KR20230033749A - Tour guide system using self-driving vehicles - Google Patents

Abstract

Provided is a tour guidance system using an autonomous vehicle, wherein the autonomous vehicle guides a tour by recognizing a scenery or a feature of a travel destination and outputting travel information directly thereto. Accordingly, the tour guidance system of the autonomous vehicle according to one aspect of the present invention comprises: a server which stores location information of a specific target object and related travel information; and an output unit displaying the travel information of the specific target object by a way of augmented output when the autonomous vehicle is separated from the location information, and directly displaying the travel information on the specific target object by a way of photorealistic output when the autonomous vehicle approaches the location information.

Description

Tour guide system using self-driving vehicles}

The present invention relates to a tour guidance system, and more particularly, to a tour guidance system using 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. 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.

Furthermore, if self-driving vehicles become popular, it will be possible to enjoy a comfortable trip using self-driving vehicles without the intervention of others, such as human guides. However, discussions on additional user experiences of autonomous driving, such as travel using autonomous driving, have not yet been actively conducted. Therefore, it is time to discuss in detail how to conveniently obtain travel information using an autonomous vehicle.

Korean Patent Publication No. 2021-0097237 (2021. 08. 09.), Title of Invention: Travel Information System for Self-Driving Vehicle {TRAVEL INFORMATION SYSTEM FOR SELF DRIVING CARS}

The present invention is to solve the problems of the prior art, and an object of the present invention is to provide an autonomous vehicle that guides a tour by recognizing scenery or features of a travel destination and outputting travel information directly thereto. It is to provide a travel guidance system using the system.

A tour guidance system for an autonomous vehicle according to an aspect of the present invention provides a server for storing location information of a specific object and travel information related thereto, and an augmented output of the specific object when the autonomous vehicle is separated from the location information. and an output unit that displays travel information and directly displays the travel information on the specific object in a real-time output method when the self-driving vehicle approaches the location information.

In this case, the augmented output may be displayed at a position corresponding to the direction of the specific object on the front display of the self-driving vehicle.

In addition, the self-driving vehicle further includes a sensing unit, and the sensing unit includes a GPS, a lidar, and a camera, and the output unit directly displays travel information on the specific object by using the GPS and the camera to specify the specific object. Then, the relative movement of a specific object can be reflected by the rider.

In addition, the output unit may stop actual image output when another vehicle or pedestrian blocking the specific object is detected.

In addition, the output unit may specify an outline of the specific object or output text or an image inside the specific object.

According to the present invention, an autonomous vehicle recognizes a specific object of a travel destination, identifies it remotely, induces pedestrian interest, and delivers information while designating a specific object in real time adjacent to the specific object, thereby maximizing the travel guidance effect.

1 is a configuration diagram of a tour guidance system using 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 to 7 are diagrams illustrating an operation of a pedestrian advertisement 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 the presence or addition of numbers, steps, operations, components, parts, or combinations thereof is not precluded.

Hereinafter, a tour guidance system 1000 using an autonomous vehicle according to an embodiment of the present invention will be described. 1 is a configuration diagram of a tour guidance system using 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, and FIG. 3 is an output unit in FIG. 1 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, a tour guidance system 1000 using an autonomous vehicle according to an embodiment of the present invention includes an autonomous vehicle 100 and a server 200 that provides travel information or sets a route. The server 200 may be separately composed of a route server and a travel information server, and the server 200 stores location information based on a specific object in a travel destination and related travel information.

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 a travel destination of the autonomous vehicle, receives information from the server 200 according to the input destination, and continuously sets a travel route.

The detector 120 may include a radar 121 and a lidar 122, and may further include a camera 123. In this embodiment, an object that is a specific target of a travel destination is detected using the radar 121, lidar 122, camera 123, and GPS 124.

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 including a specific target 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 detects an object that is a specific object of a travel destination around the autonomous 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 that is a specific target 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 sensor 120 needs to detect how far the autonomous vehicle is from a specific object in the travel destination, 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).

In this way, according to the detected value of the GPS 124, it is determined whether the self-driving vehicle is separated from the location information of a specific object or is close to the specific object. However, in this embodiment, as will be described later, when the object is in close proximity to the specific object, travel information is displayed on the specific object itself by way of actual image output rather than augmented output.

In this case, the specific object is first obtained by obtaining the location information of the specific object received from the server in advance, and when the camera can capture the specific object according to the movement of the vehicle, the specific object is specified. Even if the vehicle continues to move thereafter, the relative movement of a specific object is sensed by the rider, and the output unit to be described later relatively moves and outputs travel information to correspond to this relative movement.

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.

Meanwhile, 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.

Furthermore, the output unit 130 according to an embodiment of the present invention outputs an advertisement to a specific object according to the detection value of the detection unit 120. In more detail, the output unit 130 displays travel information of a specific object in an augmented output method when the self-driving vehicle is separated from the location information of a specific object, and when the autonomous vehicle approaches the location information, actual data is displayed. As an output method, it serves to directly display travel information on the specific object.

To this end, the output unit 130 includes an augmented output unit 131, a designated output unit 132, and an information output unit 133.

As described above, the augmented output unit 131 outputs travel information of a specific object to the remote front when the distance between the self-driving vehicle and the specific object, which is an object of travel information, is remote. In this case, since the specific object is invisible, the augmented output unit 131 preferably displays the location and information of the specific object at a location corresponding to the direction of the specific object on the front display (not shown) of the autonomous vehicle. Also, in this case, the front display is preferably made of a transparent display attached to the front glass.

As described above, the designation output unit 132 directly outputs travel information to a specific object when the distance between the self-driving vehicle and a specific object, which is an object of travel information, is close. For example, when a famous building is located nearby, the building can be identified in real time by laser output along the outline of the building.

Furthermore, in this case, the information output unit 133 may output information of a specific object by outputting text or an image inside the outline. The information at this time may include a related image or brief text.

On the other hand, since the designated output unit 132 or the information output unit 133 directly outputs to a specific object in the form of laser oscillation, it may interfere with other vehicles or others. Therefore, when another vehicle or pedestrian, which is an object on the output path, is detected by the above-described detection unit, it is preferable that the designation output unit 132 or the information output unit 133 stop outputting.

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 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 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 drive control device may include a seat belt drive 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 differently depending on whether it is remotely located or close to a specific object.

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.

Hereinafter, the operation of the present invention is exemplified and described. 5 to 7 are diagrams illustrating an operation of a tour guidance system using an autonomous vehicle according to an embodiment of the present invention.

First of all, referring to FIG. 5, in order to explain that an impressive bridge passes by in a travel destination and is an exercise attraction, the output unit shows a person exercising in an augmented output method.

In addition, referring to FIG. 6 , the output unit detects the entry of another vehicle while performing direct output and stops the output.

Also, referring to FIG. 7, it is exemplified that travel information is output on one wall of the tunnel with respect to tunnel information while passing through the tunnel.

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: Tour guidance system using autonomous vehicle
100: autonomous vehicle
110: input unit
120: sensing unit
130: output unit
140: control unit
150: communication department
160: driving unit
200: server

Claims (5)

In a tour guidance system using an autonomous vehicle,
A server that stores location information of a specific object and related travel information; and
When the self-driving vehicle is separated from the location information, the travel information of the specific object is displayed in an augmented output method, and when the autonomous vehicle approaches the location information, the travel information of the specific object is displayed in a real-time output method. an output unit that directly displays;
A tour guidance system using an autonomous vehicle, comprising:
According to claim 1,
The augmented output is displayed on a front display of the autonomous vehicle at a position corresponding to the direction of the specific object.
According to claim 1,
The self-driving vehicle further includes a sensing unit,
The sensing unit includes a GPS, a lidar and a camera,
The output unit directly displays travel information on the specific object by reflecting the relative movement of the specific object by the rider after the GPS and the camera specify the specific object. A tour guide system using an autonomous vehicle.
According to claim 1,
The tour guide system using an autonomous vehicle, characterized in that the output unit stops actual output when another vehicle or pedestrian blocking the specific object is detected.
According to claim 1,
The tour guide system using an autonomous vehicle, characterized in that the output unit specifies an outline of the specific object or outputs text or an image inside the specific object.

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