehicle according to one aspect of the present invention comprises: a sensing unit sensing vehicles of the front, the rear, and the lateral; a control unit which determines whether driving of the vehicle is the retaliatory driving; and a control server which re-determines whether the driving of the vehicle is the retaliatory driving. Whether or not the driving of the vehicle is the retaliatory driving is determined based on whether a driving control signal from another vehicle causes an obstacle.

Description

Retaliatory driving reporting system for autonomous vehicles}

The present invention relates to an autonomous vehicle control system, and more particularly, to a retaliatory driving control system of an autonomous vehicle.

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. Driverless cars drive autonomously by recognizing the surrounding environment with radar, LIDAR (light detection and ranging), GPS, and camera and designating a destination. Unmanned 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 that are operated at overseas mines or construction sites.

The first core technologies of these self-driving vehicles are the unmanned car system and the actual system. It is a technology that builds an unmanned car system in reality as well as simulation in the laboratory. It implements driving devices such as accelerators, decelerators, and steering devices to suit unmanned operation, and enables control using computers, software, and hardware installed in unmanned cars. do.

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 core 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. 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 unintended deviation situation.

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, in recent years, various problems are expected to occur due to the popularization of autonomous vehicles. In particular, as autonomous driving vehicles are capable of manual driving, the possibility of retaliatory driving cannot be ruled out. However, related studies are still incomplete.

Korean Patent Publication No. 2019-0070693 (2019. 06. 21.), Title of Invention: Autonomous driving device and its control method {APPARATUS AND METHOD FOR CONTROLLING AUTONOMOUS DRIVING OF VEHICLE}

The present invention is to solve the above-mentioned problems of the prior art, and an object of the present invention is to detect a retaliatory driving vehicle in an autonomous vehicle, automatically impose penalty points on the retaliatory driving vehicle, and recover the right to control the retaliatory driving vehicle to achieve a sound Provides a retaliatory driving control system for an autonomous vehicle that realizes an autonomous driving environment.

A system for controlling retaliatory driving of an autonomous vehicle according to an aspect of the present invention includes a sensing unit for detecting a front, rear, and side vehicle, a control unit for determining whether driving of the vehicle is retaliatory driving, and whether the driving of the vehicle is retaliatory driving. It includes a control server that re-determines whether or not the driving of the vehicle is retaliatory driving, and determines whether the driving control signal of another vehicle is caused to fail.

In this case, the cause of the failure in the other vehicle driving control signal may be determined from at least one of proximity of the vehicle to the other vehicle, deceleration of the vehicle, cut-in of the vehicle, and horn of the vehicle.

In addition, the control server may immediately add penalty points to the retaliatory driving vehicle.

In addition, the control server may retrieve the right to control the vehicle when it is determined that the driving of the vehicle is retaliatory driving.

In addition, the control server may control the output unit of the vehicle to display related contents when it is determined that the driving of the vehicle is retaliatory driving.

The present invention not only promotes safe operation by allowing an autonomous vehicle to detect a retaliatory driving vehicle, determine it by a control server, immediately add penalty points to the vehicle, and notify the retaliatory driving vehicle to the outside, furthermore, By retrieving the control right, a healthy autonomous driving environment can be created.

1 is a block diagram of a retaliatory driving control system for an autonomous vehicle according to an embodiment of the present invention.
FIG. 2 is a configuration diagram showing the self-driving vehicle in FIG. 1 in more detail.
FIG. 3 is a configuration diagram showing the sensing unit of FIG. 2 in more detail.
4 is a configuration diagram showing the control unit in FIG. 2 in more detail.
5 is a configuration diagram showing the control server in FIG. 1 in more detail.

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 the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Hereinafter, a retaliatory driving control system for an autonomous vehicle according to an embodiment of the present invention will be described. 1 is a configuration diagram of a retaliatory driving control system for an autonomous vehicle according to an embodiment of the present invention, FIG. 2 is a configuration diagram showing the autonomous vehicle in FIG. 1 in more detail, and FIG. A configuration diagram showing the sensing unit in more detail, FIG. 4 is a configuration diagram showing the control unit in FIG. 2 in more detail, and FIG. 5 is a configuration diagram showing the control server in FIG. 1 in more detail.

Referring to the drawings, first of all, the retaliatory driving control system 1000 of an autonomous vehicle according to an embodiment of the present invention communicates with at least one autonomous vehicle (100_1, 100_2, 100_3 ?? 100_n) and determines whether it is a retaliatory driving. It includes a control server 200 that determines whether or not and performs route management and remote control of each vehicle.

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.

In this case, both the autonomous vehicles 100_1 to 100_n and the retaliatory driving vehicle 100a include 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. ), including Hereinafter, the same reference numerals are used for the driving vehicles 100_1 to 100_n and the input unit, sensing unit, output unit, control unit, communication unit, and driving unit of the retaliatory driving vehicle 100a, and there are differences in configuration or effect. The part should be separately specified which vehicle configuration it is.

The input unit 110 is a device that receives a user input for driving. In the case of the manual mode, the input unit of the autonomous vehicle 100 may include a steering input device (not shown), an acceleration input device, and a brake input device. In addition, the input unit 110 serves to input the destination of the self-driving vehicle, receives information from the control server 200 according to the input destination, and continuously sets a route.

The detector 120 may include a radar 121 and a lidar 122, and may further include a camera 123. In this embodiment, the radar 121, the lidar 122, and the camera 123 are used to detect the speed and moving direction of another vehicle, which is a main object, and to determine retaliatory driving in the driving process.

First, the radar 121 may generate information about an object 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 outside the self-driving vehicle 100 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 can detect objects such as vehicles around the autonomous vehicle 100. there is. 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 vehicle 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

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 outside 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.

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 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).

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

The radar 121, lidar 122, and camera 123 as described above detect the position of the surrounding vehicle, which is the main object, and detect the distance to the surrounding vehicle, the speed of the surrounding vehicle, and the moving direction of the surrounding vehicle, and accordingly It collects data to determine speeding, signal violations, retaliatory driving, not wearing license plates, and poor parking by nearby vehicles.

The output unit 130 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.

In more detail, when the driving of the vehicle is determined to be retaliatory driving by the control server 200, the output unit 130 may display the content that a penalty point has been assigned to the outside of the corresponding vehicle. In this case, the control server 200 may control the output unit of the retaliatory driving vehicle through a prior protocol.

In addition, when a plurality of autonomous vehicles 100_1 to 100_n are driving around the retaliatory driving vehicle 100a, the output unit 130 detects the retaliatory driving vehicle, and when it is determined that the retaliatory driving is a control server 200 It is controlled from, and the appearance of the vehicle is expressed identically, so that other vehicles located remotely can be notified that the section in which the retaliatory driving vehicle 100a has occurred.

Meanwhile, the control unit 140 may be configured as a main ECU and controls driving and driving of the self-driving vehicle 100 . In more detail, the control unit is composed of a drive control module 141, an input/output control module 142, and a retaliatory driving vehicle determination module 143.

First of all, 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 .

The input/output control module 142 controls the above-described output unit 130, and serves to control the vehicle's internal display or external display by grouping vehicles that detect retaliatory driving. Also, the input/output control module 142 may control the output unit 130 of the retaliatory driving vehicle 100a to indicate whether the retaliatory driving vehicle continues or stops.

The retaliatory driving vehicle determination module 143 determines whether the retaliatory driving vehicle is based on the data received from the sensor. In particular, it is determined whether the driving vehicle is a retaliatory driving vehicle based on whether or not it causes an obstacle to the normal driving signal generated by the driving control module 141 .

More specifically, all data related to driving and stopping, such as the speed, direction, and direction indicators of the target vehicle suspected of retaliatory driving, and the default control signal in the current section are compared to determine whether the vehicle is subject to retaliatory driving. Including the time, it is finally determined whether the vehicle is a retaliatory driving vehicle.

As a more detailed mode of retaliatory driving, it is possible to determine whether the retaliatory driving vehicle is a retaliatory driving vehicle from any one of whether the retaliatory driving vehicle approaches abnormally, sudden deceleration from the front, lane cutting, and abnormal career output.

In addition, determination of whether the retaliatory driving vehicle 100a may be performed by each of the plurality of vehicles 100_1 to 100_n. Therefore, a plurality of pieces of retaliatory driving determination information for any one retaliatory driving vehicle are transmitted to the control server 200 .

Meanwhile, the control server 200 includes a retaliatory operation determination module 210, a drive control module 220, and a communication control module 230.

The retaliatory driving determination module 210 re-determines the retaliatory driving state determined by the control unit 140 to finally determine the retaliatory driving state, and gives penalty points to the retaliatory driving vehicle 100a. Therefore, the retaliatory driving determination module 210 is preferably disposed in the National Police Agency or the like, and may be equipped with a separate input unit to assist human resources to receive an administrative disposition.

At this time, the retaliatory driving determination module 210 determines whether the retaliatory driving target vehicle 100a has been driven in autonomous driving, semi-autonomous driving or manual driving when the retaliatory driving behavior has occurred. In this case, in the case of semi-autonomous driving or manual driving, the penalty points are confirmed as they are, and in the case of driving only in autonomous driving, the driver is exempted from liability and the history information that retaliatory driving was driven is transmitted to the vehicle manufacturer's server (not shown). . Accordingly, it is preferable that the manufacturer immediately corrects the driving algorithm and transmits the data to the control server 200, and the control server 200 updates driving data not only for the section where the retaliatory driving occurred, but also for vehicles of the same manufacturer operating in other areas. .

In addition, the drive control module 220 controls each vehicle when a violating vehicle occurs. In particular, the drive control module 220 may adjust the arrangement of a plurality of self-driving vehicles close to the offending vehicle. In this case, since each has different path information, the control server adjusts the interval or speed of the plurality of self-driving vehicles close to the violating vehicle by reflecting the respective path information. Accordingly, it is possible to fundamentally block the violating vehicle and subsequent safety problems.

Meanwhile, the communication control module 230 is in charge of communication between the self-driving vehicles 100_1 to 100_n around the retaliatory driving vehicle 100a or between the self-driving vehicle and the control server 200 . In the retaliatory driving control system according to the present embodiment, since overall control by the control server is essential for safety, there is a need to maintain communication between vehicles 100_1 to 100_n and between vehicles 100_1 to 100_n and the control server 200 at all times. . Accordingly, the communication control module 230 enables communication between vehicles via the control server 200 even when the vehicles are not connected through short-distance communication. In addition, the communication control module 230 may control the output unit of the retaliatory driving vehicle to display related contents when it is determined that retaliatory driving is the case. At this time, all methods of notifying the outside of the vehicle that retaliatory driving is taking place will be possible.

Meanwhile, the communication unit 150 may exchange signals with at least one of a control server located outside the autonomous vehicle 100, another vehicle, and a terminal. 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.

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: retaliatory driving control system for autonomous vehicles
100: autonomous vehicle
110: input unit
120: sensing unit
130: output unit
140: control unit
150: communication department
200: control server

Claims (5)

a sensing unit for detecting front, rear, and side vehicles;
a controller that determines whether the driving of the vehicle is retaliatory driving; and
a control server that re-determines whether the driving of the vehicle is retaliatory driving;
including,
The retaliatory driving control system of the autonomous vehicle, characterized in that determining whether the driving of the vehicle is retaliatory driving is determined from whether or not a drive control signal of another vehicle is caused to fail.
According to claim 1,
The triggering of the other vehicle drive control signal is determined from at least one of the vehicle approaching the other vehicle, the vehicle decelerating, the vehicle cutting in, and the horn of the vehicle. The retaliatory driving control system of the driving vehicle.
According to claim 1,
Wherein the control server adds penalty points to the vehicle.
According to claim 1,
The retaliatory driving control system for an autonomous vehicle, characterized in that the control server can retrieve the control right of the vehicle when it is determined that the driving of the vehicle is retaliatory driving.
According to claim 1,
Wherein the control server controls an output unit of the vehicle to display related contents when it is determined that the driving of the vehicle is retaliatory driving.

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