WO2022114455A1 - Dispositif pour corriger un signal de position d'un véhicule autonome en utilisant des informations d'image de surface de roulement - Google Patents

Dispositif pour corriger un signal de position d'un véhicule autonome en utilisant des informations d'image de surface de roulement Download PDF

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Publication number
WO2022114455A1
WO2022114455A1 PCT/KR2021/010909 KR2021010909W WO2022114455A1 WO 2022114455 A1 WO2022114455 A1 WO 2022114455A1 KR 2021010909 W KR2021010909 W KR 2021010909W WO 2022114455 A1 WO2022114455 A1 WO 2022114455A1
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WO
WIPO (PCT)
Prior art keywords
road surface
vehicle
position signal
inclination angle
measured
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PCT/KR2021/010909
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English (en)
Korean (ko)
Inventor
김태형
윤경수
조봉균
이명수
Original Assignee
재단법인 지능형자동차부품진흥원
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Publication of WO2022114455A1 publication Critical patent/WO2022114455A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
    • B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
    • B60W40/06—Road conditions
    • B60W40/076—Slope angle of the road
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT 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
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • 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

Definitions

  • the present invention relates to an apparatus for correcting a GPS position signal of an autonomous vehicle by using image information of a road surface acquired while driving.
  • Autonomous vehicles automatically perform vehicle speed control according to traffic conditions or road environments, such as maintaining a driving lane, securing a safe distance from adjacent vehicles, detecting nearby obstacles, and avoiding collisions without driver intervention.
  • various sensors are installed in the vehicle, such as a camera that detects the surrounding environment, a radar (Radio Detecting And Ranging; RADAR), a Light Detection And Ranging (LIDAR), and an ultrasonic sensor.
  • RADAR Radio Detecting And Ranging
  • LIDAR Light Detection And Ranging
  • ultrasonic sensor an ultrasonic sensor.
  • the autonomous vehicle recognizes the surrounding environment of the vehicle by fusing the surrounding information sensed from multiple sensors.
  • the information sensed from each sensor installed in the vehicle must be accurately fused. Intermediation is being made.
  • correction is not made to match the actual position of the vehicle.
  • An object of the present invention is to provide an apparatus for correcting a location signal of an autonomous vehicle capable of correcting location information of a GPS so that the autonomous vehicle can accurately recognize the location of the vehicle even when the vehicle travels on a sloped road surface.
  • the present invention provides a camera for acquiring the surrounding environment of an autonomous vehicle as image data, a road slope measuring unit for recognizing a road surface from the image data and measuring an inclination angle of the road surface, and an inclination angle of the road surface
  • a camera for acquiring the surrounding environment of an autonomous vehicle as image data
  • a road slope measuring unit for recognizing a road surface from the image data and measuring an inclination angle of the road surface, and an inclination angle of the road surface
  • an apparatus for correcting a position signal for an autonomous vehicle having a GPS position signal correcting unit for correcting a GPS position signal with a correction value calculated by .
  • the GPS position signal correcting unit calculates the difference between a point on the road surface measured by the GPS location signal and a point on the road surface where the center line of the vehicle located on the road surface with an inclination angle meets the road surface at a right angle to the road surface as a correction value.
  • the GPS position signal correcting unit corrects the GPS position signal with a correction value calculated from the inclination angle of the road surface measured by the road inclination measuring unit and the inclination angle of the road surface measured by an inertial sensor provided in the vehicle.
  • the road slope measuring unit recognizes a road surface from image data measured by a lidar sensor provided in a vehicle together with image data obtained from a camera and measures the inclination angle of the road surface.
  • the road slope measuring unit measures the road slope angle in response to distance information with the front road surface measured by the lidar sensor.
  • the autonomous vehicle recognizes a more accurate vehicle location during autonomous driving by correcting the GPS vehicle location signal that is inevitably generated due to the inclination angle of the driving road surface, and responds without errors to surrounding environmental information to prevent accidents. It can be prevented.
  • 1 is a diagram illustrating an autonomous vehicle positioned on a sloped road surface.
  • FIG. 2 is a block diagram illustrating a configuration of an apparatus for correcting a position signal for an autonomous vehicle according to the present invention.
  • 3A and 3B are diagrams illustrating examples of images acquired by a lidar and a camera mounted on an autonomous vehicle, respectively.
  • FIG. 4 is a view illustrating a vehicle location according to GPS location information of the vehicle and an inclination angle of a road surface.
  • a component is described as “formed”, “included”, “coupled”, or “fixed” to another component, it is formed directly in the other component, It may be included, coupled, or fixed, but it will be understood that other components may be present in between.
  • the present invention is a technology for correcting position information of a vehicle recognized by a GPS sensor according to an inclination angle of a road surface recognized while an autonomous vehicle is driving. have.
  • the present invention includes a GPS sensor 110 , a camera 120 , a road slope measuring unit 130 , a lidar sensor 140 , a GPS position signal correcting unit 150 , and an inertial sensor 160 .
  • Such a configuration of the position signal correcting apparatus 100 may be implemented in the form of a hardware module or a software module, or may be implemented in a form in which a hardware module and a software module are combined.
  • the software module may be understood as, for example, an instruction executed by a processor performing an operation in the position signal correcting device 100 , and these instructions may have a form mounted in a memory in the position signal correcting unit 100 .
  • the Global Positioning System (GPS) sensor 110 is a sensor mounted on an autonomous vehicle to detect a location of the vehicle by receiving a signal transmitted from the GPS satellite 10 . As shown in FIG. 1 , the current location of the vehicle recognized by the GPS sensor 110 is the coordinate of the point S 1 where the straight line L 1 connecting the GPS satellite 10 and the vehicle 20 meets.
  • the camera 120 is mounted on the autonomous vehicle 20 together with the GPS sensor 110 to acquire the environment around the vehicle as image data, and the acquired image data is used by the road slope measuring unit 130 to be described later. 30) is used to recognize As the camera 120 , any one of an infrared camera, an RGB camera, an RGB-Depth camera, and a thermal imaging camera may be used.
  • a light detection and ranging (LIDAR) that maps reflected light of an object irradiated with a laser to a stereo image
  • a camera equipped with an image sensor to capture images around the vehicle may be used.
  • the image 200 acquired from the lidar is easy to acquire spatial information around the vehicle
  • the image 300 acquired by the camera as shown in Fig. 3(b). is useful for acquiring information on specific objects in the space, and the images of these lidars and cameras are fused and utilized to more accurately recognize the surrounding environment.
  • the road inclination measuring unit 130 recognizes the road surface 30 from the image data of the forward driving path of the vehicle 10 acquired by the camera 120 and measures the inclination angle of the road surface. At this time, the road slope measuring unit 130 obtains a three-dimensional stereoscopic image (stereo) obtained from a LIDAR (Light Detection And Ranging; LIDAR) sensor mounted on the autonomous vehicle 20 to more accurately recognize the road surface 30 . image) can also be used.
  • LIDAR Light Detection And Ranging
  • the lidar sensor 140 is a sensor that irradiates a laser to an object found while driving and obtains a distance to the object and a three-dimensional image from the reflected light.
  • the stereoscopic image 200 acquired by the lidar sensor 140 is An example of is shown in Fig. 3(a), which is useful for recognizing spatial information around a vehicle as shown.
  • the image data 300 of the camera is shown in FIG. 3(b), which is advantageous for acquiring characteristic information such as objects in spatial information recognized by the lidar sensor 140 while driving as shown. do.
  • the road slope measuring unit 130 may recognize the road surface 30 by fusing the spatial information acquired from the lidar sensor 140 and the feature information in the spatial information acquired from the camera 120 . Such recognition of the road surface may be applied to a recognizer that has learned various road surface images through deep learning, and the slope measuring unit 130 measures the inclination angle of the road surface 30 from the recognized road surface.
  • FIG. 4 is a view showing the position of the vehicle according to the GPS location information of the vehicle and the inclination angle of the road surface 30.
  • two points (P 1 , Select P 2 ) and connect them to set the road surface line (L SUR ).
  • a bisector point (S 2 ) of the road surface line (L SUR ) which is a point at which the vehicle is driven, is set, and at this time, the point ( S 2 ) is the center line (L 2 ) of the vehicle 20 as shown in FIG. 4 .
  • the set bisector point (S 2 ) and the two points (P 1 , P 2 ) The straight line (L 3 ) connecting any one of the points is formed with the horizontal line ( LO ) and the inclination angle ( ⁇ ) is measured.
  • the inclination angle ⁇ of the road surface is measured at a set predetermined time interval, and is measured in response to distance information from the front road surface 30 measured by the lidar sensor 140 .
  • the GPS position signal correcting unit 150 corrects the position information measured by the GPS sensor 110 according to the measured inclination angle ⁇ of the road surface, and the autonomous vehicle 20 located on the inclined road surface 30 in FIG. ), the process of correcting the location information is shown.
  • the GPS position signal correcting unit 150 provides location information measured by the GPS sensor 110 on the road surface on which the inclination angle ⁇ is measured, that is, a straight line connecting the GPS satellite 10 and the vehicle 20 in a straight line in FIG. 4 .
  • the difference between the road surface point (S 1 ) where (L 1 ) meets and the road surface point (S 2 ) where the centerline (L 2 ) of the vehicle 20 located on the inclined road surface 30 meets the road surface 30 at a right angle is calculated as a correction value.
  • the correction value calculated in this way is the deviation of the coordinate values of these road surface points S 1 , S 2 , and is calculated according to the inclination angle ⁇ of the road surface measured at predetermined time intervals.
  • the GPS position signal correcting unit 150 calculates a correction value according to the front road surface in this way, and when the vehicle 20 proceeds and reaches the road surface 30 having the corresponding inclination angle ⁇ , it is output to the GPS sensor 110 Correct location information.
  • the GPS position signal correcting unit 150 includes the inclination angle ⁇ of the road surface 30 measured as described above and the corresponding road surface 30 measured with the inertial sensor 170 in order to more precisely calculate the correction value.
  • the average of the two measured values may be calculated as the inclination angle ⁇ compared with the inclination angle ⁇ .
  • the autonomous driving vehicle can correct the GPS vehicle position signal, which is inevitably generated due to the inclination angle of the driving road, to the vehicle position.

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  • Engineering & Computer Science (AREA)
  • Automation & Control Theory (AREA)
  • Mechanical Engineering (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Human Computer Interaction (AREA)
  • Remote Sensing (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Mathematical Physics (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)
  • Business, Economics & Management (AREA)
  • Artificial Intelligence (AREA)
  • Evolutionary Computation (AREA)
  • Game Theory and Decision Science (AREA)
  • Medical Informatics (AREA)
  • Health & Medical Sciences (AREA)

Abstract

La présente invention concerne un dispositif pour corriger un signal de position de système mondial de localisation (GPS) d'un véhicule autonome en utilisant des informations d'image de surface de roulement acquises pendant la conduite. Selon la présente invention, un véhicule autonome peut corriger un signal de position de véhicule GPS, qui est inévitablement généré en raison d'un angle d'inclinaison d'une surface de roulement sur laquelle le véhicule roule, pour qu'il soit adapté à la position du véhicule. Par conséquent, il est possible de reconnaître une position de véhicule plus précise pendant la conduite autonome, et ainsi d'empêcher un accident et similaire en répondant à des informations de milieu environnant sans erreur.
PCT/KR2021/010909 2020-11-25 2021-08-17 Dispositif pour corriger un signal de position d'un véhicule autonome en utilisant des informations d'image de surface de roulement WO2022114455A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
KR1020200159571A KR102343020B1 (ko) 2020-11-25 2020-11-25 노면 영상정보를 이용한 자율주행 차량의 위치신호 보정장치
KR10-2020-0159571 2020-11-25

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200284889A1 (en) * 2019-03-05 2020-09-10 Toyota Jidosha Kabushiki Kaisha Axis deviation detection device for on-board lidar

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20230117819A (ko) 2022-02-03 2023-08-10 한화에어로스페이스 주식회사 주행 장치 및 주행 제어 방법

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JP2006275969A (ja) * 2005-03-30 2006-10-12 Clarion Co Ltd 傾斜角算出装置及びナビゲーション装置
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KR20190064798A (ko) * 2017-12-01 2019-06-11 현대자동차주식회사 라이다를 이용한 노면 검출 시스템 및 그를 이용한 노면의 검출 방법
KR101977749B1 (ko) * 2017-11-21 2019-08-28 현대오트론 주식회사 노면 기울기를 이용한 차량 위치 추정 장치 및 그것의 위치 추정 방법

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JP5088401B2 (ja) * 2010-06-23 2012-12-05 日本電気株式会社 道路構造測定方法および道路面測定装置
KR102001659B1 (ko) 2012-11-19 2019-07-19 한국전자통신연구원 차량용 카메라 캘리브레이션 장치 및 방법
KR20180055292A (ko) 2016-11-16 2018-05-25 국민대학교산학협력단 다중 라이다 좌표계 통합 방법

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* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH06317652A (ja) * 1993-04-30 1994-11-15 Suzuki Motor Corp Ｇｐｓ車両位置検出システム
JP2006275969A (ja) * 2005-03-30 2006-10-12 Clarion Co Ltd 傾斜角算出装置及びナビゲーション装置
KR20140073261A (ko) * 2012-12-06 2014-06-16 현대자동차주식회사 차량의 gps 위치 오차 보정 방법
KR101977749B1 (ko) * 2017-11-21 2019-08-28 현대오트론 주식회사 노면 기울기를 이용한 차량 위치 추정 장치 및 그것의 위치 추정 방법
KR20190064798A (ko) * 2017-12-01 2019-06-11 현대자동차주식회사 라이다를 이용한 노면 검출 시스템 및 그를 이용한 노면의 검출 방법

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20200284889A1 (en) * 2019-03-05 2020-09-10 Toyota Jidosha Kabushiki Kaisha Axis deviation detection device for on-board lidar
US11500080B2 (en) * 2019-03-05 2022-11-15 Toyota Jidosha Kabushiki Kaisha Axis deviation detection device for on-board LIDAR

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