WO2014142372A1 - Système de conduite de véhicule automatique - Google Patents

Système de conduite de véhicule automatique Download PDF

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Publication number
WO2014142372A1
WO2014142372A1 PCT/KR2013/002076 KR2013002076W WO2014142372A1 WO 2014142372 A1 WO2014142372 A1 WO 2014142372A1 KR 2013002076 W KR2013002076 W KR 2013002076W WO 2014142372 A1 WO2014142372 A1 WO 2014142372A1
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WO
WIPO (PCT)
Prior art keywords
vehicle
driving
module
lane
information
Prior art date
Application number
PCT/KR2013/002076
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English (en)
Korean (ko)
Inventor
박수민
Original Assignee
Park su-min
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Park su-min filed Critical Park su-min
Priority to PCT/KR2013/002076 priority Critical patent/WO2014142372A1/fr
Publication of WO2014142372A1 publication Critical patent/WO2014142372A1/fr

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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
    • G05D1/02—Control of position or course in two dimensions
    • G05D1/021—Control of position or course in two dimensions specially adapted to land vehicles
    • G05D1/0268—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means
    • G05D1/027—Control of position or course in two dimensions specially adapted to land vehicles using internal positioning means comprising intertial navigation means, e.g. azimuth detector

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.
  • another object of the present invention is to set the width and number of lanes formed on the road to be driven by the vehicle when setting the drawing module, and to drive the vehicle directly through one of the lanes formed on the road and
  • the present invention provides an automobile driving system that makes it possible to easily change lanes by changing an auxiliary driving line to a main driving line when the lane is changed by forming an auxiliary driving line that allows driving through other lanes.
  • 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 natural frequency of the intersection, the crosswalk, the tunnel, the traffic light, the prescribed speed of the road, and the respective traffic lights is set together.
  • the drawing module stores information on the width and number of lanes formed on each road to be driven, and runs through another lane and a main driving line which allows the vehicle to drive directly through one of the lanes formed on the road. It is characterized by forming an auxiliary traveling line to be able to.
  • the lane control module for detecting a lane for controlling the vehicle not to leave the lane further.
  • the lane control module is an image processing module for processing an image transmitted from a camera installed in all of the vehicle, and lane detection module for determining each lane by analyzing the pattern of the lane from the image processed by the image processing module Characterized in that made.
  • the lane control module may be an image processing module for processing an image transmitted from a camera installed in the entire vehicle, and a lane detection module for analyzing each lane pattern from an image processed by the image processing module to determine each lane. Characterized in that made.
  • a position sensing module for detecting the position of the vehicle is further provided, wherein the position sensing module determines the lane located on the road based on the lane information detected by the image processing module and the lane sensing module. It is done.
  • a position sensing module for detecting the position of the vehicle is further provided, the position sensing module is provided with a first transmitting and receiving device for transmitting and receiving high frequency signals, both sides of the road to receive the signal of the first transmitting and receiving device at a predetermined interval
  • a second transmitting and receiving device is provided, and the position detecting module has a vehicle on the road through distance and lane width information with both sides of the road detected through signals transmitted through the first and second transmitting and receiving devices. It is characterized by determining the lane located.
  • a road state detection module is further provided to determine the state of the road, the road state detection module is characterized by analyzing the image taken by the camera provided in the vehicle, it is determined whether there is a crack or a fine portion on the road It is done.
  • 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.
  • the present invention when setting the drawing module, sets the width and number of the lanes formed on the road to be driven by the vehicle, and through a lane different from the main driving line to allow the vehicle to drive directly through one of the lanes formed on the road
  • 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. 6 is a conceptual diagram of a traveling line generated by the drawing module of the automatic vehicle driving system 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
  • 6 is a conceptual diagram of a driving line generated by the drawing module of the automatic vehicle driving system 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 drawing module 110 is stored in the detailed information of each road, when setting the driving line, it is to set the information about the width and number of lanes formed on each road to travel.
  • the drawing module 110 sets the driving line, as shown in FIG. 6, the main driving line 510 is set to allow the vehicle to directly travel through one of the lanes formed on the road, and through the other lanes.
  • the auxiliary traveling line 520 for traveling can be set.
  • the adjacent driving line among the auxiliary driving lines 520 is selected as the main driving line 510 and the selected driving line is selected as the main driving line.
  • the autonomous driving device 100 further includes a lane control module 150 that detects a lane so as to control the vehicle from leaving the lane in which the vehicle is driven.
  • the lane control module 150 is installed in all of the vehicles.
  • the image processing module 152 processing the image transmitted through the camera 400 and the image processed by the image processing module 152 compare the patterns of various lanes (lanes indicating center lines, driving lines, shoulders, etc.). The lane is determined to determine the position of the lane.
  • the information thus determined is transmitted to the driving control module 130, and the driving control module 130 controls the vehicle to return to the normal position immediately when the vehicle is traveling on the lane, rather than the current position of the vehicle. It helps prevent accidents.
  • the autonomous driving device 100 includes a position sensing module 160 for detecting a current position of the vehicle, wherein the position sensing module 160 is a vehicle.
  • the current position of the vehicle is determined by recognizing the lane in the image photographed by the camera 400 provided in the camera.
  • the camera 400 may be located in the whole of the vehicle as described above, but the image of the entire road must be taken so that the camera 400 is installed on the top of the vehicle to photograph both sides of the vehicle.
  • the image photographed by the camera 400 is processed by the image processing module 152 provided inside the lane control module 150 provided in the autonomous driving device 100, and the image is already detected by the lane detection module 154.
  • the lane is determined by comparing with the stored lanes.
  • the position detection module 160 accurately determines the lane in which the vehicle is located through the information on the left and right lanes of the vehicle determined by the lane control module 150.
  • the location of the vehicle detected through the navigation information and the driving information of the vehicle that is, the information on which road and the vehicle location detection module 160 detects the correct lane in which the vehicle is located on the road. It is possible to control the vehicle accurately.
  • the autonomous driving device 100 includes a position sensing module 160 for sensing a current position of the vehicle.
  • the position of the vehicle is determined by measuring the distance from the edge of the road to the current vehicle.
  • the position detection module 160 is provided with a first transmitting and receiving device 165 for transmitting and receiving a high frequency signal, the second transmitting and receiving device 610 at regular intervals along the road at the edge of the road on which the vehicle travels. Is provided, and receives the high frequency signal transmitted from the first transmitting and receiving device 165 and transmits to the first transmitting and receiving device 165 again.
  • the position sensing module 160 may calculate a distance from the second transmitter / receiver 610 by calculating a time when the signal transmitted from the first transmitter / receiver 165 returns, and each of the second transmitter / receivers 610 has a unique ID, it is possible to determine the signal of each second transmitting and receiving device 610 it is possible to calculate the distance with each second transmitting and receiving device 160.
  • both sides of the road and the position of the vehicle can be accurately calculated, and with reference to the width of the lane stored in the drawing module 110, it is possible to accurately determine the lane in which the current vehicle is located, thereby stably controlling the vehicle. Will be.
  • the automatic driving device 100 of the present invention is provided with a road state detection module 170 for detecting the state of the road, the road state detection module
  • the processor 170 processes an image photographed through the camera 400 provided in the vehicle, detects a portion having a cut or a crack in the road compared to a general road, and the size of the detected portion affects the vehicle running. It will determine if it is large enough to give.
  • the driving line is changed. Otherwise, the driving line is changed to the original driving line.
  • the vehicle when storing the driving information, by storing the images taken with the camera as well as the driving ability, when moving the route once driven, the vehicle can be controlled by comparing the image taken with the image of the current driving position, narrow alleys Even if it can drive.
  • 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.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Control Of Driving Devices And Active Controlling Of Vehicle (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un système de conduite de véhicule automatique, et, plus particulièrement, un système de conduite de véhicule automatique qui permet à un véhicule d'être automatiquement conduit vers une destination par commande du véhicule en prenant en considération les signaux des feux de circulation et les véhicules ou objets environnants lorsqu'un utilisateur règle une destination dans un dispositif de navigation. A cette fin, la présente invention comprend : un module de cartographie qui reçoit des informations d'itinéraire réglées par un dispositif de navigation installé dans un véhicule, et qui convertit des distances, des directions et des angles de virage en données d'étude de façon à régler des voies de conduite ; et un module de commande de conduite pour permettre au véhicule d'être conduit le long des voies de conduite réglées par le module de cartographie.
PCT/KR2013/002076 2013-03-15 2013-03-15 Système de conduite de véhicule automatique WO2014142372A1 (fr)

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PCT/KR2013/002076 WO2014142372A1 (fr) 2013-03-15 2013-03-15 Système de conduite de véhicule automatique

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PCT/KR2013/002076 WO2014142372A1 (fr) 2013-03-15 2013-03-15 Système de conduite de véhicule automatique

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109508009A (zh) * 2018-12-13 2019-03-22 合肥工业大学 一种带有车车通讯功能的智能微缩车

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR19990058324A (ko) * 1997-12-30 1999-07-15 오상수 차량항법장치의 교차로 안내방법
JP2008120289A (ja) * 2006-11-14 2008-05-29 Toyota Motor Corp 服装対応サービス提供装置
KR101103251B1 (ko) * 2010-03-30 2012-01-10 충북대학교 산학협력단 오토 크루즈 제어 장치 및 방법
KR20120034426A (ko) * 2010-10-01 2012-04-12 주식회사 만도 차량 경로 예측 장치 및 그 방법
KR20120060500A (ko) * 2010-12-02 2012-06-12 박수아 자동차 자동조향 및 항속운항 시스템

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR19990058324A (ko) * 1997-12-30 1999-07-15 오상수 차량항법장치의 교차로 안내방법
JP2008120289A (ja) * 2006-11-14 2008-05-29 Toyota Motor Corp 服装対応サービス提供装置
KR101103251B1 (ko) * 2010-03-30 2012-01-10 충북대학교 산학협력단 오토 크루즈 제어 장치 및 방법
KR20120034426A (ko) * 2010-10-01 2012-04-12 주식회사 만도 차량 경로 예측 장치 및 그 방법
KR20120060500A (ko) * 2010-12-02 2012-06-12 박수아 자동차 자동조향 및 항속운항 시스템

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109508009A (zh) * 2018-12-13 2019-03-22 合肥工业大学 一种带有车车通讯功能的智能微缩车

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