KR20230171225A - Autonomous driving system using drcing information of nearyby vehicles - Google Patents

Abstract

An autonomous driving system utilizing driving information of surrounding vehicles according to an embodiment of the present invention includes a own vehicle driving information collection unit configured to collect own vehicle driving information including information on the driving speed and steering direction of the own vehicle; a surrounding vehicle driving information collection unit configured to collect surrounding vehicle driving information through a camera or lidar sensor provided to the own vehicle, or collect surrounding vehicle driving information from surrounding vehicles through a wireless communication network; and an autonomous driving information generator configured to integrate the own vehicle driving information and the surrounding vehicle driving information and then generate autonomous driving information for the own vehicle based on the integrated driving information, wherein the autonomous driving information generating unit includes: the driving direction of the own vehicle; When the angle between the vector corresponding to and the vector corresponding to the driving direction of the cutting vehicle is less than a preset angle; If the driving speed of the cutting vehicle is greater than the driving speed of the preceding vehicle, it is determined that the cutting vehicle is cutting in front of the preceding vehicle; If the driving speed of the cutting vehicle is the difference between the driving speed of the preceding vehicle and the driving speed of the own vehicle, it is determined that the cutting vehicle is cutting in between the preceding vehicle and the own vehicle; If the driving speed of the cutting vehicle is less than the driving speed of the own vehicle, it is determined that the cutting-in vehicle is entering the rear of the own vehicle.

Description

Autonomous driving system using driving information from surrounding vehicles {AUTONOMOUS DRIVING SYSTEM USING DRCING INFORMATION OF NEARYBY VEHICLES}

The present invention relates to an autonomous driving system that utilizes driving information of surrounding vehicles.

Connected cars are one of the future social automobiles that require safe driving, minimal traffic delays, efficient resource consumption and low levels of air pollution. These connected cars perform communication between vehicles (V2V) or vehicles and objects (transportation infrastructure, V2I, etc.) based on technologies represented by V2X (Vehicle to X), which provides safe autonomous driving or driving assistance functions. or exchange information about the vehicle itself and traffic flow.

Autonomous driving is one of the main goals of connected cars. There are two types of autonomous driving methods: one in which the vehicle itself has autonomous driving functions (stand-alone type), and one in which the vehicle cooperates with surrounding vehicles and transportation infrastructure (connected type).

The stand-alone type mainly recognizes obstacles and lanes around the vehicle based on information collected from LiDAR, radar, and cameras, and the vehicle independently determines the driving state.

In contrast, the Connected type performs an autonomous driving function by sharing location and speed information about surrounding cars and the current status of the vehicle through a communication function (V2X) with surrounding objects (vehicles and road infrastructure). In particular, it enables efficient response by setting up alternative routes that reflect traffic situation information and traffic flow, preventing sudden traffic accidents, and disseminating the relevant information to those around you if an accident inevitably occurs.

Republic of Korea Patent Publication No. 10-1877553

One embodiment of the present invention is an autonomous driving system that utilizes driving information of surrounding vehicles to perform autonomous driving by controlling the driving information of one's own vehicle using driving information including speed information and steering direction of surrounding vehicles. The purpose is to provide.

Meanwhile, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned will be clearly apparent to those skilled in the art from the description below. It will be understandable.

An autonomous driving system utilizing driving information of surrounding vehicles according to an embodiment of the present invention includes a own vehicle driving information collection unit configured to collect own vehicle driving information including information on the driving speed and steering direction of the own vehicle; a surrounding vehicle driving information collection unit configured to collect surrounding vehicle driving information through a camera or lidar sensor provided to the own vehicle, or collect surrounding vehicle driving information from surrounding vehicles through a wireless communication network; and an autonomous driving information generator configured to integrate the own vehicle driving information and the surrounding vehicle driving information and then generate autonomous driving information for the own vehicle based on the integrated driving information, wherein the autonomous driving information generating unit includes: the driving direction of the own vehicle; When the angle between the vector corresponding to and the vector corresponding to the driving direction of the cutting vehicle is less than a preset angle; If the driving speed of the cutting vehicle is greater than the driving speed of the preceding vehicle, it is determined that the cutting vehicle is cutting in front of the preceding vehicle; If the driving speed of the cutting vehicle is the difference between the driving speed of the preceding vehicle and the driving speed of the own vehicle, it is determined that the cutting vehicle is cutting in between the preceding vehicle and the own vehicle; If the driving speed of the cutting vehicle is less than the driving speed of the own vehicle, it is determined that the cutting-in vehicle is entering the rear of the own vehicle.

An autonomous driving system utilizing driving information of surrounding vehicles according to an embodiment of the present invention performs autonomous driving by controlling the driving information of one's own vehicle using driving information including speed information and steering direction of surrounding vehicles. The purpose is to do so.

Meanwhile, the effects that can be obtained from the present invention are not limited to the effects mentioned above, and other effects not mentioned will be clearly understood by those skilled in the art from the description below. You will be able to.

Figure 1 is a diagram schematically showing the configuration of an autonomous driving system 10 using driving information of surrounding vehicles according to an embodiment of the present invention.
Figure 2 is an example diagram showing how the autonomous driving system 10 using the driving information of surrounding vehicles collects driving information of surrounding vehicles and then generates autonomous driving information for one's own vehicle based on this.

Other advantages and features of the present invention and methods for achieving them will become clear by referring to the embodiments described in detail below along with the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below and may be implemented in various different forms. The present embodiments are only provided to ensure that the disclosure of the present invention is complete and to provide common knowledge in the technical field to which the present invention pertains. It is provided to fully inform those who have the scope of the invention, and the present invention is only defined by the scope of the claims.

Even if not defined, all terms (including technical or scientific terms) used herein have the same meaning as generally accepted by the general art in the prior art to which this invention belongs.

Terms defined by general dictionaries may be interpreted as having the same meaning as they have in the related art and/or text of the present application, and should not be conceptualized or interpreted in an overly formal manner even if expressions are not clearly defined herein. won't

The terms used in this specification are for describing embodiments and are not intended to limit the invention. As used herein, singular forms also include plural forms, unless specifically stated otherwise in the context.

As used in the specification, 'comprises' and/or various conjugations of this verb, such as 'comprises', 'comprising', 'includes', 'comprises', etc., refer to the composition, ingredient, or component mentioned. A step, operation and/or element does not exclude the presence or addition of one or more other compositions, ingredients, components, steps, operations and/or elements. As used herein, the term 'and/or' refers to each of the listed components or various combinations thereof.

Meanwhile, terms such as '~unit', '~unit', '~block', and '~module' used throughout this specification may mean a unit that processes at least one function or operation. For example, it can refer to software, hardware components such as FPGAs or ASICs.

However, '~part', '~unit', '~block', '~module', etc. are not limited to software or hardware. '~ part', '~ base', '~ block', and '~ module' may be configured to reside in an addressable storage medium and may be configured to reproduce one or more processors.

Therefore, as an example, '~part', '~gi', '~block', and '~module' refer to components such as software components, object-oriented software components, class components, and task components. , processes, functions, properties, procedures, subroutines, segments of program code, drivers, firmware, microcode, circuits, data, databases, data structures, tables, arrays, and Contains variables.

The functions provided within components and '~part', '~unit', '~block', and '~module' are divided into smaller numbers of components and '~unit', '~unit', '~block'. ', '~module' or can be further separated into additional components and '~sub', '~base', '~block', and '~module'.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings attached to this specification.

Figure 1 is a diagram schematically showing the configuration of an autonomous driving system 10 using driving information of surrounding vehicles according to an embodiment of the present invention.

Referring to FIG. 1, the autonomous driving system 10 utilizing driving information of surrounding vehicles includes an own vehicle driving information collection unit 100, a surrounding vehicle driving information collection unit 200, and an autonomous driving information generating unit 300. Includes.

The own vehicle driving information collection unit 100 collects information related to driving, such as the driving speed and steering direction of the own vehicle, from OBD (On Board Diagnostics) provided to the own vehicle and stores it.

The surrounding vehicle driving information collection unit 200 receives information collected from the OBD provided to each surrounding vehicle through a wireless communication network and stores it, or continuously monitors surrounding vehicles through a camera or lidar sensor provided to the vehicle. By observing, driving information of surrounding vehicles is generated.

The autonomous driving information generator 300 integrates the driving information of its own vehicle received from the driving information collection unit 100 and the driving information of surrounding vehicles received from the driving information collection unit 200, and then uses the driving information of surrounding vehicles based on this. Generates autonomous driving information for vehicles.

Figure 2 is an example diagram showing how the autonomous driving system 10 using the driving information of surrounding vehicles collects driving information of surrounding vehicles and then generates autonomous driving information for one's own vehicle based on this.

Referring to FIG. 2 , the description will be made assuming that the cutting vehicle 23 cuts in between the own vehicle 21 and the front vehicle 22 that was traveling right in front of the own vehicle 21.

First, the own vehicle driving information collection unit 100 collects driving-related information such as the driving speed and steering direction of the own vehicle 21 from OBD (On Board Diagnostics) provided to the own vehicle 21 and stores the information. .

Next, the surrounding vehicle driving information collection unit 200 continuously observes the surrounding vehicle 22 or 23 through a camera or lidar sensor provided to the vehicle 21, thereby monitoring the driving of the surrounding vehicle 22 or 23. Information can be generated.

In contrast, the surrounding vehicle information collection unit 200 may collect information collected from the OBD provided to each of the surrounding vehicles 22 or 23 by receiving it through a wireless communication network.

Finally, the autonomous driving information generator 300 receives the driving information of the own vehicle 21 or the driving information of the surrounding vehicles 22 or 23 and integrates them to generate autonomous driving information of the own vehicle 21. You can.

According to an embodiment of the present invention, the autonomous driving information generator 300 comprehensively considers the steering direction and driving speed of the cutting-in vehicle 23 and the driving direction and driving speed of the own vehicle 21, and It is possible to determine whether the vehicle 23 is cutting in front of the own vehicle 21.

Below, the process of determining whether the cutting-in vehicle 23 cuts in front of the vehicle 21 will be described. Thereafter, the autonomous driving information generator 300 may generate autonomous driving information for its own vehicle 21 by additionally considering the position where the cutting vehicle 23 cuts in.

First, the angle difference between the vector for the steering direction of the cutting vehicle 23 and the vector for the driving direction of the own vehicle 23 is derived. When the cutting vehicle 23 attempts to change lanes into the lane of the own vehicle 21, the angle difference between the vector for the steering direction of the cutting vehicle 23 and the vector for the driving direction of the own vehicle 23 is It decreases. At this time, if the angle is less than the preset angle, it may be determined that the cutting-in vehicle 23 is attempting to cut in front of the own vehicle 21.

Next, the difference between the driving speed of the cutting vehicle 23 and the driving speed of the own vehicle 21 is derived. When the cutting-in vehicle 23 tries to cut in front of its own vehicle 21, its driving speed will be greater than that of its own vehicle 21, and if the cutting-in vehicle 23 tries to cut in from the rear of its own vehicle 21, the driving speed will be greater than that of its own vehicle 21. In this case, the driving speed will be lower than that of the own vehicle 21. Accordingly, the position where the cutting-in vehicle 23 intends to enter can be predicted through the difference between the driving speed of the cutting-in vehicle 23 and the driving speed of the own vehicle 21.

Additionally, the difference between the traveling speed of the cutting-in vehicle 23 and the traveling speed of the preceding vehicle 22 is further taken into account. When the cutting vehicle 23 attempts to cut in front of its own vehicle 21, its traveling speed will be greater than that of its own vehicle 21, but will be lower than that of the preceding vehicle 22. Therefore, when the driving speed of the cutting-in vehicle 23 is greater than the driving speed of the own vehicle 21 and is smaller than the driving speed of the preceding vehicle 22, the cutting-in vehicle 23 is connected to the own vehicle 21 and the preceding vehicle ( 22) It can be judged as interfering. Furthermore, if the driving speed of the cutting-in vehicle 23 is higher than the driving speed of the preceding vehicle 22, it is determined that the cutting-in vehicle 23 is attempting to cut in front of the preceding vehicle 22. It is also possible.

Although the present invention has been described above through examples, the above examples are merely for illustrating the spirit of the present invention and are not limited thereto. Those skilled in the art will understand that various modifications may be made to the above-described embodiments. The scope of the present invention is determined only through interpretation of the appended claims.

10 Autonomous driving system using driving information from surrounding vehicles
21 own vehicle
22 front vehicle
23 Cut-in vehicle
100 Own vehicle driving information collection unit
200 Nearby vehicle driving information collection unit
300 Autonomous driving information generation unit

Claims (1)

a own vehicle driving information collection unit configured to collect own vehicle driving information including information about the driving speed and steering direction of the own vehicle;
a surrounding vehicle driving information collection unit configured to collect surrounding vehicle driving information through a camera or lidar sensor provided to the own vehicle, or collect surrounding vehicle driving information from surrounding vehicles through a wireless communication network; and
An autonomous driving information generator configured to integrate the own vehicle driving information and the surrounding vehicle driving information and then generate autonomous driving information for the own vehicle based on the integrated driving information,
The autonomous driving information generator:
When the angle between the vector corresponding to the driving direction of the own vehicle and the vector corresponding to the driving direction of the intervening vehicle is less than a preset angle;
If the driving speed of the cutting vehicle is greater than the driving speed of the preceding vehicle, it is determined that the cutting vehicle is cutting in front of the preceding vehicle;
If the driving speed of the cutting vehicle is the difference between the driving speed of the preceding vehicle and the driving speed of the own vehicle, it is determined that the cutting vehicle is cutting in between the preceding vehicle and the own vehicle;
An autonomous driving system using driving information of surrounding vehicles, configured to determine that the cutting vehicle is entering the rear of the own vehicle when the driving speed of the cutting vehicle is less than the driving speed of the own vehicle.