WO2014142371A1 - Automatic vehicle driving system - Google Patents

Automatic vehicle driving system Download PDF

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Publication number
WO2014142371A1
WO2014142371A1 PCT/KR2013/002075 KR2013002075W WO2014142371A1 WO 2014142371 A1 WO2014142371 A1 WO 2014142371A1 KR 2013002075 W KR2013002075 W KR 2013002075W WO 2014142371 A1 WO2014142371 A1 WO 2014142371A1
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WIPO (PCT)
Prior art keywords
vehicle
driving
module
information
wheel
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PCT/KR2013/002075
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French (fr)
Korean (ko)
Inventor
박수민
Original Assignee
Park su-min
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Application filed by Park su-min filed Critical Park su-min
Priority to PCT/KR2013/002075 priority Critical patent/WO2014142371A1/en
Publication of WO2014142371A1 publication Critical patent/WO2014142371A1/en

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    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/10Path keeping
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • BPERFORMING OPERATIONS; TRANSPORTING
    • B60VEHICLES IN GENERAL
    • B60WCONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
    • B60W30/14Adaptive cruise control

Definitions

  • the present invention relates to an autonomous vehicle driving system, and more particularly, when a driver sets a destination in a navigation device, the autonomous vehicle is controlled to automatically drive to a destination in consideration of a signal of a traffic light and a vehicle or object in the vicinity. It relates to a traveling system.
  • the autonomous driving system developed in the related art is a device that maintains the speed even if the driver does not operate the accelerator, and is called an auto drive, an automatic, an auto cruise or the like.
  • the automatic driving system In addition to controlling the speed of the vehicle, the automatic driving system also controls the distance between the vehicles, which detects the distance between the preceding vehicle with the sensor and controls the throttle and the brake with a computer, thereby maintaining the safety distance between the vehicles. do.
  • the driver when the driver designates a certain speed on the road capable of high speed driving, the driver automatically operates at the designated speed, so that the driver may operate at the set speed without operating the acceleration / deceleration pedal, thereby significantly reducing the fatigue of the driver.
  • an example of such an automatic driving system is the technology described in Korean Patent No. 10-0180496 as shown in FIGS. 1 and 2, the technical feature of which the driver arbitrarily selects manual or automatic driving to operate the vehicle at a constant speed.
  • the transmitting / receiving unit is configured to measure the distance between the selection switching unit 3 for selecting any target vehicle among the vehicles ahead and the vehicle selected by the selection switching unit 3.
  • a distance detecting unit 4 for detecting a distance from the front vehicle, a distance setting unit 6 for setting a distance in proportion to a vehicle speed with respect to a vehicle selected by the selection switching unit 3, and the distance setting
  • An electronic control module 8 for outputting an acceleration / deceleration signal to control a safety distance from the vehicle in front of the vehicle in consideration of the signal detected by the distance detection unit 4 by the signal set by the unit 6; Group by the electronic control module 8, controlling the amount of rotation of the motor for accelerator control by the output signal from characterized by comprising a step motor (M) to maintain the safety distance to the car ahead.
  • M step motor
  • Korean Patent No. 10-0180496 allows the driver to drive at a constant speed while maintaining the distance to the vehicle in front of the vehicle even if the driver does not adjust the acceleration and deceleration, thereby reducing fatigue of the driver during long distance driving.
  • an object of the present invention is to set the destination in the navigation device, the route information set by the navigation device in the drawing module provided inside the automatic navigation device.
  • the distance, direction, and rotation angle are received and converted into actual measurement data of the actual driving of the vehicle to form a driving line, and the driving control module controls the accelerator, the brake, and the steering of the vehicle to travel along the driving line, thereby automatically driving to the destination. It is to provide a vehicle autonomous driving system that can be driven by.
  • another object of the present invention is a driving control module provided in the autonomous driving device is stored in the drawing module information about the angle of the wheel rotation and the size of the wheel when adjusting the steering wheel and the correct position of each wheel of the vehicle; It is to provide a vehicle autonomous driving system that can accurately travel along the formed traveling line.
  • another object of the present invention is provided with a wireless receiver in the driving safety module provided in the automatic driving device, by receiving the information of the traffic light transmitted from each traffic light in real time to detect the signal of the traffic light, so as to travel according to the signal It is to provide a vehicle automatic driving system that can safely drive intersections and crosswalks.
  • the present invention for solving this problem
  • a drawing module configured to set a driving line by receiving the route information set by the navigation device installed in the vehicle and converting the distance, the direction, and the rotation angle into actual measurement data, and a driving to drive the vehicle along the driving line set by the drawing module. Characterized in that consisting of a control module.
  • the driving control module is characterized in that the vehicle information about the position of the wheel, the rotation angle of the wheel to rotate when adjusting the steering device, the diameter of the wheel is stored.
  • the driving control module controls an engine, a brake, and a steering device in consideration of the vehicle information so that the vehicle travels along a driving line through an electronic control unit (ECU) provided in the vehicle.
  • ECU electronice control unit
  • an error correction module for modifying the driving line based on the current position of the vehicle received by the navigation device is characterized in that it is further provided.
  • the distance detection sensor installed in the front, rear, left and right of the vehicle to detect the surrounding vehicles or objects, characterized in that the driving safety module to further prevent the collision.
  • the driving safety module is characterized in that it is further provided with a wireless receiver for receiving the traffic light information from the wireless transmitter installed in the traffic light of the intersection or crosswalk.
  • the information on the specified speed of the intersection, the crosswalk, the tunnel, the traffic light, and the road is set together when setting the driving line.
  • the drawing module provided inside the automatic driving device receives the route information set by the navigation device to determine the distance, direction, and rotation angle.
  • the driving line is converted into actual measured data to actually drive, and the traveling control module controls the accelerator, the brake, and the steering of the vehicle along the traveling line, thereby driving the vehicle automatically.
  • the present invention is a driving line formed in the drawing module is stored in the driving control module provided in the automatic driving device to store the information about the angle and the size of the wheels to rotate the wheel when adjusting the exact position and steering of each wheel of the vehicle It is to provide a vehicle automatic driving system that can accurately drive along.
  • the present invention is provided with a wireless receiver in the driving safety module provided in the automatic driving device, by receiving the information of the traffic light transmitted from each traffic light in real time to detect the signal of the traffic light, to drive according to the signal and safely cross the intersection There is an effect that allows you to drive crosswalks.
  • FIG. 1 is a block diagram of a conventional automobile autonomous driving system.
  • FIG. 2 is a circuit diagram of a conventional automobile autonomous driving system.
  • FIG. 3 is a schematic diagram of a vehicle applied to an automatic vehicle driving system according to the present invention.
  • FIG. 4 is a block diagram of a vehicle autonomous driving system according to the present invention.
  • FIG. 5 is a conceptual diagram of a traffic light system installed at an intersection according to the present invention.
  • FIG. 3 is a schematic diagram of a vehicle applied to an autonomous vehicle driving system according to the present invention
  • FIG. 4 is a block diagram of an autonomous vehicle driving system according to the present invention
  • FIG. 5 is a conceptual diagram of a traffic light system installed at an intersection according to the present invention.
  • the present invention relates to an automobile autonomous driving system installed in a vehicle to automatically drive to a destination.
  • the configuration of the present invention receives route information from the navigation device 200 to control the vehicle. It consists of an automatic driving device 100, the automatic driving device 100 comprises a drawing module 110, error correction module 120, driving control module 130, driving safety module 140.
  • the drawing module 110 receives the route information from the current position to the purpose set by the user in the navigation device 200 installed in the vehicle, and sets a driving line for actually driving the vehicle.
  • the received route information is set by converting the distance, direction, and rotation angle into measured data.
  • the driving control module 130 controls the vehicle to travel along the driving line set by the drawing module 110.
  • the driving control module 130 is an ECU (electronic contron unit, 131) installed in the vehicle.
  • the engine 132, the brake 133, the steering device 134 is controlled through.
  • the driving control module 130 stores the position of the wheel installed in the vehicle, the rotation angle of the wheel to rotate when adjusting the steering device 134, the vehicle information about the diameter of the wheel, to control the vehicle along the driving line
  • the vehicle information is controlled in consideration of the vehicle information.
  • the steering device 134 when the vehicle travels a curved section, the steering device 134 is rotated according to the curvature of the traveling line.
  • the front wheel rotates at a predetermined angle, and the front wheel and the rear wheel are fixed. Since the distance is spaced, the radius of curvature of the vehicle rotates according to the distance between the front wheel and the rear wheel, so that the steering wheel 134 is adjusted to rotate the front wheel at an angle that matches the radius of curvature of the traveling line.
  • a separate motor (not shown) is installed in the steering device 134, thereby controlling the rotation of the steering device 134, wherein the motor (not shown)
  • An encoder (not shown) is provided in the ECU 131 so that the rotation angle of the motor (not shown) can be known, thereby precisely controlling the rotation of the motor (not shown) through the ECU 131, thereby steering device 134. Control the exact angle of rotation.
  • the wheel on which the wheels of the vehicle are installed is provided with a rotation sensor 135, the driving control module 130, the circumference of the wheel according to the diameter of the wheel to the number of revolutions of the wheel detected by the rotation sensor 135 By multiplying and multiplying, we can see the actual distance traveled by the vehicle.
  • the driving control module 130 detects rotation. Multiplying the circumference of the wheel by the rotational speed per unit time detected by the sensor 135 calculates the actual speed of the vehicle, thereby increasing or decreasing the output of the engine 132 installed in the vehicle according to the current speed of the road. Will be adjusted.
  • the brake 133 may be adjusted to reduce the speed of the vehicle to cope with an unexpected situation.
  • the error correction module 120 corrects the error of the vehicle.
  • the error correction module 120 receives the current position of the vehicle in real time from the navigation device 200, the position on the driving line of the vehicle controlled by the autonomous driving module 130 and the navigation device 200. Comparing the current position received in real time, if the error is more than a certain amount of error correction module 120 to correct the error by modifying the driving line based on the current position of the vehicle received from the navigation device.
  • the error range is set by the driver, so if the error range is set too large, the difference between the actual position of the vehicle and the position of the vehicle recognized by the autonomous driving module 130 is too large to threaten safe driving. If the error range is set too small, the driving line should be modified frequently, so the functions of the remaining modules are limited to some extent while the driving line is being modified.
  • the driving safety module 140 detects another vehicle or an object located near the vehicle and controls the vehicle so that the vehicle does not collide with another vehicle or an object when the vehicle travels.
  • distance detection sensors 142 are installed on the front, rear, left, and right sides of the vehicle, respectively, to detect the distance between objects or other vehicles around the vehicle.
  • the distance sensor 142 is installed in each diagonal direction as well as front, rear, left, and right of the vehicle to more accurately detect the hazards of the surroundings of the vehicle, so that the vehicle can safely drive.
  • the driving safety module 140 is further provided with a wireless receiver 144, the wireless receiver 144 is a wireless transmitter (300) provided in the traffic light 300 installed at the intersection or crosswalk as shown in FIG. In step 310, the traffic light information transmitted is received.
  • the driving safety module 140 sends the received traffic light information to the driving control module 130 to control the vehicle in consideration of the signal of the traffic light, thereby safely driving the vehicle according to the traffic light.
  • the driving safety module 140 Obtains the frequency transmitted from the radio transmitter 310 installed in the corresponding traffic light 300 from the information of the traffic light, so that only the corresponding frequency is received by the radio receiver 144 installed therein, in another traffic light 300 located nearby. It is not to be confused with the outgoing signal.
  • a plurality of traffic lights 300 are installed at one intersection, and a plurality of traffic lights 300 installed at one intersection are interlocked with each other, and thus the signals are changed, so that one signal is installed at one intersection through one wireless transmitter 310.
  • the traffic light signals of all the traffic lights 300 are transmitted.
  • the driving safety module 140 since the radio transmitter 310 installed in each traffic light 300 transmits the traffic light information in real time using a unique frequency, the driving safety module 140 stores the corresponding traffic light 300 stored in the information of the driving line. It is possible to receive only the signal corresponding to the corresponding traffic light 300 by acquiring the frequency of the signal.
  • the driving control module 130 is able to detect the signal of the traffic light 300 in real time, it is possible to safely drive the vehicle in accordance with the signal.
  • the present invention relates to an autonomous vehicle driving system, and more particularly, when a driver sets a destination in a navigation device, the autonomous vehicle is controlled to automatically drive to a destination in consideration of a signal of a traffic light and a vehicle or object in the vicinity. It relates to a traveling system.

Abstract

The present invention relates to an automatic vehicle driving system and, more particularly, to an automatic vehicle driving system which enables a vehicle to be automatically driven to a destination by controlling the vehicle in consideration of signals of traffic lights and surrounding vehicles or objects when a user sets a destination in a navigation device. To this end, the present invention comprises: a mapping module which receives route information set by a navigation device installed in a vehicle, and which converts distances, directions and turning angles to survey data so as to set driving lanes; and a driving control module for enabling the vehicle to be driven along the driving lanes set by the mapping module.

Description

자동차 자동 운행 시스템Car automatic driving system
본 발명은 자동차 자동 운행 시스템에 관한 것으로서, 더욱 상세하게는 네비게이션 장치에서 운전자가 목적지를 설정하면, 신호등의 신호와 주변의 차량이나 물체를 고려하여 자동차를 제어하여 목적지까지 자동으로 운행하도록 하는 자동차 자동 운행 시스템에 관한 것이다.The present invention relates to an autonomous vehicle driving system, and more particularly, when a driver sets a destination in a navigation device, the autonomous vehicle is controlled to automatically drive to a destination in consideration of a signal of a traffic light and a vehicle or object in the vicinity. It relates to a traveling system.
일반적으로 종래에 개발된 자동운전시스템은 희망하는 속도로 설정하면 운전자가 엑셀러레이터를 조작하지 않아도 그 속도를 유지하는 장치로서, 오토 드라이브,오토매틱, 오토 크루즈 등으로 불려지고 있다.In general, the autonomous driving system developed in the related art is a device that maintains the speed even if the driver does not operate the accelerator, and is called an auto drive, an automatic, an auto cruise or the like.
이러한 자동운전시스템은 자동차의 속도를 제어하는 것과 함께 차간 거리도 컨트롤하게 되는데, 이는 선행차량과의 차간거리를 센서로 감지하여 스로틀과 브레이크를 컴퓨터로 제어함으로써, 차량 간의 안전거리를 유지하면서 운행하게 한다.In addition to controlling the speed of the vehicle, the automatic driving system also controls the distance between the vehicles, which detects the distance between the preceding vehicle with the sensor and controls the throttle and the brake with a computer, thereby maintaining the safety distance between the vehicles. do.
따라서, 고속운행이 가능한 도로에서 운전자가 임의의 속도를 지정하게 되면 지정된 속도로 자동운전하게 되므로 운전자가 가감속 페달을 조작하지 않아도 설정된 속도로 운행하게 되므로, 운전자의 피로도를 상당히 덜어주게 된다.Therefore, when the driver designates a certain speed on the road capable of high speed driving, the driver automatically operates at the designated speed, so that the driver may operate at the set speed without operating the acceleration / deceleration pedal, thereby significantly reducing the fatigue of the driver.
이러한 자동운전시스템의 일 예로 도 1 및 도 2에 도시된 바와 같은 한국등록특허 제10-0180496호에 기재된 기술이 있는데, 그 기술적 특징은 운전자가 임의로 수동 또는 자동운전을 선택하여 일정속도로 자동차를 운행하는 자동운전시스템에 있어서, 전방의 자동차 중 임의의 대상 자동차를 선택하기 위한 선택스위칭부(3)와, 상기 선택스위칭부(3)에 의해 선택된 자동차와의 거리를 측정하도록 송·수신부에 의해 전방자동차와의 거리를 감지하는 거리감지부(4)와, 상기 선택스위칭부(3)에 의해 선택된 자동차와의 거리를 차속에 비례하여 거리를 설정하기 위한 거리설정부(6)와, 상기 거리설정부(6)에 의해 세팅된 신호에 의해 거리감지부(4)에서 감지되는 신호를 감안하여 전방자동차와의 안전거리를 제어하도록 가감속신호를 출력하는 전자제어모듈(8)과, 상기 전자제어모듈(8)에서 출력된 신호에 의해 엑셀러레이터 컨트롤용 모터의 회전량을 제어하여 전방자동차와의 안전거리를 유지시키는 스텝모터(M)로 이루어지는 것을 특징으로 한다.An example of such an automatic driving system is the technology described in Korean Patent No. 10-0180496 as shown in FIGS. 1 and 2, the technical feature of which the driver arbitrarily selects manual or automatic driving to operate the vehicle at a constant speed. In the autonomous driving system that operates, the transmitting / receiving unit is configured to measure the distance between the selection switching unit 3 for selecting any target vehicle among the vehicles ahead and the vehicle selected by the selection switching unit 3. A distance detecting unit 4 for detecting a distance from the front vehicle, a distance setting unit 6 for setting a distance in proportion to a vehicle speed with respect to a vehicle selected by the selection switching unit 3, and the distance setting An electronic control module 8 for outputting an acceleration / deceleration signal to control a safety distance from the vehicle in front of the vehicle in consideration of the signal detected by the distance detection unit 4 by the signal set by the unit 6; Group by the electronic control module 8, controlling the amount of rotation of the motor for accelerator control by the output signal from characterized by comprising a step motor (M) to maintain the safety distance to the car ahead.
그런데, 한국등록특허 제10-0180496호에 기재된 기술은 운전자가 가감속 조절을 하지 않더라도, 운전자가 차량 내에서 앞차와의 거리를 유지하며 일정한 속도로 주행하도록 하여 장거리 운전시 운전자의 피로를 경감시키는 장점은 있으나, 단순한 속도 조절만 가능할 뿐, 차량의 조향 제어가 불가능하여 여전히 운전자가 조향핸들을 조절하여야 하므로 운전자의 피로가 여전한 문제점이 있다.However, the technology described in Korean Patent No. 10-0180496 allows the driver to drive at a constant speed while maintaining the distance to the vehicle in front of the vehicle even if the driver does not adjust the acceleration and deceleration, thereby reducing fatigue of the driver during long distance driving. There is an advantage, but only a simple speed adjustment is possible, the steering control of the vehicle is still impossible, so the driver still has to adjust the steering wheel, there is still a problem of driver fatigue.
본 발명은 상기한 문제점을 해결하기 위하여 안출된 것으로서, 본 발명의 목적은 네비게이션 장치에서 운전자가 목적지를 설정하게 되면, 자동운행장치의 내부에 구비된 도면화모듈에서 네비게이션 장치에서 설정한 경로정보를 수신받아 거리, 방향, 회전 각도를 자동차가 실제로 주행하는 실측 데이터로 변환하여 주행선을 형성하고, 주행제어모듈에서는 상기 주행선을 따라 자동차의 엑셀러레이터, 브레이크, 조향타를 제어하여 주행하도록 함으로써, 목적지까지 자동으로 주행할 수 있게 하는 자동차 자동 운행 시스템을 제공하는 것이다.The present invention has been made to solve the above problems, an object of the present invention is to set the destination in the navigation device, the route information set by the navigation device in the drawing module provided inside the automatic navigation device The distance, direction, and rotation angle are received and converted into actual measurement data of the actual driving of the vehicle to form a driving line, and the driving control module controls the accelerator, the brake, and the steering of the vehicle to travel along the driving line, thereby automatically driving to the destination. It is to provide a vehicle autonomous driving system that can be driven by.
그리고, 본 발명의 다른 목적은 자동운행장치에 구비된 주행제어모듈에는 자동차의 각 바퀴의 정확한 위치와 조향타를 조절할 때 바퀴가 회전되는 각도와 바퀴의 크기에 대한 정보가 저장되어 도면화모듈에서 형성한 주행선을 따라 정확하게 주행할 수 있게 하는 자동차 자동 운행 시스템을 제공하는 것이다.In addition, another object of the present invention is a driving control module provided in the autonomous driving device is stored in the drawing module information about the angle of the wheel rotation and the size of the wheel when adjusting the steering wheel and the correct position of each wheel of the vehicle; It is to provide a vehicle autonomous driving system that can accurately travel along the formed traveling line.
또한, 본 발명의 또 다른 목적은 자동운행장치에 구비된 주행안전모듈에 무선수신기를 구비하여, 각 신호등에서 송출하는 신호등의 정보를 실시간으로 수신받아 신호등의 신호를 감지함으로써, 신호에 따라 주행하도록 하여 안전하게 교차로와 횡단보도를 주행할 수 있게 하는 자동차 자동 운행 시스템을 제공하는 것이다.In addition, another object of the present invention is provided with a wireless receiver in the driving safety module provided in the automatic driving device, by receiving the information of the traffic light transmitted from each traffic light in real time to detect the signal of the traffic light, so as to travel according to the signal It is to provide a vehicle automatic driving system that can safely drive intersections and crosswalks.
이러한 문제점을 해결하기 위한 본 발명은;The present invention for solving this problem;
차량에 설치된 네비게이션 장치에서 설정한 경로정보를 수신받아 거리, 방향, 회전 각도를 실측 데이터로 변환하여 주행선을 설정하는 도면화모듈과, 상기 도면화모듈에서 설정한 주행선을 따라 차량을 주행하게 하는 주행제어모듈로 이루어지는 것을 특징으로 한다.A drawing module configured to set a driving line by receiving the route information set by the navigation device installed in the vehicle and converting the distance, the direction, and the rotation angle into actual measurement data, and a driving to drive the vehicle along the driving line set by the drawing module. Characterized in that consisting of a control module.
여기서, 상기 주행제어모듈에는 바퀴의 위치, 조향장치를 조절할 때 회전하는 바퀴의 회전각도, 바퀴의 지름에 대한 차량 정보가 저장되는 것을 특징으로 한다.Here, the driving control module is characterized in that the vehicle information about the position of the wheel, the rotation angle of the wheel to rotate when adjusting the steering device, the diameter of the wheel is stored.
그리고, 상기 주행제어모듈은 차량에 구비된 이씨유(ECU, electronic control unit)를 통하여, 주행선을 따라 차량이 운행하도록 상기 차량 정보를 고려하여 엔진, 브레이크, 조향장치를 제어하는 것을 특징으로 한다.The driving control module controls an engine, a brake, and a steering device in consideration of the vehicle information so that the vehicle travels along a driving line through an electronic control unit (ECU) provided in the vehicle.
한편, 상기 네비게이션 장치에서 수신한 차량의 현재 위치와 주행선 상의 위치를 비교하여, 네비게이션 장치에서 수신한 차량의 현재 위치를 기본으로 주행선을 수정하는 오차보정모듈이 더 구비되는 것을 특징으로 한다.On the other hand, by comparing the current position of the vehicle received by the navigation device and the position on the driving line, an error correction module for modifying the driving line based on the current position of the vehicle received by the navigation device is characterized in that it is further provided.
또한, 차량의 전후좌우에 설치된 거리감지센서에서 주위의 차량 또는 물체를 감지하여, 충돌을 방지하도록 하는 주행안전모듈이 더 구비되는 것을 특징으로 한다.In addition, the distance detection sensor installed in the front, rear, left and right of the vehicle to detect the surrounding vehicles or objects, characterized in that the driving safety module to further prevent the collision.
이때, 상기 주행안전모듈에는 교차로나 횡단보도의 신호등에 설치된 무선송신기에서 신호등정보를 수신받는 무선수신기가 더 구비되는 것을 특징으로 한다.At this time, the driving safety module is characterized in that it is further provided with a wireless receiver for receiving the traffic light information from the wireless transmitter installed in the traffic light of the intersection or crosswalk.
그리고, 상기 도면화모듈에서는 주행선을 설정할 때, 교차로, 횡단보도, 터널, 신호등, 도로의 규정속도에 대한 정보를 같이 설정하는 것을 특징으로 한다.In the drawing module, the information on the specified speed of the intersection, the crosswalk, the tunnel, the traffic light, and the road is set together when setting the driving line.
상기한 구성의 본 발명에 따르면, 네비게이션 장치에서 운전자가 목적지를 설정하게 되면, 자동운행장치의 내부에 구비된 도면화모듈에서 네비게이션 장치에서 설정한 경로정보를 수신받아 거리, 방향, 회전 각도를 자동차가 실제로 주행하는 실측 데이터로 변환하여 주행선을 형성하고, 주행제어모듈에서는 상기 주행선을 따라 자동차의 엑셀러레이터, 브레이크, 조향타를 제어하여 주행하도록 함으로써, 목적지까지 자동으로 주행할 수 있게 하는 효과가 있다.According to the present invention having the above-described configuration, when the driver sets the destination in the navigation device, the drawing module provided inside the automatic driving device receives the route information set by the navigation device to determine the distance, direction, and rotation angle. The driving line is converted into actual measured data to actually drive, and the traveling control module controls the accelerator, the brake, and the steering of the vehicle along the traveling line, thereby driving the vehicle automatically.
그리고, 본 발명은 자동운행장치에 구비된 주행제어모듈에는 자동차의 각 바퀴의 정확한 위치와 조향타를 조절할 때 바퀴가 회전되는 각도와 바퀴의 크기에 대한 정보가 저장되어 도면화모듈에서 형성한 주행선을 따라 정확하게 주행할 수 있게 하는 자동차 자동 운행 시스템을 제공하는 것이다.In addition, the present invention is a driving line formed in the drawing module is stored in the driving control module provided in the automatic driving device to store the information about the angle and the size of the wheels to rotate the wheel when adjusting the exact position and steering of each wheel of the vehicle It is to provide a vehicle automatic driving system that can accurately drive along.
또한, 본 발명은 자동운행장치에 구비된 주행안전모듈에 무선수신기를 구비하여, 각 신호등에서 송출하는 신호등의 정보를 실시간으로 수신받아 신호등의 신호를 감지함으로써, 신호에 따라 주행하도록 하여 안전하게 교차로와 횡단보도를 주행할 수 있게 하는 효과가 있다.In addition, the present invention is provided with a wireless receiver in the driving safety module provided in the automatic driving device, by receiving the information of the traffic light transmitted from each traffic light in real time to detect the signal of the traffic light, to drive according to the signal and safely cross the intersection There is an effect that allows you to drive crosswalks.
도 1은 종래의 자동차 자동 운전 시스템의 블록도이다.1 is a block diagram of a conventional automobile autonomous driving system.
도 2는 종래의 자동차 자동 운전 시스템의 회로도이다.2 is a circuit diagram of a conventional automobile autonomous driving system.
도 3은 본 발명에 따른 자동차 자동 운행 시스템에 적용된 차량의 개략도이다.3 is a schematic diagram of a vehicle applied to an automatic vehicle driving system according to the present invention.
도 4는 본 발명에 따른 자동차 자동 운행 시스템의 블록도이다.4 is a block diagram of a vehicle autonomous driving system according to the present invention.
도 5는 본 발명에 따른 교차로에 설치된 신호등 시스템의 개념도이다.5 is a conceptual diagram of a traffic light system installed at an intersection according to the present invention.
이하, 첨부한 도면을 참조하여 본 발명의 바람직한 실시 예를 보다 상세하게 설명한다. 도면상의 동일한 구성요소에 대해서는 동일한 참조부호를 사용하고 동일한 구성요소에 대해서 중복된 설명은 생략한다. 그리고, 본 발명은 다수의 상이한 형태로 구현될 수 있고, 기술된 실시 예에 한정되지 않음을 이해하여야 한다. Hereinafter, with reference to the accompanying drawings will be described in detail a preferred embodiment of the present invention. The same reference numerals are used for the same elements in the drawings, and duplicate descriptions of the same elements are omitted. And, it is to be understood that the present invention may be embodied in many different forms and should not be construed as limited to the embodiments set forth.
도 3은 본 발명에 따른 자동차 자동 운행 시스템에 적용된 차량의 개략도이고, 도 4는 본 발명에 따른 자동차 자동 운행 시스템의 블록도이고, 도 5는 본 발명에 따른 교차로에 설치된 신호등 시스템의 개념도이다.3 is a schematic diagram of a vehicle applied to an autonomous vehicle driving system according to the present invention, FIG. 4 is a block diagram of an autonomous vehicle driving system according to the present invention, and FIG. 5 is a conceptual diagram of a traffic light system installed at an intersection according to the present invention.
본 발명은 차량에 설치되어 자동으로 목적지까지 운행하도록 하는 자동차 자동 운행 시스템에 관한 것으로 도 3 및 도 4에 도시된 바와 같이 그 구성은 네비게이션 장치(200)에서 경로정보를 수신받아, 차량을 제어하는 자동운행장치(100)로 이루어지는데, 상기 자동운행장치(100)는 도면화모듈(110), 오차보정모듈(120), 주행제어모듈(130), 주행안전모듈(140)로 이루어진다.The present invention relates to an automobile autonomous driving system installed in a vehicle to automatically drive to a destination. As shown in FIGS. 3 and 4, the configuration of the present invention receives route information from the navigation device 200 to control the vehicle. It consists of an automatic driving device 100, the automatic driving device 100 comprises a drawing module 110, error correction module 120, driving control module 130, driving safety module 140.
여기서, 상기 도면화모듈(110)은 차량에 설치된 네비게이션 장치(200)에서 현재 위치에서 사용자가 설정한 목적까지의 경로정보를 수신받아 차량이 실제로 주행하기 위한 주행선을 설정하게 되는데, 상기 주행선은 수신받은 경로정보를 거리, 방향, 회전 각도를 실측 데이터로 변환하여 설정하게 된다.Here, the drawing module 110 receives the route information from the current position to the purpose set by the user in the navigation device 200 installed in the vehicle, and sets a driving line for actually driving the vehicle. The received route information is set by converting the distance, direction, and rotation angle into measured data.
그리고, 상기 주행제어모듈(130)은 상기 도면화모듈(110)에서 설정한 주행선을 따라 차량이 운행하도록 제어하게 되는데, 상기 주행제어모듈(130)은 차량에 설치된 ECU(electronic contron unit,131)를 통하여 엔진(132), 브레이크(133), 조향장치(134)를 제어하게 된다.The driving control module 130 controls the vehicle to travel along the driving line set by the drawing module 110. The driving control module 130 is an ECU (electronic contron unit, 131) installed in the vehicle. The engine 132, the brake 133, the steering device 134 is controlled through.
이때, 상기 주행제어모듈(130)에는 차량에 설치된 바퀴의 위치, 조향장치(134)를 조절할 때 회전하는 바퀴의 회전각도, 바퀴의 지름에 대한 차량 정보가 저장되는데, 주행선을 따라 차량을 제어할 때, 상기 차량 정보를 고려하여 제어하게 된다.In this case, the driving control module 130 stores the position of the wheel installed in the vehicle, the rotation angle of the wheel to rotate when adjusting the steering device 134, the vehicle information about the diameter of the wheel, to control the vehicle along the driving line In this case, the vehicle information is controlled in consideration of the vehicle information.
즉, 차량이 곡선구간을 주행할 경우에는 주행선의 곡률에 따라 조향장치(134)를 회전시키게 되는데, 조향장치(134)를 회전시키게 되면, 앞바퀴가 일정각도로 회전하게 되고, 앞바퀴와 뒷바퀴는 일정거리 이격되어 있기 때문에, 앞바퀴와 뒷바퀴의 거리에 따라 차량이 회전하는 곡률반경이 달라지게 되므로, 이를 계산하여 주행선의 곡률반경과 일치시키는 각도로 앞바퀴가 회전되도록 조향장치(134)를 조절하게 된다.That is, when the vehicle travels a curved section, the steering device 134 is rotated according to the curvature of the traveling line. When the steering device 134 is rotated, the front wheel rotates at a predetermined angle, and the front wheel and the rear wheel are fixed. Since the distance is spaced, the radius of curvature of the vehicle rotates according to the distance between the front wheel and the rear wheel, so that the steering wheel 134 is adjusted to rotate the front wheel at an angle that matches the radius of curvature of the traveling line.
또한, 상기 조향장치(134)를 제어할 때는, 별도의 모터(미도시)를 조향장치(134)에 설치하여, 조향장치(134)의 회전을 제어하게 되는데, 이때, 상기 모터(미도시)에는 엔코더(미도시)를 구비하여 ECU(131)에서 모터(미도시)의 회전각도를 알 수 있게 함으로써, ECU(131)를 통하여 모터(미도시)의 회전을 정밀하게 제어하여 조향장치(134)의 정확한 회전각도를 제어하게 한다.In addition, when controlling the steering device 134, a separate motor (not shown) is installed in the steering device 134, thereby controlling the rotation of the steering device 134, wherein the motor (not shown) An encoder (not shown) is provided in the ECU 131 so that the rotation angle of the motor (not shown) can be known, thereby precisely controlling the rotation of the motor (not shown) through the ECU 131, thereby steering device 134. Control the exact angle of rotation.
그리고, 차량의 바퀴가 설치되는 휠에는 회전감지센서(135)가 구비되는데, 주행제어모듈(130)에서는 상기 회전감지센서(135)에서 감지한 바퀴의 회전수에 바퀴의 지름에 따른 바퀴의 원주를 계산하여 곱하게 되면, 차량이 실제 이동한 거리를 알 수 있게 된다.In addition, the wheel on which the wheels of the vehicle are installed is provided with a rotation sensor 135, the driving control module 130, the circumference of the wheel according to the diameter of the wheel to the number of revolutions of the wheel detected by the rotation sensor 135 By multiplying and multiplying, we can see the actual distance traveled by the vehicle.
그래서, 상기 도면화모듈(110)에서 설정한 주행선 상에서 어느 부분에 위치하고 있는지를 판단할 수 있게 된다.Thus, it is possible to determine which part is located on the driving line set by the drawing module 110.
그리고, 상기 도면화모듈(110)에서는 주행선을 설정할 때, 주행선상에 교차로, 횡단보도, 터널, 신호등, 도로의 규정속도에 대한 정보를 같이 설정하게 되는데, 상기 주행제어모듈(130)에서는 회전감지센서(135)에서 감지한 단위시간당 회전수에 바퀴의 원주를 곱하게 되면 차량의 실제속도가 계산되므로, 이를 통하여 현재 도로의 규정속도에 따라 차량에 설치된 엔진(132)의 출력을 높이거나 낮추어 속도를 조절하게 된다.In the drawing module 110, when the driving line is set, information on a predetermined speed of an intersection, a crosswalk, a tunnel, a traffic light, and a road is set together on the driving line, and the driving control module 130 detects rotation. Multiplying the circumference of the wheel by the rotational speed per unit time detected by the sensor 135 calculates the actual speed of the vehicle, thereby increasing or decreasing the output of the engine 132 installed in the vehicle according to the current speed of the road. Will be adjusted.
물론, 급하게 속도를 감속할 필요가 있을 때에는 브레이크(133)를 조절하여 차량의 속도를 감속시켜 돌발상황에 대처할 수 있게 한다.Of course, when it is necessary to decelerate quickly, the brake 133 may be adjusted to reduce the speed of the vehicle to cope with an unexpected situation.
한편, 상기 자동운행장치(100)가 차량을 제어하여 일정거리 주행하게 되면, 아무리 세밀하게 차량을 제어하더라도 오차가 발생하게 되는데, 이때, 상기 오차보정모듈(120)은 차량의 오차를 보정하게 된다.On the other hand, when the autonomous driving device 100 runs a certain distance by controlling the vehicle, no matter how precisely the vehicle is controlled, an error occurs, wherein the error correction module 120 corrects the error of the vehicle. .
즉, 상기 오차보정모듈(120)은 상기 네비게이션 장치(200)에서 실시간으로 차량의 현재 위치를 수신받게 되는데, 자동주행모듈(130)에서 제어한 차량의 주행선 상의 위치와 네비게이션 장치(200)에서 수신받은 현재 위치를 실시간으로 비교하여, 오차가 일정 이상 벌어지게 되면 오차보정모듈(120)은 네비게이션 장치에서 수신한 차량의 현재 위치를 기본으로 주행선을 수정함으로써, 오차를 보정하게 된다.That is, the error correction module 120 receives the current position of the vehicle in real time from the navigation device 200, the position on the driving line of the vehicle controlled by the autonomous driving module 130 and the navigation device 200. Comparing the current position received in real time, if the error is more than a certain amount of error correction module 120 to correct the error by modifying the driving line based on the current position of the vehicle received from the navigation device.
여기서, 오차의 범위는 운전자가 설정하게 되므로, 오차의 범위를 너무 크게 설정하면 실제 차량의 위치와 자동주행모듈(130)에서 인지하는 차량의 위치의 차이가 너무 크기 때문에 안전운행을 위협하게 되고, 오차의 범위가 너무 작게 설정하게 되면, 주행선을 빈번하게 수정하여야 하므로 주행선을 수정하는 동안에는 나머지 모듈의 기능이 어느 정도 제한되기 때문에 적절한 오차범위를 설정하여 안전운행을 하도록 한다.Here, the error range is set by the driver, so if the error range is set too large, the difference between the actual position of the vehicle and the position of the vehicle recognized by the autonomous driving module 130 is too large to threaten safe driving. If the error range is set too small, the driving line should be modified frequently, so the functions of the remaining modules are limited to some extent while the driving line is being modified.
그리고, 상기 주행안전모듈(140)은 차량의 주변에 위치하는 다른 차량이나 물체를 감지하여 차량이 주행할 때, 다른 차량이나 물체와 충돌하지 않도록 차량을 제어하게 된다.In addition, the driving safety module 140 detects another vehicle or an object located near the vehicle and controls the vehicle so that the vehicle does not collide with another vehicle or an object when the vehicle travels.
이때, 상기 차량의 주변에 위치하는 다른 차량이나 물체를 감지하기 위하여, 차량의 전후좌우에 각각 거리감지센서(142)를 설치하여 차량 주변의 물체나 다른 차량과의 거리를 감지하게 된다.In this case, in order to detect other vehicles or objects located in the vicinity of the vehicle, distance detection sensors 142 are installed on the front, rear, left, and right sides of the vehicle, respectively, to detect the distance between objects or other vehicles around the vehicle.
여기서, 상기 거리감지센서(142)는 차량의 전후좌우뿐만 아니라 각 대각선방향에도 설치하여 보다 정밀하게 차량의 주변의 위험요소를 감지하도록 함으로써, 차량이 안전하게 운행하도록 한다.Here, the distance sensor 142 is installed in each diagonal direction as well as front, rear, left, and right of the vehicle to more accurately detect the hazards of the surroundings of the vehicle, so that the vehicle can safely drive.
한편, 상기 주행안전모듈(140)에는 무선수신기(144)가 더 구비되는데, 상기 무선수신기(144)는 도 5에 도시된 바와 같이 교차로나 횡단보도에 설치된 신호등(300)에 구비되는 무선송신기(310)에서 송신하는 신호등정보를 수신받게 된다.On the other hand, the driving safety module 140 is further provided with a wireless receiver 144, the wireless receiver 144 is a wireless transmitter (300) provided in the traffic light 300 installed at the intersection or crosswalk as shown in FIG. In step 310, the traffic light information transmitted is received.
그래서, 상기 주행안전모듈(140)은 수신받은 신호등정보를 상기 주행제어모듈(130)에 보내줌으로써, 신호등의 신호를 고려하여 차량을 제어하게 함으로써, 신호등에 따라 차량을 안전하게 주행하도록 한다.Thus, the driving safety module 140 sends the received traffic light information to the driving control module 130 to control the vehicle in consideration of the signal of the traffic light, thereby safely driving the vehicle according to the traffic light.
즉, 전술한 바와 같이 주행선을 설정할 때, 교차로, 횡단보도, 신호등의 정보를 같이 설정하게 되므로, 차량이 주행하다가 신호등(300)이 설치된 위치와 일정거리 이내에 위치하게 되면, 상기 주행안전모듈(140)은 해당 신호등(300)에 설치된 무선송신기(310)에서 송출하는 주파수를 신호등의 정보에서 획득하여 내부에 설치된 무선수신기(144)에서 해당 주파수만을 수신하도록 하여 근처에 위치하는 다른 신호등(300)에서 송출하는 신호와 혼동되지 않도록 하게 된다.That is, when setting the driving line as described above, since the information such as the intersection, crosswalk, traffic light is set together, when the vehicle travels and is located within a predetermined distance from the position where the traffic light 300 is installed, the driving safety module 140 ) Obtains the frequency transmitted from the radio transmitter 310 installed in the corresponding traffic light 300 from the information of the traffic light, so that only the corresponding frequency is received by the radio receiver 144 installed therein, in another traffic light 300 located nearby. It is not to be confused with the outgoing signal.
그리고, 하나의 교차로에는 다수의 신호등(300)이 설치되는데, 하나의 교차로에 설치된 다수의 신호등(300)은 서로 연동되어 신호가 변화되므로, 하나의 무선송신기(310)를 통하여 하나의 교차로에 설치된 모든 신호등(300)의 신호등신호가 송신되게 된다.In addition, a plurality of traffic lights 300 are installed at one intersection, and a plurality of traffic lights 300 installed at one intersection are interlocked with each other, and thus the signals are changed, so that one signal is installed at one intersection through one wireless transmitter 310. The traffic light signals of all the traffic lights 300 are transmitted.
이때, 각각의 신호등(300)에 설치되는 무선송신기(310)에서는 각각 고유의 주파수를 사용하여 신호등정보를 실시간으로 송출하게 되므로, 주행안전모듈(140)에서는 주행선의 정보에 저장된 해당 신호등(300)의 주파수를 획득하여 해당 신호등(300)에 해당하는 신호만을 수신할 수 있게 된다.In this case, since the radio transmitter 310 installed in each traffic light 300 transmits the traffic light information in real time using a unique frequency, the driving safety module 140 stores the corresponding traffic light 300 stored in the information of the driving line. It is possible to receive only the signal corresponding to the corresponding traffic light 300 by acquiring the frequency of the signal.
그래서, 상기 주행제어모듈(130)은 신호등(300)의 신호를 실시간으로 감지할 수 있게 되어, 신호에 따라 안전하게 차량을 운행시킬 수 있게 된다.Thus, the driving control module 130 is able to detect the signal of the traffic light 300 in real time, it is possible to safely drive the vehicle in accordance with the signal.
이상에서 본 발명의 바람직한 실시 예를 설명하였으나, 본 발명의 권리범위는 이에 한정되지 않으며, 본 발명의 실시 예와 실질적으로 균등한 범위에 있는 것까지 본 발명의 권리 범위가 미치는 것으로 본 발명의 정신을 벗어나지 않는 범위 내에서 당해 발명이 속하는 기술분야에서 통상의 지식을 가진 자에 의해 다양한 변형 실시가 가능한 것이다.Although the preferred embodiments of the present invention have been described above, the scope of the present invention is not limited thereto, and the scope of the present invention extends to the scope of the present invention to those which are substantially equivalent to the embodiments of the present invention. Various modifications can be made by those skilled in the art without departing from the scope of the present invention.
본 발명은 자동차 자동 운행 시스템에 관한 것으로서, 더욱 상세하게는 네비게이션 장치에서 운전자가 목적지를 설정하면, 신호등의 신호와 주변의 차량이나 물체를 고려하여 자동차를 제어하여 목적지까지 자동으로 운행하도록 하는 자동차 자동 운행 시스템에 관한 것이다.The present invention relates to an autonomous vehicle driving system, and more particularly, when a driver sets a destination in a navigation device, the autonomous vehicle is controlled to automatically drive to a destination in consideration of a signal of a traffic light and a vehicle or object in the vicinity. It relates to a traveling system.

Claims (7)

  1. 차량에 설치된 네비게이션 장치에서 설정한 경로정보를 수신받아 거리, 방향, 회전 각도를 실측 데이터로 변환하여 주행선을 설정하는 도면화모듈과,A drawing module for receiving the route information set by the navigation device installed in the vehicle and converting the distance, direction, and rotation angle into actual data to set the driving line;
    상기 도면화모듈에서 설정한 주행선을 따라 차량을 주행하게 하는 주행제어모듈로 이루어지는 것을 특징으로 하는 자동차 자동 운행 시스템.A vehicle autonomous driving system comprising a driving control module for driving a vehicle along a driving line set by the drawing module.
  2. 제1항에 있어서,The method of claim 1,
    상기 주행제어모듈에는 바퀴의 위치, 조향장치를 조절할 때 회전하는 바퀴의 회전각도, 바퀴의 지름에 대한 차량 정보가 저장되는 것을 특징으로 하는 자동차 운행 시스템.The driving control module is a vehicle driving system, characterized in that for storing the vehicle information about the position of the wheel, the rotation angle of the wheel when the steering device is adjusted, the diameter of the wheel.
  3. 제2항에 있어서,The method of claim 2,
    상기 주행제어모듈은 차량에 구비된 이씨유(ECU, electronic control unit)를 통하여, 주행선을 따라 차량이 운행하도록 상기 차량 정보를 고려하여 엔진, 브레이크, 조향장치를 제어하는 것을 특징으로 하는 자동차 자동 운행 시스템.The driving control module controls an engine, a brake, and a steering device in consideration of the vehicle information so that the vehicle travels along a driving line through an electronic control unit (ECU) provided in the vehicle. system.
  4. 제1항에 있어서,The method of claim 1,
    상기 네비게이션 장치에서 수신한 차량의 현재 위치와 주행선 상의 위치를 비교하여, 네비게이션 장치에서 수신한 차량의 현재 위치를 기본으로 주행선을 수정하는 오차보정모듈이 더 구비되는 것을 특징으로 하는 자동차 자동 운행 시스템.And an error correction module for correcting the driving line based on the current position of the vehicle received by the navigation device, by comparing the current position of the vehicle received by the navigation device with the position on the driving line.
  5. 제1항에 있어서,The method of claim 1,
    차량의 전후좌우에 설치된 거리감지센서에서 주위의 차량 또는 물체를 감지하여, 충돌을 방지하도록 하는 주행안전모듈이 더 구비되는 것을 특징으로 하는 자동차 자동 운행 시스템.The vehicle autonomous driving system, characterized in that the driving safety module to detect the surrounding vehicles or objects in the distance sensor installed in the front, rear, left and right of the vehicle to prevent the collision.
  6. 제5항에 있어서,The method of claim 5,
    상기 주행안전모듈에는 교차로나 횡단보도의 신호등에 설치된 무선송신기에서 신호등정보를 수신받는 무선수신기가 더 구비되는 것을 특징으로 하는 자동차 자동 운행 시스템.The driving safety module further comprises a wireless receiver for receiving the traffic light information from the wireless transmitter installed in the traffic lights of intersections or crosswalks.
  7. 제1항에 있어서,The method of claim 1,
    상기 도면화모듈에서는 주행선을 설정할 때, 교차로, 횡단보도, 터널, 신호등, 도로의 규정속도에 대한 정보를 같이 설정하는 것을 특징으로 하는 자동차 자동 운행 시스템.In the drawing module, when setting the driving line, the vehicle autonomous driving system, characterized in that the information on the specified speed of the intersection, crosswalk, tunnel, traffic lights, roads together.
PCT/KR2013/002075 2013-03-15 2013-03-15 Automatic vehicle driving system WO2014142371A1 (en)

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