WO2023033309A1

WO2023033309A1 - Real-time travel lane detection method and system for autonomous/remote traveling and v2x service

Info

Publication number: WO2023033309A1
Application number: PCT/KR2022/007395
Authority: WO
Inventors: 김진욱; 이황현
Original assignee: (주)이씨스
Priority date: 2021-09-02
Filing date: 2022-05-25
Publication date: 2023-03-09
Also published as: KR102477547B1

Abstract

Provided are a method and a system for detecting a travel lane in real time on the basis of GPS information and a map information message generated according to SAE J2735 standards. A real-time travel lane detection system according to an embodiment of the present invention comprises: a GSP collection unit for collecting GPS information; a communication unit for receiving map information from a roadside base station; and a processor for detecting, on the basis of the GPS information and the map information, the travel lane in which a vehicle currently travels. Therefore, the travel lane can be detected on the basis of the GPS information and the map information, and, further, the validity of the received map information is verified and the validity of the detected travel lane is verified so that travel lane detection reliability can be improved.

Description

Real-time driving lane detection method and system for autonomous/remote driving and V2X service

The present invention relates to a method and system for detecting a driving lane in real time, and more particularly, to a method and system for detecting a driving lane in real time based on GPS information and a map information message generated according to the SAE J2735 standard.

As autonomous driving technology or driving assistance technology of vehicles has recently developed, vehicles can recognize various surrounding information, and based on the recognized surrounding information, operate the vehicle without manipulating the driver or assist the driver in driving the vehicle. is being implemented

In the case of a vehicle to which such self-driving technology or driving assistance technology is applied, lane recognition is essential when driving or assisting driving. Recognition skills are essential.

Existing driving lane recognition recognizes the driving lane by first recognizing the lane, and most lane recognition is performed based on the acquired image information by obtaining image information through an image sensor or LIDAR. In this case, there is a disadvantage that expensive costs are consumed, and there is a problem that it is difficult to identify the lane when the lane of the driving lane is blurred, contaminated, or disappears.

The present invention has been made to solve the above problems, and an object of the present invention is to provide a real-time driving lane detection method and system capable of detecting a driving lane based on GPS information and map information.

Another object of the present invention is to provide a real-time driving lane detection method and system capable of verifying the validity of received map information and the validity of a detected driving lane.

According to an embodiment of the present invention for achieving the above object, a real-time driving lane detection system includes a GPS collection unit for collecting GPS information; a communication unit receiving map information from a roadside base station; and a processor for detecting a driving lane in which the vehicle is currently driving based on GPS information and map information.

Here, the map information is generated according to the SAE J2735 standard and may include vehicle location information and lane information.

When the GPS information and map information are obtained, the processor compares the GPS information and the location information of the vehicle included in the map information before performing a driving lane detection operation, and the validity of the map information to be used for detecting the driving lane. can be verified.

In addition, in order to verify the validity of the map information to be used for detecting the driving lane, the processor analyzes the map information to determine the distance error between the vehicle whose location is determined based on the GPS information and the location information of the vehicle included in the map information. It determines whether or not it is within a set effective distance, and the map is calculated based on the direction angle of the vehicle calculated based on the GPS information accumulated during the preset time range and the location information of the vehicle included in the map information accumulated during the preset time range. It is possible to determine whether the angular error between direction angles of is within a predetermined effective angle, and select only map information for which the distance error and the angle error are determined to be within a predetermined effective distance and effective angle.

And, when the validity of the map information is verified, the processor calculates the distance between all the coordinates included in the validated map information and the current coordinates of the vehicle whose position is determined based on the GPS information, respectively, and the vehicle determined by the GPS information. Based on the location of FRONT_MIN_POINT, which is the closest coordinate among coordinates arranged toward the direction of travel of the vehicle, and REAR_MIN_POINT, which is the closest coordinate among coordinates arranged toward the opposite direction of travel of the vehicle based on the location of the vehicle determined by GPS information, is set, respectively, and it is determined whether FRONT_MIN_POINT and REAR_MIN_POINT are the same lane, and if it is determined that they are the same lane, the coordinates included in the map information where the angular error between the vehicle's heading angle and the map's heading angle is within the preset effective angle are used. Thus, the driving lane in which the vehicle is currently driving may be detected.

In addition, the processor calculates the distance between all coordinates included in the validated map information and the current coordinates of the vehicle whose location is confirmed based on the GPS information, respectively, the distance between the coordinates included in the map information and the current coordinates of the vehicle. selects coordinates within a preset effective distance, sets coordinates disposed toward the traveling direction of the vehicle among the selected coordinates as FRONT_POINT, sets coordinates disposed toward the direction opposite to the traveling direction of the vehicle as REAR_POINT, and By connecting FRONT_POINTs, creating a virtual FRONT straight line, setting the coordinates that are the shortest distance along the traveling direction of the vehicle among the coordinates located on the created virtual FRONT straight line as FRONT_MIN_POINT, connecting a plurality of REAR_POINTs, A virtual REAR straight line may be created, and among coordinates located on the created virtual REAR straight line, a coordinate having the shortest distance along the driving direction of the vehicle may be set as REAR_MIN_POINT.

In addition, the processor validates the validity of the map information in order to distinguish between a lane matching the direction of the vehicle and a lane matching the opposite direction of the vehicle in the map information within an effective area where V2X communication between a specific roadside base station (RSU) and the vehicle is possible. Excluding the area where the coordinates of the point where the distance between all the coordinates included in the map information and the current coordinates of the vehicle whose location is determined based on the GPS information exceeds the preset effective distance is arranged from the lane matching the driving direction of the vehicle can make it

In addition, the processor determines whether FRONT_MIN_POINT and REAR_MIN_POINT are on the same lane, and when determined to be different lanes, the distance between the vehicle whose location is determined based on GPS information and the FRONT_MIN_POINT and the vehicle whose location is determined based on GPS information A driving lane in which the vehicle is currently driving may be detected using coordinates included in map information in which all distances between REAR_MIN_POINTs are within a predetermined effective distance.

And, when the lane information of the received map information is changed, in order to determine whether the driving lane is maintained, the processor accumulates and calculates the distance error between the coordinates of the vehicle and each FRONT_POINT during a preset time domain. value and the cumulative trend value of the angular error calculated by accumulating the angular error between the vehicle's heading angle and the map's heading angle during the preset time domain, the cumulative trend value of the distance error and the cumulative trend value of the angle error calculated in the previous time domain, and After comparison, if the cumulative trend value of the distance error or angle error fluctuates by more than a preset threshold value, it is determined that the driving lane has changed, and a new driving lane detection operation may be performed.

Meanwhile, according to another embodiment of the present invention, a method for detecting a driving lane in real time includes obtaining, by a real-time driving lane detection system, GPS information and map information; and detecting, by a real-time driving lane detection system, a driving lane in which the vehicle is currently driving based on the GPS information and the map information.

As described above, according to the embodiments of the present invention, a driving lane can be detected based on GPS information and map information, and furthermore, by verifying the validity of the received map information and validating the detected driving lane, , it is possible to improve the detection reliability of the driving lane.

1 is a diagram provided for explanation of a real-time driving lane detection system according to an embodiment of the present invention;

2 is a diagram illustrating a map information message generated according to the JAE J2735 standard according to an embodiment of the present invention;

3 is a diagram illustrating FRONT_POINT and REAR_POINT among coordinates included in map information according to an embodiment of the present invention;

4 is a diagram provided for explanation of a direction angle of a vehicle according to an embodiment of the present invention;

5 is a view provided for explaining a process of distinguishing a lane in the direction of travel of a vehicle and a lane in the opposite direction of travel according to an embodiment of the present invention; and

6 is a diagram provided to explain a method for detecting a driving lane in real time according to an embodiment of the present invention.

Hereinafter, the present invention will be described in more detail with reference to the drawings.

1 is a diagram provided to explain a real-time driving lane detection system according to an embodiment of the present invention, and FIG. 2 is a diagram illustrating a map information message generated according to the JAE J2735 standard according to an embodiment of the present invention. 3 is a diagram illustrating FRONT_POINT and REAR_POINT among coordinates included in map information according to an embodiment of the present invention, and FIG. 4 is a diagram illustrating a direction angle of a vehicle according to an embodiment of the present invention. This is the drawing provided.

A real-time driving lane detection system according to an embodiment of the present invention may detect a driving lane based on GPS information and map information, verify the validity of the received map information, and verify the validity of the detected driving lane. can

To this end, the real-time driving lane detection system may include a GPS collection unit 110, a communication unit 120, a processor 130, and a storage unit 140.

The GPS collection unit 110 is provided to collect GPS information, and the communication unit 120 is provided with a WAVE communication module provided to transmit and receive data necessary for the processor 130 to operate. For example, the communication unit 120 may receive map information from a WAVE communication terminal or roadside base station installed in another vehicle through a WAVE communication module.

Here, the map information may be generated according to the SAE J2735 standard based on data supported by a map program such as Google Earth, and includes vehicle location information and lane information using a UTM (Universal Transverse Mercator Coordinate System) coordinate system. can do. Specifically, in map information, as illustrated in FIG. 2 , information about a corresponding lane is stored in a name part.

The storage unit 140 is a storage medium that stores programs and data necessary for the processor 130 to operate.

When the GPS information and the map information are acquired, the processor 130 compares the GPS information and the location information of the vehicle included in the map information before performing a driving lane detection operation, and map information to be used for detecting the driving lane. validity can be verified.

Specifically, the processor 130 analyzes the map information to determine whether a distance error between the location information of the vehicle included in the map information and the vehicle whose location is determined based on the GPS information is within a predetermined effective distance, and The angular error between the vehicle's heading angle calculated based on the GPS information accumulated during the set time range and the map heading angle calculated based on the vehicle location information included in the map information accumulated during the preset time range is the preset effective angle. It is possible to verify the validity of the map information to be used for detecting the driving lane by determining whether or not it is within the range.

Here, a predetermined time domain used when calculating the vehicle's direction angle and the map's direction angle may be 100 ms.

In this case, the processor 130 selects only map information for which distance errors and angle errors are determined to be within preset effective distances and effective angles, and may be used to detect driving lanes.

In addition, when the validity of the map information is verified, the processor 130 calculates distances between all the coordinates included in the validated map information and the current coordinates of the vehicle whose position is determined based on the GPS information, respectively, and provides the GPS information. FRONT_MIN_POINT, which is the closest among the coordinates arranged toward the direction of travel of the vehicle based on the location of the vehicle determined by , and FRONT_MIN_POINT, which is the closest coordinate among coordinates arranged toward the opposite direction of travel of the vehicle based on the location of the vehicle determined by GPS information. A driving lane in which the vehicle is currently driving may be detected by setting REAR_MIN_POINT, which is a close coordinate, respectively.

Specifically, the processor 130 calculates the distance between all the coordinates included in the map information for which validity has been verified and the current coordinates of the vehicle whose location is determined based on the GPS information, respectively, as illustrated in FIG. 3 . Selects coordinates whose distance between the coordinates included in and the current coordinates of the vehicle is within a preset effective distance, sets coordinates disposed toward the vehicle's traveling direction among the selected coordinates as FRONT_POINT, and sets the opposite direction of the vehicle's traveling Set the coordinates disposed towards the direction as REAR_POINT, connect a plurality of FRONT_POINTs to create a virtual FRONT straight line, and among the coordinates located on the created virtual FRONT straight line, the coordinates that are the shortest distance along the vehicle's traveling direction are FRONT_MIN_POINT , a plurality of REAR_POINTs are connected, a virtual REAR straight line is created, and among the coordinates located on the created virtual REAR straight line, a coordinate that is the shortest distance along the traveling direction of the vehicle may be set as REAR_MIN_POINT.

In addition, if FRONT_MIN_POINT and REAR_MIN_POINT are set, the processor 130 determines whether FRONT_MIN_POINT and REAR_MIN_POINT are the same lane, and if it is determined that the FRONT_MIN_POINT and REAR_MIN_POINT are the same lane, the angular error between the vehicle's heading angle and the map's heading angle is a predetermined effective angle. A driving lane in which the vehicle is currently driving may be detected using coordinates included in the map information within the range.

Here, the bearing angle of the vehicle means an angle between the true north direction and the traveling direction of the vehicle, as illustrated in FIG. means the angle

Further, the processor 130 determines whether FRONT_MIN_POINT and REAR_MIN_POINT are the same lane, and if determined to be different lanes, the distance between the vehicle whose location is determined based on GPS information and FRONT_MIN_POINT and the location is determined based on GPS information. A driving lane in which the vehicle is currently driving may be detected using coordinates included in map information in which a distance between the vehicle and the REAR_MIN_POINT is within a predetermined effective distance.

That is, the processor 130 selects coordinates within an effective angle or coordinates within an effective transaction among coordinates included in the map information, compares the selected coordinates with GPS information, and calculates lane values included in the map information. It is possible to detect the driving lane in this way.

In addition, the processor 130 may determine whether the detection value of the driving lane is maintained for a predetermined time, such as 1 to 2 seconds, to determine whether the detection of the driving lane is successful. This is to prevent the processor 130 from momentarily detecting a driving lane due to an error in acquiring GPS information.

Meanwhile, when lane information of the received map information is changed, the processor 130 determines whether to maintain a driving lane, thereby preventing an error in acquiring map information.

Specifically, in order to determine whether or not to maintain a driving lane when the lane information of the received map information is changed, the processor 130 accumulates and calculates distance errors between the coordinates of the vehicle and each FRONT_POINT during a preset time domain. The cumulative trend value of the distance error and the cumulative trend value of the angular error calculated by accumulating the angular error between the vehicle's heading angle and the map's heading angle during the preset time domain are the cumulative trend value of the distance error and the angle error calculated in the previous time domain. , and when the accumulated trend value of the distance error or angle error fluctuates more than a predetermined threshold value, it is determined that the driving lane has changed, and a new driving lane detection operation may be performed. Here, the time domain for calculating the distance error and the angle error may be set in units of 1 to 2 seconds.

FIG. 5 is a diagram provided to explain a process of distinguishing a lane in the direction of travel of a vehicle and a lane in the opposite direction of travel according to an embodiment of the present invention.

Referring to FIG. 5 , the processor 130 may exclude opposite lanes L5 to L8 traveling in the opposite direction of the vehicle based on GPS information and all coordinates included in map information for which validity has been verified.

Specifically, the processor 130 matches lanes L1 to L4 matching the driving direction of the vehicle with map information in an effective area in which V2X communication between a specific roadside base station (RSU) and the vehicle is possible and the opposite direction of the vehicle traveling. The coordinates of the point where the distance between all the coordinates included in the validated map information and the current coordinates of the vehicle whose location is confirmed based on the GPS information exceeds the preset effective distance in order to distinguish the lanes (L5 to L8). The area in which these are disposed may be excluded from the lanes L1 to L4 coinciding with the traveling direction of the vehicle.

The real-time driving lane detection method according to the present embodiment may be executed by the real-time driving lane detection system described above with reference to FIGS. 1 to 5 .

In the real-time driving lane detection method, when the processor 130 of the real-time driving lane detection system obtains GPS information and map information through the communication unit 120 and the GPS collecting unit 110 (S610), the driving lane detection operation is performed. Prior to execution, the validity of the map information to be used for detecting the driving lane may be verified by comparing the GPS information and the location information of the vehicle included in the map information (S620).

In addition, in the real-time driving lane detection method, when the validity of the map information is verified (S620-Y), the distance between all coordinates included in the validated map information and the current coordinates of the vehicle whose position is determined based on the GPS information is determined. Each is calculated (S630), and the area where the coordinates of the point where the distance between all coordinates included in the validated map information and the current coordinates of the vehicle whose location is determined based on the GPS information exceeds the preset effective distance is arranged. It can be excluded from the lane matching the direction of travel of the vehicle (S640).

In addition, the real-time driving lane detection method is based on the location of the vehicle determined by GPS information and FRONT_MIN_POINT, which is the closest coordinate among coordinates arranged toward the direction of travel of the vehicle based on the location of the vehicle determined by GPS information, and the vehicle's progress based on the location of the vehicle determined by GPS information. REAR_MIN_POINT, which is the closest coordinate among coordinates disposed in the opposite direction, is set (S650), and when FRONT_MIN_POINT and REAR_MIN_POINT are set, FRONT_MIN_POINT and REAR_MIN_POINT are compared (S660), and it is determined whether FRONT_MIN_POINT and REAR_MIN_POINT are the same lane (S670), when it is determined as the same lane (S670-Y), the driving lane in which the vehicle is currently driving using the coordinates included in the map information in which the angular error between the vehicle's heading angle and the map's heading angle is within a predetermined effective angle can be detected (S680).

Conversely, the real-time driving lane detection method determines whether FRONT_MIN_POINT and REAR_MIN_POINT are the same lane, and if they are determined as different lanes (S670-N), the distance between the vehicle whose position is determined based on GPS information and FRONT_MIN_POINT and GPS information A driving lane in which the vehicle is currently driving may be detected using coordinates included in map information in which the distances between the vehicle whose position is determined based on REAR_MIN_POINT are all within a predetermined effective distance (S685).

Further, in the real-time driving lane detection method, when a driving lane is detected, it may be determined whether or not the detection value of the driving lane is maintained for a predetermined time (S690).

Specifically, in the real-time driving lane detection method, if the detection value is maintained for a predetermined time after the driving lane is detected (S690-Y), it is determined that the driving lane detection has succeeded (S693), and autonomous or assisted driving is performed. , and the detection value of the driving lane can be included in the BMS message according to the SAE J2735 standard and transmitted to the roadside base station or WAVE communication terminal of other vehicles.

Meanwhile, it goes without saying that the technical spirit of the present invention can also be applied to a computer-readable recording medium containing a computer program for performing the functions of the apparatus and method according to the present embodiment. In addition, technical ideas according to various embodiments of the present invention may be implemented in the form of computer readable codes recorded on a computer readable recording medium. The computer-readable recording medium may be any data storage device that can be read by a computer and store data. For example, the computer-readable recording medium may be ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical disk, hard disk drive, and the like. In addition, computer readable codes or programs stored on a computer readable recording medium may be transmitted through a network connected between computers.

In addition, although the preferred embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and the technical field to which the present invention belongs without departing from the gist of the present invention claimed in the claims. Of course, various modifications are possible by those skilled in the art, and these modifications should not be individually understood from the technical spirit or perspective of the present invention.

Claims

a GPS collection unit that collects GPS information;

a communication unit receiving map information from a roadside base station; and

A real-time driving lane detection system comprising: a processor for detecting a driving lane in which a vehicle is currently driving based on GPS information and map information.
The method of claim 1,

map information,

A real-time driving lane detection system, which is generated according to the SAE J2735 standard and includes vehicle location information and lane information.
The method of claim 2,

the processor,

When the GPS information and map information are obtained, the validity of the map information to be used for detecting the driving lane is verified by comparing the GPS information and the location information of the vehicle included in the map information before performing the driving lane detection task. Real-time driving lane detection system.
The method of claim 3,

the processor,

In order to verify the validity of the map information to be used for detecting driving lanes, the map information is analyzed to determine whether the distance error between the vehicle whose position is determined based on the GPS information and the location information of the vehicle included in the map information is within a predetermined effective distance. the angle between the direction angle of the vehicle calculated based on the GPS information accumulated during the preset time area and the direction angle of the map calculated based on the location information of the vehicle included in the map information accumulated during the preset time area. A real-time driving lane detection system, characterized in that it determines whether the error is within a preset effective angle, and selects only map information for which the distance error and angle error are determined to be within a preset effective distance and effective angle.
The method of claim 3,

the processor,

When the validity of the map information is verified, the distance between all coordinates included in the validated map information and the current coordinates of the vehicle whose position is determined based on the GPS information is calculated, respectively;

FRONT_MIN_POINT, which is the closest coordinate among the coordinates arranged toward the direction of the vehicle based on the location of the vehicle determined by GPS information, and coordinates arranged toward the opposite direction of the vehicle based on the location of the vehicle determined by GPS information Set REAR_MIN_POINT, which is the closest coordinate among

It is determined whether FRONT_MIN_POINT and REAR_MIN_POINT are in the same lane, and if it is determined that they are in the same lane, the vehicle is currently driving using the coordinates included in the map information where the angular error between the vehicle's heading angle and the map's heading angle is within a predetermined effective angle. A real-time driving lane detection system, characterized in that for detecting a running lane.
The method of claim 5,

the processor,

If the distances between all the coordinates included in the validated map information and the current coordinates of the vehicle whose location is determined based on the GPS information are calculated, the distance between the coordinates included in the map information and the current coordinates of the vehicle is the predetermined effective distance. Select coordinates that are within

Among the selected coordinates, coordinates disposed toward the direction of travel of the vehicle are set as FRONT_POINT, and coordinates disposed toward the opposite direction of travel of the vehicle are set as REAR_POINT,

A plurality of FRONT_POINTs are connected to create a virtual FRONT straight line, and among the coordinates located on the created virtual FRONT straight line, the coordinates that are the shortest distance along the traveling direction of the vehicle are set as FRONT_MIN_POINT,

A real-time driving lane characterized by connecting a plurality of REAR_POINTs to create a virtual REAR straight line, and setting the coordinates that are the shortest distance along the driving direction of the vehicle among the coordinates located on the created virtual REAR straight line as the REAR_MIN_POINT detection system.
The method of claim 5,

the processor,

Within an effective area where V2X communication between a specific roadside base station (RSU) and a vehicle is possible, in order to distinguish a lane matching the vehicle's traveling direction and a lane matching the opposite direction of the vehicle's traveling in the map information, the validated map information Excluding the area where the coordinates of the point where the distance between all included coordinates and the current coordinates of the vehicle whose location is determined based on the GPS information exceeds a preset effective distance is arranged from the lane matching the traveling direction of the vehicle real-time driving lane detection system.
The method of claim 5,

the processor,

Determines whether FRONT_MIN_POINT and REAR_MIN_POINT are in the same lane, and if determined as different lanes, both the distance between the vehicle whose location is determined based on GPS information and the FRONT_MIN_POINT and the distance between the vehicle whose location is determined based on GPS information and the REAR_MIN_POINT are both A real-time driving lane detection system, characterized in that for detecting a driving lane in which a vehicle is currently driving using coordinates included in map information within a predetermined effective distance.
The method of claim 5,

the processor,

When the lane information of the received map information is changed, in order to determine whether the driving lane is maintained, the cumulative trend value of the distance error calculated by accumulating the distance error between the coordinates of the vehicle and each FRONT_POINT during the preset time region and the preset Compare the cumulative trend value of the angular error calculated by accumulating the angular error between the vehicle's heading angle and the map's heading angle during the time domain with the cumulative trend value of the distance error and the cumulative trend value of the angle error calculated in the previous time domain,

A real-time driving lane detection system, characterized in that, if the cumulative trend value of the distance error or angle error fluctuates by more than a predetermined threshold value, it is determined that the driving lane has changed and a new driving lane detection operation is performed.
Acquiring, by a real-time driving lane detection system, GPS information and map information; and

A real-time driving lane detection method comprising: detecting, by a real-time driving lane detection system, a driving lane in which a vehicle is currently driving based on GPS information and map information.