WO2019143090A1

WO2019143090A1 - Vehicle autonomous driving assistance apparatus and vehicle autonomous driving assistance system including same

Info

Publication number: WO2019143090A1
Application number: PCT/KR2019/000572
Authority: WO
Inventors: 민사현
Original assignee: (주)성원티피에스
Priority date: 2018-01-16
Filing date: 2019-01-15
Publication date: 2019-07-25

Abstract

Disclosed are a vehicle autonomous driving assistance apparatus and a vehicle autonomous driving assistance system including the same. A vehicle autonomous driving assistance system may comprise: a light source apparatus for irradiating a driving indication line on a driving road on which a vehicle is driving; and a vehicle autonomous driving assistance apparatus which is coupled to the vehicle so as to detect a position of the driving indication line irradiated to the vehicle, and delivers, to a vehicle steering automatic control apparatus, steering angle adjustment information that the vehicle steering automatic control apparatus uses to adjust a steering angle of the vehicle so that the driving indication line is located at a reference position of the vehicle.

Description

Vehicle autonomous drive assist system and vehicle autonomous drive assist system including the same

The present invention relates to a vehicle autonomous drive assist system and a vehicle autonomous drive assist system including the same, and more particularly, to a vehicle autonomous drive assist system that enables a vehicle to autonomously drive by detecting a drive leader irradiated on a drive road, The present invention relates to a vehicle autonomous driving assistance system.

Steering device is a device that can change the traveling direction of the vehicle at will as the driver intends. When the steering wheel is operated, the steering force is transmitted to the steering gear and decelerated, So that the direction of the wheel can be changed by rotating the arm of the suspension device in which the wheel is mounted. The autonomous vehicle can adjust the steering direction of the vehicle by automatically adjusting the steering device according to the result detected by using various sensors.

In general, an autonomous vehicle recognizes a lane by using a sensor or the like so that the vehicle can be moved without leaving the lane. For example, Korean Patent Laid-open Publication No. 10-2016-0129487 (published on November 11, 2016) discloses a technique capable of detecting a lane in an autonomous vehicle.

However, there is a problem that the autonomous vehicle using such a method is difficult to autonomously travel in a space where there is no lane, for example, a parking lot access road, a parking lot, and the like. Also, in such an indoor space, it is difficult for the vehicle to receive the GPS signal and it is difficult to estimate the position, and it acts as a constraint on the route planning for starting the current position from the current position. In order to solve these problems, RF (Radio Frequency) and image based methods have been proposed. However, it has been difficult to obtain precise position information of mm based on RF interference due to signal interference and disturbance. In addition, the image-based indoor traveling objects have high precision but high processing ability and high cost. In addition, when a plurality of indoor traveling objects are located in a specific space, neighboring indoor traveling objects collide with each other and interfere with traveling, thereby failing to properly perform specific command events, and the indoor autonomous traveling market is gradually shrunk.

An object of the present invention is to provide a vehicle autonomous driving assistance system which allows a vehicle to autonomously drive by sensing a driving leader line irradiated on the driving road.

Another object of the present invention is to provide an autonomous vehicle traveling assisting apparatus applied to the vehicle autonomous driving assistance system.

According to another aspect of the present invention, there is provided an autonomous vehicle traveling assist system including a light source device for irradiating a driving leader on a traveling road on which a vehicle travels, a light source device coupled to the vehicle, And a vehicle autonomous drive assist device for sensing the position of the vehicle and controlling the steering angle of the vehicle in the vehicle steering automatic control device and transmitting the steering angle adjustment information to the vehicle steering automatic control device, can do.

The vehicle autonomous travel assisting apparatus may further include a light sensing unit including a plurality of sensors for sensing the position of the driving leader irradiated on the vehicle, a database in which the steering angle control information of the vehicle is matched and stored for each sensor, And a steering angle control information transmitting unit for transmitting steering angle control information matched with the sensor that senses the leader to the vehicle steering automatic control apparatus.

The vehicle autonomous travel assisting apparatus may further include a light sensing unit including a plurality of sensors for sensing a position of the driving leader irradiated on the vehicle, and a light sensor for sensing the driving leader from the reference sensor, And a steering angle control information transmitting unit for transmitting the steering angle control information of the vehicle to the vehicle steering automatic control unit.

The steering angle adjustment information transmission unit may generate the steering angle adjustment information corresponding to the distance between the sensor that senses the driving leader and the reference sensor and may transmit the steering angle adjustment information to the vehicle steering automatic control unit.

The light source device may irradiate the driving direction indicator to the center of the traveling road, and the vehicle autonomous driving assistance device may transmit the steering angle control information of the vehicle to the vehicle steering automatic control device such that the driving direction indicator is located at the center of the vehicle have.

Wherein the vehicle autonomous travel assisting system includes a vehicle sensing unit that senses whether the vehicle enters the traveling road, and a vehicle sensing unit that senses that the vehicle is traveling on the driving road, And a light source device control unit for controlling the irradiation of the leader line.

Wherein the vehicle autonomous travel assisting system includes a vehicle sensing unit for sensing whether the vehicle enters a parking space or a space where a person can get off or receiving a route request signal from the vehicle, When the light source device senses that the vehicle enters the parking lot entrance or a space where the person can get off or receives the route request signal, the light source device is operated only on the traveling route from the parking lot entrance to the parking space And a light source device control unit for controlling the irradiation of the leader line.

The vehicle autonomous travel assisting system includes a vehicle sensing unit that senses whether the vehicle parked in the parking space is started or is parked and starts to move or receives a route request signal from the vehicle, When the light source device senses that the vehicle starts to move or starts to move, or when the light source device receives the route request signal, the light source device only moves on the traveling path from the parking space to the exit of the parking lot or to a space And a light source device control unit for controlling the irradiation of the driving leader line.

According to another aspect of the present invention, there is provided a vehicle autonomous driving assistance apparatus for supporting autonomous driving of a vehicle along a driving leader line irradiated on a driving road on which the vehicle travels, A light sensing unit including a plurality of sensors for sensing the position of the driving leader and a steering angle control unit for steering the steering angle of the vehicle to adjust steering angle control information for causing the steering wheel to come to a reference position of the vehicle, And a steering angle control information transmitting unit for transmitting the steering angle control information to the automatic control unit.

The vehicle autonomous drive assist system and the vehicle autonomous drive assist system including the vehicle autonomous drive assist system according to an embodiment of the present invention detect driving guidance lines to be irradiated on the driving road so that the driving leader is positioned at the reference position of the vehicle There is an advantage that the autonomous vehicle can be stably moved in a space without a lane, an indoor space where GPS reception is not possible, and a space in which the surrounding brightness is dark, making it difficult to autonomously travel using a camera image.

Further, according to the technical idea of the present invention, the vehicle autonomous drive assist system and the vehicle autonomous drive assist system including the same can prevent a collision with another vehicle by allowing the vehicle to move along the drive leader, There is an advantage that the autonomous travel assisting device can be easily attached to the vehicle by attaching it to the vehicle. In addition, the autonomous vehicle driving assist system according to one embodiment of the present invention is advantageous in that all autonomous driving vehicles can be operated stably when the light source device is installed on the driving road, so that the installation cost and the maintenance cost are low.

When the vehicle autonomous drive assist system and the vehicle autonomous drive assist system including the vehicle autonomous drive assist system according to an embodiment of the present invention are used, the vehicle can be parked from a parking lot entrance or a space where a person can get on and off. There is an advantage in that parking can be carried out by autonomous driving, and there is an advantage that a self-driving vehicle can freely travel to a parking lot exit or a space where a person can ride.

BRIEF DESCRIPTION OF THE DRAWINGS A brief description of each drawing is provided to more fully understand the drawings recited in the description of the invention.

1 is a view showing an embodiment of a vehicle autonomous travel assistance system including an autonomous travel assistance apparatus according to an embodiment of the present invention.

FIG. 2 is a block diagram schematically showing the vehicle autonomous travel assistance apparatus of FIG. 1. FIG.

FIG. 3 is a view showing embodiments of the vehicle autonomous travel assistance apparatus of FIG. 1. FIG.

FIG. 4 is a view for explaining an embodiment in which the vehicle autonomous travel assistance apparatus of FIG. 3 operates.

FIG. 5 is a diagram for explaining another embodiment in which the vehicle autonomous travel assistance apparatus of FIG. 3 operates.

FIG. 6 is a view for explaining the operation of the light emitting unit in the vehicle autonomous travel assistance apparatus of FIG. 3;

7 is a view showing an embodiment in which the vehicle autonomous drive assistance device of FIG. 3 is mounted on a vehicle.

FIG. 8 is a view showing an embodiment in which the vehicle is autonomously driven in a parking lot using the vehicle autonomous travel assistance system of FIG. 1. FIG.

FIG. 9 is a view showing another embodiment of allowing a vehicle to autonomously travel in a parking lot by using the vehicle autonomous travel assistance system of FIG. 1. FIG.

10 is a diagram illustrating an exemplary computing environment in which one or more embodiments disclosed herein may be implemented.

In order to fully understand the present invention, operational advantages of the present invention, and objects achieved by the practice of the present invention, reference should be made to the accompanying drawings and the accompanying drawings which illustrate preferred embodiments of the present invention.

BEST MODE FOR CARRYING OUT THE INVENTION Hereinafter, the present invention will be described in detail with reference to the preferred embodiments of the present invention with reference to the accompanying drawings. Like reference symbols in the drawings denote like elements.

FIG. 1 is a view showing an embodiment of a vehicle autonomous driving assistance system 100 including an autonomous driving assistance device 300 according to an embodiment of the present invention.

Referring to FIG. 1, the vehicle autonomous travel assistance system 100 may include a light source device 200 and a vehicle autonomous travel assistance device 300.

The light source device 200 can irradiate the traveling leader on the traveling road on which the vehicle 500 travels. For example, the light source apparatus 200 can irradiate the driving leader with a laser. The light source device 200 may be installed on the upper part of the traveling road or on the ceiling of the room to irradiate the traveling direction line from the upper direction to the traveling direction of the traveling road, Or on the front, top, or rear surface of vehicle 500. Alternatively, the light source device 200 may be installed on the traveling road so as to irradiate the traveling direction indicator on the traveling road in the upward direction of the traveling road. In this case, the vehicle self- As shown in FIG. The light source device 200 can irradiate the traveling road in the form of a straight line or a curved traveling direction line in accordance with the route to move the vehicle. The light source apparatus 200 may use a structure such as Korean Registered Patent No. 10-1931539 or Korean Registered Patent No. 10-1799527 filed and filed by the applicant of the present application in the case of examining a curved traveling leader. However, the light source device of the present invention does not need to have such a structure, and the light source device may have another structure as long as the traveling route of the vehicle can be illuminated by the driving leader line.

The vehicle autonomous driving assistance apparatus 300 may be coupled to the vehicle 500 as described above and may be coupled to a position where the driving leader of the vehicle 500 can be sensed. The vehicle autonomous-travel assisting device 300 senses the position of the driving leader, adjusts the steering angle of the vehicle 500 in the vehicle-steering automatic control device, and adjusts the steering angle to bring the driving-direction leader to the reference position of the vehicle 500 Information to the vehicle steering automatic control device. The vehicle steering automatic control system is an apparatus that can change the steering direction of the vehicle 500 by adjusting the steering angle of the vehicle 500. The vehicle steering automatic control apparatus is configured to change the steering direction of the vehicle 500 using the steering angle information received from the vehicle autonomous- ) Of the steering angle. The reference position of the vehicle can be regarded as a reference point at a position that the vehicle autonomous drive assist device 300 can control so that the vehicle goes straight ahead. The reference position of the vehicle may be within a range that can be sensed by the vehicle autonomous driving assistance apparatus 300. For example, when the reference position of the vehicle 500 is the center of the vehicle 500, the vehicle autonomous travel assistance device 300 may be configured such that when the travel leader is positioned at the center of the vehicle 500, Steering angle information for making the steering wheel forward to the vehicle steering automatic control device. When the reference position of the vehicle 500 is moved to the right by 20 cm from the center portion of the vehicle 500, the vehicle autonomous drive assistance device 300 is located 20 cm rightward from the center portion of the vehicle 500 Steering angle information for allowing the vehicle 500 to go straight when the travel leader line is located at a position where the vehicle 500 has traveled to the vehicle. If the driving direction indicator is out of the reference position, the vehicle autonomous driving assistance device 300 may transmit steering angle information to the vehicle steering automatic control device such that the driving direction indicator comes to the reference position. One embodiment in which the vehicle autonomous driving assistance apparatus 300 transmits steering angle information will be described in more detail with reference to Figs. 2 to 6. Fig.

The vehicle autonomous driving assistance system 100 may further include a vehicle sensing unit 400 and a light source device control unit (not shown). The vehicle detection unit 400 may detect whether or not the vehicle 500 enters the traveling road. The light source device control unit may control the light source device 200 to irradiate the driving direction leader only when the vehicle sensing unit 400 senses that the vehicle 500 is entering the traveling road. For example, when the vehicle sensing unit 400 is installed in the parking lot access road, the light source control unit controls the light source device 200 not to irradiate the driving direction line, and the vehicle 500 enters the traveling road It is possible to control the light source device 200 to irradiate the driving leader line only when it is detected that the driving direction indicator is detected.

2 is a block diagram schematically showing the vehicle autonomous travel assistance apparatus 300 of FIG.

Referring to FIGS. 1 and 2, the vehicle autonomous travel assistance apparatus 300 may include a light sensing unit 310 and a steering angle control information transmitting unit 320.

The light sensing unit 310 may include a plurality of sensors that sense the position of the driving leader irradiated to the vehicle 500. [ The sensor may be various sensors capable of sensing the position of the driving leader, for example, an optical sensor, a vision sensor, or the like.

The steering angle control information transmission unit 320 controls the steering angle of the vehicle 500 in the vehicle steering automatic control unit 510 so that the steering angle adjustment information that causes the driving direction line to come to the reference position of the vehicle 500, To the control device 510.

In one embodiment, the steering angle adjustment information transfer unit 320 may further include a database in which the steering angle control information of the vehicle 510 is matched and stored by the sensors. The steering angle adjustment information transmission unit 320 may transmit the steering angle adjustment information matched with the sensor that senses the driving leader to the vehicle steering automatic control unit 510. For example, suppose that the database has a steering angle of +5 degrees with the first one of the sensors and a steering angle of -5 degrees with the second sensor. In this case, steering angle control information for controlling the steering angle to +5 degrees when the first driving direction indicator is sensed by the first sensor is transmitted to the vehicle steering automatic control system 510, and the driving direction indicator Steering angle control information for controlling the steering angle to -5 when the steering angle is adjusted to -5 is transmitted to the vehicle steering automatic controller 510.

In another embodiment, the steering angle adjustment information transmission unit 320 may transmit steering angle adjustment information of the vehicle 500, which senses the driving leader in the standard sensor as a reference among the plurality of sensors, to the vehicle steering automatic control unit 510, . For example, when the driving leader is sensed by the first sensor, the first sensor may be the reference sensor when the vehicle 500 is to travel in the straight direction. In this case, when the driving leader is sensed by the second sensor among the sensors, the steering angle adjustment information transmission unit 320 transmits steering angle adjustment information for sensing the driving leader to the first sensor, 510). In this case, the steering angle control information may use the information stored in the database as in the previous example, and the steering angle control information corresponding to the distance between the sensor that sensed the driving leader and the reference sensor, 320).

Embodiments of the structure and operation of the light sensing unit 310 and the steering angle adjustment information transfer unit 320 will be described in detail with reference to FIGS. 3 to 6. FIG.

The vehicle autonomous driving assistance apparatus 300 may further include a blinking control unit 330 and a light emitting unit 340. The light emitting portion 340 may include a plurality of light emitting elements, and the light emitting elements may be coupled to each other at a predetermined interval. The light emitting device may be an LED or an OLED, but the light emitting device of the present invention is not limited to this case.

The flickering control unit 330 may control the light emitting elements between the light emitting element at the position where the driving leader is sensed and the light emitting element at the reference position to blink. The flashing control unit 330 may maintain the light emitting elements between the light emitting element at the position where the driving leader is sensed and the light emitting element at the reference position to keep on or blink, Or may be turned on sequentially.

FIG. 3 is a view showing embodiments of the vehicle autonomous travel assistance apparatus 300, 300 'of FIG. 1, and FIG. 4 is a view for explaining an embodiment in which the vehicle autonomous travel assistance apparatus 300 of FIG. And FIG. 5 is a view for explaining another embodiment in which the vehicle autonomous travel assistance apparatus 300 of FIG. 3 operates.

1 to 5, the vehicle autonomous travel assistance apparatus 300 includes a light sensing unit 310 including a plurality of sensors S1 to S11 on a frame bar as shown in FIG. 3 (a) can do. Although not shown in the figure, the steering angle control information transmitting unit 320 may be included in the frame bar. The vehicle autonomous jogging assistance device 300 can be attached to and detached from the vehicle 500, and can be coupled to any position of the vehicle if it can sense the driving direction indicator. However, the vehicle autonomous travel assistance apparatus 300 of the present invention does not necessarily have a shape as shown in FIG. 3, but may have other shapes as long as it can operate as described below. .

The vehicle autonomous travel assistance apparatus 300 'of FIG. 3 (b) further includes a light emitting unit 340 and a solar panel 370 in the vehicle autonomous travel assisting apparatus 300 of FIG. 3 (a) Fig. That is, the vehicle autonomous travel assistance apparatus 300 'may further include a light emitting unit 340 including a plurality of light emitting devices L, and may include a solar panel 370 for supplying power through solar power generation, As shown in FIG. The solar panel 370 is used to generate solar energy to generate electric energy and use it as a power source for the vehicle autonomous travel aiding device 300 '. However, the vehicle autonomous travel assisting device 300 'of the present invention does not necessarily have to be powered by solar power, and may be used in connection with a power source of a vehicle or in connection with an auxiliary power source.

Hereinafter, a method of transmitting the steering angle control information according to the position of the driving leader will be described. For convenience of explanation, it is assumed that the steering angle information is stored for each sensor in the database. On the basis of the reference position (REF), the sensors on the right side have steering angle adjustment information of + and the sensors on the left side with reference position (REF) have steering angle adjustment information of -. If the steering angle control information is positive, the vehicle 500 rotates to the right, and if the steering angle control information is negative, it is assumed that the vehicle 500 rotates to the left. Also, it is assumed that the steering angle control information differs by 5 degrees between neighboring sensors among the sensors.

4, the sixth sensor S6 on the right side of the reference position REF is matched with the steering angle control information of +2.5 degrees, and the fifth sensor S5 on the left side of the reference position REF matches -2.5 And the seventh sensor S7 on the right side of the sixth sensor S6 is matched with the steering angle control information of +7.5 degrees.

4 (a), when the driving leader is detected by the seventh sensor S7, the steering angle adjustment information transmission unit 320 transmits steering angle adjustment information of +7.5 degrees corresponding to the seventh sensor S7 And may be transmitted to the vehicle steering automatic control device 510. Therefore, the vehicle steering automatic control device 510 rotates the vehicle to the right according to the steering angle adjustment information of +7.5 degrees. When the vehicle 500 travels while rotating to the right as described above, the travel leader moves from the position of FIG. 4A to the left gradually, and the position of the sixth sensor S6, which is detectable by the sixth sensor S6, . In this case, the steering angle adjustment information transmission unit 320 transmits the steering angle adjustment information of +2.5 degrees corresponding to the sixth sensor S6 to the vehicle steering automatic control device 510. [ Therefore, the vehicle steering automatic control device 510 rotates the vehicle to the right according to the steering angle adjustment information of +2.5 degrees.

When the vehicle 500 travels while rotating to the right as described above, the traveling leader moves from the position of FIG. 4B to the left gradually, and is not detected by the sixth sensor S6. In this case, The steering angle adjustment information transmitting unit 320 may transmit the steering angle adjustment information of the 0 degree to the vehicle steering automatic control unit 510 so that the vehicle can be made to go straight, .

Alternatively, if the vehicle 500 travels while turning to the right in the state as shown in FIG. 4 (b), the traveling leader moves to the left gradually from the position of FIG. 4 (b) as shown in FIG. 5C, the fifth sensor S5 can detect it. In this case, the steering angle adjustment information transmission unit 320 transmits the steering angle adjustment information of -2.5 degrees corresponding to the fifth sensor S5 to the vehicle steering automatic control device 510. [ Therefore, the vehicle steering automatic control device 510 rotates the vehicle to the left according to the steering angle adjustment information of -2.5 degrees. Then, when the vehicle moves to the left, the vehicle moves to the state (b) after passing through the state of (d). Thus, the vehicle 500 can move along the driving leader line by repeating the states (b) - (d) - (c) - (d) - (b).

Even if the driving leader line is a curve, if the vehicle runs in the same manner as described above, the vehicle 510 can move along the driving leader line.

5, the seventh sensor S7 on the right side of the sixth sensor S6, which is the reference sensor corresponding to the reference position REF, is matched with the steering angle control information of +5 degrees, and the eighth sensor S5 The fifth sensor S5 is matched with the steering angle control information of -5 degrees and the sixth sensor S6 in the reference position REF is matched with the 0 degree steering angle control information.

5 (a), when the eighth sensor S8 senses the driving leader, the steering angle adjustment information transfer unit 320 transmits the steering angle control information of +10 degrees corresponding to the eighth sensor S8 to the vehicle To the automatic steering control device 510. Accordingly, the vehicle steering automatic control device 510 rotates the vehicle to the right according to the steering angle adjustment information of +10 degrees. When the vehicle 500 travels while turning to the right as described above, the traveling leader moves from the position shown in FIG. 5A to the left gradually, and the position detected by the seventh sensor S7 . In this case, the steering angle adjustment information transmission unit 320 transmits steering angle adjustment information of +5 degrees corresponding to the seventh sensor S7 to the vehicle steering automatic control unit 510. [ Therefore, the vehicle steering automatic control device 510 rotates the vehicle to the right according to the steering angle adjustment information of +5 degrees. When the vehicle 500 travels while rotating to the left as described above, the traveling leader moves to the left gradually from the position of FIG. 5 (b), and then moves to a position that can be detected by the sixth sensor S6 . In this case, the steering angle adjustment information transmission unit 320 transmits 0 degree steering angle adjustment information corresponding to the sixth sensor S6 to the vehicle steering automatic control unit 510. [ Accordingly, the vehicle steering automatic control device 510 moves the vehicle in the straight forward direction according to the steering angle adjustment information of 0 degree. 5 (d), when the fifth sensor S5 senses the driving leader, the steering angle adjustment information transmitting unit 320 transmits the steering angle of -5 degrees corresponding to the fifth sensor S5, And transmits the adjustment information to the vehicle steering automatic control device 510. Therefore, the vehicle steering automatic control device 510 rotates the vehicle to the left according to the steering angle adjustment information of -5 degrees. When the vehicle 500 travels while rotating to the left as described above, the traveling leader moves to the right gradually from the position of FIG. 5 (d), and then moves to a position that can be sensed by the sixth sensor S6 as shown in (c) And the vehicle goes straight again. The vehicle 500 can be moved along the driving leader line. If the driving leader curve is curved, the vehicle 510 can be moved along the driving leader line in the same manner as described above.

In the above description, it is assumed that the steering angle control information of the vehicle is stored in the database in correspondence with the sensors. However, as described above, the steering angle control information transmission unit 320 may include a sensor that senses the driving leader, The steering angle control information corresponding to the distance between the sensors is generated and transmitted to the vehicle steering automatic control device 510. [ For example, suppose that the spacing between sensors is 3 cm and the steering angle per 3 cm differs by 5 degrees. 5A, the distance between the sixth sensor S6, which is the reference position, and the eighth sensor S8, which senses the driving leader, is 6 cm, and the eighth sensor S8 is the sixth sensor S6 The steering angle adjustment information transmission unit 320 can set the steering angle adjustment information to +10 degrees and transmit it to the vehicle steering automatic control unit 510. [

6 is a diagram for explaining the operation of the light emitting unit 340 in the vehicle autonomous travel aiding apparatus 300 'of FIG.

Referring to FIGS. 1 to 6, the flickering control unit 330 may control the flicker control unit 330 from the light emitting device at the position where the travel leader is sensed to the light emitting device at the reference position, as in the case of FIGS. 6A, 6B, It is possible to control the light emitting elements between the light emitting elements. The method of transmitting the steering angle control information from the vehicle autonomous drive assistance device 300 'to the vehicle steering automatic control system 510 has been described in detail with reference to FIGS. 4 and 5. Therefore, 5.

7 is a view showing an embodiment in which the vehicle autonomous travel assistance apparatus 300 of FIG. 3 is mounted on a vehicle.

Referring to FIGS. 1 to 7, the vehicle autonomous travel assistance device 300 may be detachably coupled to the windshield lower end of the vehicle or the dashboard. For example, the light source apparatus 200 irradiates the traveling leader to the center of the traveling road, and the vehicle autonomous travel assisting apparatus 300 transmits the steering angle adjustment information of the vehicle to the center of the vehicle And may be transmitted to the vehicle steering automatic control device 510. However, the present invention is not limited to this case, and when the light source device 200 irradiates the traveling direction indicator from the center of the traveling road to the left or right side, the vehicle autonomous driving assistance device 300 also transmits the traveling direction indicator To the vehicle steering automatic control device 510, the steering angle adjustment information which is to be left or right from the center of the vehicle.

As described above, the present invention, in which the vehicle travels along the driving direction line, by sensing the driving direction line and detecting the driving direction line, can be more effectively used in a room or in a dark space and can be more efficiently applied in a space such as a parking lot entryway, . In addition, when the present invention is used, autonomous travel can be stably performed while preventing collision with a wall or the opposite vehicle on a traveling road such as a curved parking lot entrance road.

FIG. 8 is a view showing an embodiment in which a vehicle is autonomously driven in a parking lot by using the autonomous vehicle driving assist system 100 of FIG. 1, and FIG. 9 is a flowchart illustrating an operation of the autonomous vehicle driving assist system 100 of FIG. Thereby allowing the vehicle to autonomously drive in the parking lot.

1 to 9, the vehicle sensing unit 400 may sense whether the vehicle 500 enters a parking space or a space where a person can get off, or may receive a route request signal from the vehicle 500 have. When the light source device control unit senses that the vehicle 500 enters the parking space or the space where the person can get off from the vehicle sensing unit 400 or receives the route request signal, Can control the driving leader to be irradiated only on the driving route from the parking lot entrance or the space where the person can get off to the parking space where parking is possible. The route request signal is a signal for requesting a display of a driving route from the current position of the vehicle 500 to a parking space where parking is possible. The driving request signal is transmitted to the vehicle sensing unit 400 through the terminal 500, Lt; / RTI >

For example, in FIG. 8, when the vehicle 500 enters the parking lot access road 810, which is the entrance of the parking lot, or when a person leaves the parking lot access road 810, It can be detected as entering the ramp. In this case, the light source device control unit may irradiate the driving direction indicator only on the traveling path from the current position of the vehicle to the parking space P1 where parking is possible in the parking lot 820. In this case, the vehicle autonomous travel assistance apparatus 300 may move along the travel leader line to the parking space P1 as described with reference to Figs. 1 to 7.

As another example, when the vehicle 500 stops and gets off at the entrance 920, which is a space where a person can get on and off the car park, the light source control unit controls the light source unit 920 at a door 920 It is possible to irradiate the driving leader only on the driving route from the parking space P1 to the parking space P1 where parking is possible. In this case, the vehicle autonomous travel assistance apparatus 300 may move along the travel leader line to the parking space P1 as described with reference to Figs. 1 to 7.

When the vehicle 500 enters the parking lot access road 810 while a person rides on the vehicle 500 by merging the embodiments of Figs. 8 and 9, the light source device 200 is moved from the parking lot access road 810 to the entrance / The vehicle 500 travels autonomously and arrives at the doorway 920 and then leaves the doorway 920. After the doorway 920 travels from the doorway 920 to the parking space P1, So that the vehicle 500 can autonomously run to the parking space P1.

In the above examples, when the vehicle 500 is moved to the vicinity of the parking space P1, the vehicle 500 can be parked in an empty space by using the automatic parking function currently open. That is, the present invention can be applied as a method for moving the vehicle 500 to the vicinity of the parking space P1.

In addition, the vehicle sensing unit 400 may sense whether the vehicle parked in the parking space P2 starts or is parked and starts moving, or may receive a route request signal from the vehicle. When the light source device control unit senses that the vehicle starts to move or starts moving, or receives a route request signal from the vehicle, the light source device control unit controls the light source device 200 in the parking space P2 It is possible to control the traveling direction line to be irradiated only on the traveling route from the exit of the parking lot or the space where the person can ride. The route request signal is a signal for requesting a display of a driving route from the current position of the vehicle 500 to a parking space where parking is possible. The driving request signal is transmitted to the vehicle sensing unit 400 through the terminal 500, Lt; / RTI >

For example, in FIG. 8, when the vehicle parked in the parking space P2 is started or starts to move while being parked, the vehicle detection unit 400 can detect that the vehicle is leaving. In this case, the light source control unit controls the light source device 200 only on the traveling path from the vicinity of the parking space P2, which is the current position of the vehicle, to the space where the person can ride, The driving leader can be inspected. In this case, the vehicle autonomous travel assisting device 300 moves along the travel leader line as described with reference to FIGS. 1 to 7, so that a person outside the parking lot exit or parking lot entrance 810 can get on the parking space P2 You can move to a space.

As another example, when a vehicle parked in the parking space P2 of the parking lot 910 is started or starts to move when it is parked, it is a space that a person can get on and off from near the parking space P2 The traveling leader can be irradiated only on the traveling route to the entrance 920. In this case, the vehicle autonomous travel assistance apparatus 300 may move along the travel leader line to the entrance 920 as described with reference to FIGS. 8 and 9, the vehicle parked in the parking space P2 is moved to the doorway 920 by autonomous travel, and after a person is aboard the vehicle, from the doorway 920 to the exit of the parking lot, And may cause the vehicle to autonomously drive to the outside of the parking lot.

In this manner, the driving direction indicator is displayed for each vehicle entering or departing from the parking lot, and the vehicle can freely travel along the driving direction line so that the vehicle can freely park. . In addition, the driving leader lines are displayed so as not to overlap with each other, and the driving leader lines are displayed in consideration of the width of the vehicle, so that the vehicle collision problem can be solved easily. In the present invention, various methods can be used to find a vacant space that can be parked among the parking spaces. For example, a method of determining whether or not the vehicle is parked by installing a sensor in each parking space can be used.

FIG. 10 is a diagram illustrating an exemplary computing environment in which one or more embodiments disclosed herein may be implemented. An example of a system 1000 including a computing device 1100 configured to implement one or more of the embodiments described above / RTI >

For example, the computing device 1100 may be a personal computer, a server computer, a handheld or laptop device, a mobile device (mobile phone, PDA, media player, etc.), a multiprocessor system, a consumer electronics device, A distributed computing environment including any of the above-described systems or devices, and the like.

The computing device 1100 may include at least one processing unit 1110 and memory 1120. [ The processing unit 1110 may include, for example, a central processing unit (CPU), a graphics processing unit (GPU), a microprocessor, an application specific integrated circuit (ASIC), a field programmable gate array And may have a plurality of cores. The memory 1120 can be a volatile memory (e.g., RAM, etc.), a non-volatile memory (e.g., ROM, flash memory, etc.) or a combination thereof. In addition, the computing device 1100 may include additional storage 1130. Storage 1130 includes, but is not limited to, magnetic storage, optical storage, and the like.

The storage 1130 may store computer readable instructions for implementing one or more embodiments as disclosed herein, and other computer readable instructions for implementing an operating system, application programs, and the like. The computer readable instructions stored in storage 1130 may be loaded into memory 1120 for execution by processing unit 1110. In addition, computing device 1100 may include input device (s) 1140 and output device (s) 1150.

Here, input device (s) 1140 may include, for example, a keyboard, a mouse, a pen, a voice input device, a touch input device, an infrared camera, a video input device, or any other input device. Also, output device (s) 1150 can include, for example, one or more displays, speakers, printers, or any other output device. In addition, computing device 1100 may use an input device or output device included in another computing device as input device (s) 1140 or output device (s) 1150. [ The computing device 1100 may also include communication connection (s) 1160 that allow the computing device 1100 to communicate with other devices (e.g., computing device 1300).

(S) 1160 may include a modem, a network interface card (NIC), an integrated network interface, a radio frequency transmitter / receiver, an infrared port, a USB connection or other Interface. Also, the communication connection (s) 1160 may include a wired connection or a wireless connection. Each component of the computing device 1100 described above may be connected by various interconnects (e.g., peripheral component interconnect (PCI), USB, firmware (IEEE 1394), optical bus architecture, etc.) , And network 1200, as shown in FIG. As used herein, the terms "component," "system," and the like generally refer to a computer-related entity, which is hardware, a combination of hardware and software, software, or software in execution.

For example, an element may be, but is not limited to being, a processor, an object, an executable, an executable thread, a program and / or a computer running on a processor. For example, both the application running on the controller and the controller may be components. One or more components may reside within a process and / or thread of execution, and the components may be localized on one computer and distributed among two or more computers.

As described above, an optimal embodiment has been disclosed in the drawings and specification. Although specific terms have been employed herein, they are used for purposes of illustration only and are not intended to limit the scope of the invention as defined in the claims or the claims. Therefore, those skilled in the art will appreciate that various modifications and equivalent embodiments are possible without departing from the scope of the present invention. Accordingly, the true scope of the present invention should be determined by the technical idea of the appended claims.

Claims

A light source device for irradiating a traveling leader on a traveling road on which the vehicle travels; And

The steering angle of the vehicle is controlled by the vehicle steering automatic control device so that the steering angle is adjusted to the reference position of the vehicle by controlling the steering angle of the vehicle, And a vehicle autonomous travel assisting device for delivering the vehicle autonomous travel assisting device to the steering automatic control device.
2. The vehicle autonomous driving assistance system according to claim 1,

A light sensing unit including a plurality of sensors for sensing a position of the driving leader irradiated to the vehicle;

A database in which steering angle control information of the vehicle is matched and stored for each sensor; And

And a steering angle adjustment information transmitting unit for transmitting steering angle adjustment information matching the sensor that senses the driving leader to the vehicle steering automatic control device.
2. The vehicle autonomous driving assistance system according to claim 1,

A light sensing unit including a plurality of sensors for sensing a position of the driving leader irradiated to the vehicle; And

And a steering angle control information transmitting unit for transmitting steering angle control information of the vehicle to the vehicle steering automatic control unit so as to sense the driving leader from a reference sensor serving as a reference among the plurality of sensors. .
4. The steering angle control apparatus according to claim 3,

And generates the steering angle control information corresponding to the distance between the sensor that senses the driving leader and the reference sensor, and transmits the steering angle control information to the vehicle steering automatic control system.
The light source apparatus according to claim 1,

The traveling leader is irradiated to the center of the traveling road,

The vehicle autonomous travel assistance apparatus includes:

Wherein the steering angle control information of the vehicle is transmitted to the vehicle steering automatic control device so that the driving direction indicator is at the center of the vehicle.
2. The vehicle autonomous driving assistance system according to claim 1,

A vehicle sensing unit for sensing whether the vehicle enters the traveling road; And

Further comprising a light source device control unit for controlling the light source device to irradiate the driving direction leader only when the vehicle sensing unit detects that the vehicle is entering the traveling road.
2. The vehicle autonomous driving assistance system according to claim 1,

A vehicle sensing unit that senses whether the vehicle enters a parking space entrance or a space where a person can get off or receives a route request signal from the vehicle; And

When the vehicle sensing unit detects that the vehicle enters the parking space entrance or a space in which the person can get off or receives the route request signal, the light source unit controls the parking of the light source unit Further comprising: a light source device control unit for controlling the driving leader to irradiate only the traveling path up to the space.
2. The vehicle autonomous driving assistance system according to claim 1,

A vehicle sensing unit that senses whether the vehicle parked in the parking space is started or parked and starts moving, or receives a route request signal from the vehicle; And

When the vehicle sensing unit senses that the vehicle starts to move or starts to move, or when the light source device receives the route request signal, the light source device moves from the parking space to the exit of the parking lot or a space Further comprising a light source device control unit for controlling the traveling direction line to be irradiated only on the traveling path.
The light source apparatus according to claim 1,

The traveling leader is irradiated from the upper portion of the traveling road in the direction of the traveling road,

The vehicle autonomous travel assistance apparatus includes:

Wherein the vehicle is coupled to a front surface, an upper surface, or a rear surface of the vehicle.
1. A vehicle autonomous travel assistance apparatus for supporting autonomous travel of a vehicle along a travel leader line irradiated on a travel road on which the vehicle travels,

A light sensing unit including a plurality of sensors for sensing a position of the driving leader irradiated to the vehicle; And

And a steering angle control information transmitting unit for transmitting steering angle control information for controlling the steering angle of the vehicle to the reference position of the vehicle by controlling the steering angle of the vehicle in the vehicle steering automatic control apparatus. Autonomous driving assistance device.
11. The vehicle autonomous driving assistance system according to claim 10,

And a database in which the steering angle control information of the vehicle is matched and stored for each sensor,

The steering angle adjustment information transfer unit may include:

And steering angle adjustment information matched to the sensor that senses the driving leader is transmitted to the vehicle steering automatic control device.
The steering angle control apparatus according to claim 10,

Wherein the steering angle control information of the vehicle is transmitted to the vehicle steering automatic control device so as to sense the driving leader from a reference sensor serving as a reference among the plurality of sensors.
[14] The apparatus of claim 12,

And generates the steering angle control information corresponding to the distance between the sensor that senses the driving leader and the reference sensor, and transmits the steering angle control information to the vehicle steering automatic control device.