WO2023158058A1 - Safe-driving support device and method of autonomous driving vehicle in intersection dilemma zone - Google Patents
Safe-driving support device and method of autonomous driving vehicle in intersection dilemma zone Download PDFInfo
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- WO2023158058A1 WO2023158058A1 PCT/KR2022/017599 KR2022017599W WO2023158058A1 WO 2023158058 A1 WO2023158058 A1 WO 2023158058A1 KR 2022017599 W KR2022017599 W KR 2022017599W WO 2023158058 A1 WO2023158058 A1 WO 2023158058A1
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- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000004891 communication Methods 0.000 claims abstract description 68
- 238000013459 approach Methods 0.000 claims description 6
- 206010039203 Road traffic accident Diseases 0.000 abstract description 8
- 230000003247 decreasing effect Effects 0.000 abstract 1
- 230000001276 controlling effect Effects 0.000 description 27
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- 238000001514 detection method Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 5
- 238000005259 measurement Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
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- 238000012545 processing Methods 0.000 description 2
- 230000009467 reduction Effects 0.000 description 2
- 238000013473 artificial intelligence Methods 0.000 description 1
- 239000003086 colorant Substances 0.000 description 1
- 238000012790 confirmation Methods 0.000 description 1
- 230000002452 interceptive effect Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/44—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating braking action or preparation for braking, e.g. by detection of the foot approaching the brake pedal
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60Q—ARRANGEMENT OF SIGNALLING OR LIGHTING DEVICES, THE MOUNTING OR SUPPORTING THEREOF OR CIRCUITS THEREFOR, FOR VEHICLES IN GENERAL
- B60Q1/00—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor
- B60Q1/26—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic
- B60Q1/50—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking
- B60Q1/52—Arrangement of optical signalling or lighting devices, the mounting or supporting thereof or circuits therefor the devices being primarily intended to indicate the vehicle, or parts thereof, or to give signals, to other traffic for indicating other intentions or conditions, e.g. request for waiting or overtaking for indicating emergencies
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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
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
- B60W30/18—Propelling the vehicle
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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
- B60W40/04—Traffic conditions
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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
- B60W40/10—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 vehicle motion
- B60W40/105—Speed
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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
- B60W60/00—Drive control systems specially adapted for autonomous road vehicles
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots
Definitions
- the present invention relates to an apparatus for supporting safe driving of an autonomous vehicle and a method for supporting safe driving, and more particularly, to an apparatus and method for supporting safe driving of an autonomous vehicle in an intersection dilemma zone.
- An autonomous vehicle refers to a vehicle capable of self-driving to a set destination by collecting external information on its own, grasping surrounding traffic conditions, and establishing a driving plan without driver manipulation.
- Self-driving vehicles are a combination of state-of-the-art technologies such as state-of-the-art sensors that recognize objects through various sensors while driving, network communication that exchanges mutual information, and an artificial intelligence control system that receives, processes, and judges various collected data in real time.
- map information information generated on the road to the driving destination, such as traffic information, road construction, and traffic accident information, is received and processed in real time.
- a technology in the form of mutually exchanging information with surrounding vehicles has also been developed. Using this information, the driver can preemptively identify the danger of the vehicle before driving and drive safely.
- the number of traffic accidents that occurred in the intersection area in 2017 is about 47% of all traffic accidents, and the frequency of occurrence is high enough to account for the largest portion.
- the section where it is impossible to pass the intersection is called the dilemma zone.
- the present invention has been made to solve the above problems, and an object of the present invention is to reduce the length of the intersection dilemma zone when an autonomous vehicle passes through an intersection, thereby reducing the time required to determine whether or not the intersection has passed and causing a traffic accident at the intersection Safe operation support device for autonomous vehicles that can reduce the frequency of dangerous situations such as preventing vehicles from stopping in intersections or crossings and interfering with the passage of other vehicles or pedestrians, as well as reducing the risk of It is to provide a safe driving support method.
- a safe driving support method performed in a dilemma zone at an intersection by a safe driving support device provided in an autonomous vehicle interlocking with an external device for autonomous driving is the external device Checking whether V2X (Vehicle to Everything) communication is possible with; Collecting information about different driving environments of the vehicle from the external device according to whether the V2X (Vehicle to Everything) communication is available; detecting an intersection on a driving route along which the vehicle travels based on information about a driving environment; Controlling the vehicle by determining whether it is possible to pass through the intersection based on the information on the driving environment, and in the step of collecting information on the different driving environments of the vehicle, V2X (Vehicle to X) with the external device to Everything) communication is impossible, first driving environment information including color information of the traffic lights located at the intersection is collected, and if V2X (Vehicle to Everything) communication with the external device is possible, the traffic lights located at
- the controlling of the vehicle may include determining a stopping point of the vehicle and controlling the vehicle to stop at the stopping point; and controlling the vehicle to pass through an intersection by maintaining driving of the vehicle.
- the step of controlling the vehicle if vehicle to everything (V2X) communication with the external device is impossible, after the step of detecting the intersection, if the vehicle approaches the detected intersection within a certain distance, the section of the dilemma zone is determined.
- the driving speed of the vehicle may be accelerated within a prescribed speed of the road on which it is traveling and controlled to pass through the intersection. there is.
- the controlling of the vehicle further includes checking color information of the traffic light included in the first driving environment information, and in the controlling to stop at the stopping point, the color information is set to a preset color. If the information does not match, the stop point may be determined as the stop line of the intersection or the rear of the preceding vehicle.
- the controlling of the vehicle may include determining whether to secure a safe distance from the following vehicle while maintaining driving of the vehicle when the color information matches preset color information; and controlling the vehicle so that a brake lamp of the vehicle flickers while maintaining the driving of the vehicle when the safety distance is not secured.
- the controlling of the vehicle may include reconfirming color information of the traffic light; determining the driving mode of the preceding vehicle when the reconfirmed color information of the traffic light matches preset color information; and if the color information of the reconfirmed traffic light does not match the preset color information, determining whether or not the stop line can be stopped and preset conditions are satisfied. If stopping at the stop line is possible and meeting a predetermined condition in the step of determining, or if it is determined that the driving mode of the preceding vehicle is stopped or slowed down within the intersection in the step of determining the driving mode of the preceding vehicle, the vehicle stops The point can be determined as the stop line of the intersection.
- the driving mode of the preceding vehicle is normal driving within the intersection in the step of determining the driving mode of the preceding vehicle, or the driving mode of the preceding vehicle is determined to be normal driving in the step of determining whether the condition is satisfied. It may be a step that is performed when at least one of stop line stopping is impossible and predetermined conditions are not satisfied.
- the vehicle In the step of controlling the vehicle to pass through the intersection, when the vehicle is controlled to pass through the intersection in response to at least one of the stop line not being able to stop and the predetermined condition not being satisfied, the vehicle may be controlled to turn on the emergency lights and output the horn. there is.
- the controlling of the vehicle may include checking a current signal included in the second driving environment information; and comparing a time required for the vehicle to arrive at a stop line at an intersection at the current speed with a remaining time of the current signal when the current signal matches predetermined signal information. and determining the driving type of the preceding vehicle if the required time is shorter than the remaining time in the step of comparing with the remaining time.
- the current signal does not match preset signal information, the required time is greater than or equal to the remaining time, or the driving mode of the preceding vehicle within the intersection is slow or stopped. If it is determined that the stop point is the stop line of the intersection or the rear of the preceding vehicle, the stopping point may be determined.
- controlling to pass through the intersection may be performed when it is determined that the driving type of the preceding vehicle is normal driving in the intersection.
- the safety driving support device provided in an autonomous vehicle that interworks with an external device for autonomous driving determines whether V2X (Vehicle to Everything) communication with the external device is possible.
- Communication determination unit to check; an information collection unit that collects information about different driving environments of the vehicle from the external device according to whether the V2X (Vehicle to Everything) communication is available; an intersection detecting unit detecting an intersection on a driving path along which the vehicle travels based on information about a driving environment; a driving deceleration unit that reduces a driving speed of the vehicle to reduce a section of the dilemma zone when the vehicle approaches the detected intersection within a predetermined distance; and a driving determination unit configured to control the vehicle by determining whether an intersection can be passed based on the information on the driving environment, wherein the information collection unit, when vehicle to everything (V2X) communication with the external device is impossible, the If the first driving environment information including the color information of the traffic lights located at the intersection is collected and V2X (Vehicle to Everything) communication with the external device is possible, the current signal currently being output from the traffic lights located at the intersection and the current signal Second driving environment information including remaining time is collected.
- V2X Vehicle to Everything
- the length of the intersection dilemma zone is reduced to determine whether the intersection passes. It can reduce the required time and reduce the risk of traffic accidents at intersections, as well as reduce the frequency of dangerous situations such as obstructing the passage of other vehicles or pedestrians by preventing vehicles from stopping in intersections or crossings.
- FIG. 1 is a diagram showing an intersection environment to which a safe driving support device according to an embodiment of the present invention is applied;
- FIG. 2 is a view showing how a safe driving support device according to an embodiment of the present invention is interlocked with an external device;
- FIG. 3 is a diagram showing a safe driving support device according to an embodiment of the present invention.
- FIG. 4 is a flowchart illustrating a safe driving support method performed by the safe driving support device of FIG. 3 in a dilemma zone of an intersection;
- FIG. 5 is a flowchart illustrating a safe driving support method performed by the safe driving support apparatus of FIG. 3 in a dilemma zone of an intersection when V2X (Vehicle to Everything) communication is not used;
- FIG. 6 is a flowchart illustrating a safe driving support method performed by the safe driving support apparatus of FIG. 3 in a dilemma zone of an intersection when V2X (Vehicle to Everything) communication is used.
- V2X Vehicle to Everything
- Components according to the present invention are components defined not by physical division but by functional division, and may be defined by the functions each performs.
- Each of the components may be implemented as hardware or program codes and processing units that perform respective functions, and the functions of two or more components may be implemented by being included in one component. Therefore, the names given to the components in the following embodiments are not to physically distinguish each component, but to imply the representative function performed by each component, and the names of the components indicate the present invention. It should be noted that the technical idea of is not limited.
- FIG. 1 is a diagram showing an intersection environment to which a safe driving support device 100 according to an embodiment of the present invention is applied
- FIG. 2 is a diagram showing a safe driving support device 100 according to an embodiment of the present invention interworking with an external device. This is a drawing showing what it would look like.
- a safe driving support device (100, hereinafter) according to an embodiment of the present invention is provided in the self-driving vehicle 200 that interworks with an external device for autonomous driving so that the self-driving vehicle 200 is in the dilemma zone at the intersection (I). It is provided to safely pass through the intersection (I) or stop.
- the device 100 may collect information about the driving environment of the vehicle 200 from an external device, and at this time, depending on whether Vehicle to Everything (V2X) communication with the external device is possible, the device 100 may collect information about different driving environments. can be collected
- V2X Vehicle to Everything
- Information on the driving environment may include first driving environment information collected when Vehicle to Everything (V2X) communication is impossible and second driving environment information collected when Vehicle to Everything (V2X) communication is possible.
- the first driving environment information may include color information of the traffic light TR located at the intersection
- the second driving environment information may include the current signal being output at the traffic light TR located at the intersection and the remaining time of the current signal.
- the external device is a device for collecting information necessary for autonomous driving and may be provided in the self-driving vehicle 200 itself or in the device 100 including a separate sensor. As shown, a camera 10, a lidar sensor 20, a radar sensor 30, an inertial measurement unit (IMU) 40, a global positioning system (GPS) ( 50), V2X (Vehicle to Everything) terminal 60, and the like.
- a camera 10 a lidar sensor 20, a radar sensor 30, an inertial measurement unit (IMU) 40, a global positioning system (GPS) ( 50), V2X (Vehicle to Everything) terminal 60, and the like.
- GPS global positioning system
- V2X Vehicle to Everything
- the device 100 may collect driving environment information from these external devices, and at this time, the V2X terminal 60 is a traffic infrastructure such as V2V (Vehicle to Vehicle) communication and traffic lights (TR) informing of forward traffic conditions and approach between vehicles. It may refer to a terminal capable of V2I (Vehicle to Infrastructure) communication, V2P (Vehicle to Pedestrian) communication that supports pedestrian information, and the like.
- V2V Vehicle to Vehicle
- TR traffic lights
- the device 100 transmits a Signal Phase And Timing (SPAT) message defined in the SAE J2735 standard from the V2X terminal 60 through an On-Board Unit (OBU) installed in the vehicle 200 or a RoadSide Unit (RSU) installed at an intersection.
- STA Signal Phase And Timing
- OBU On-Board Unit
- RSU RoadSide Unit
- Signal Phase And Timing (SPAT) message can include intersection ID, intersection status, current signal, and signal remaining time
- RSA (RoadSide Alert) message includes intersection accident, type of warning event (intersection accident, road construction, etc.), corresponding It may include road hazard warning information such as the contents of the warning event and the location where the event occurred.
- the above-described first driving environment information includes information collected from the camera 10, information collected from the lidar sensor 20, information collected from the radar sensor 30, and inertial measurement.
- Information collected from an Inertial Measurement Unit (IMU) 40 and information collected from a Global Positioning System (GPS) 50 may be included.
- the second driving environment information may include the first driving environment information and a RoadSide Alert (SPAT) message and a RoadSide Alert (RSA) message collected from the V2X terminal 60 .
- STA RoadSide Alert
- RSA RoadSide Alert
- the first and second driving environment information includes the driving type of the preceding vehicle located in front of the vehicle 200 (for example, stopping, slow driving, normal driving), and the vehicle distance with the following vehicle located at the rear of the vehicle 200.
- Distance, speed, and high-definition maps may be included.
- a camera 10 a lidar sensor 20, a radar sensor 30, an inertial measurement unit (IMU) 40, and a global positioning unit (GPS) System 50 is illustrated as being provided outside the self-driving vehicle 200 in the drawings, but this is merely an example for convenience of description and may be a device mounted on the self-driving vehicle 200 itself.
- IMU inertial measurement unit
- GPS global positioning unit
- the device 100 may determine passing through or stopping at an intersection based on driving environment information collected from an external device.
- FIG. 3 is a diagram illustrating a safe driving support apparatus 100 according to an embodiment of the present invention.
- the device 100 includes a communication unit 110, a storage unit 120, a communication determination unit 130, an information collection unit 140, an intersection detection unit 150, a driving deceleration unit 160, and a driving It may be provided by including the determining unit 170 .
- the device 100 may install and execute software (application) for performing the safe driving support method. Accordingly, the communication unit 110, the storage unit 120, the communication determination unit 130, the information collection unit 140, the intersection detection unit 150, the driving deceleration unit 160, and the driving determination unit 170 operate safely. It can be controlled by software (application) to perform the supporting method.
- the communication unit 110 may be provided for the device 100 to transmit/receive information with various devices provided in the self-driving vehicle 200 or to transmit/receive information with an external device.
- This communication unit 110 may include a communication module for performing V2X (Vehicle to Everything) communication.
- the storage unit 120 transmits and receives data through the communication unit 110 or through the communication determination unit 130, the information collection unit 140, the intersection detection unit 150, the driving deceleration unit 160, and the driving determination unit 170. It may be provided to store generated information.
- the storage unit 120 stores software (application) for performing the safe driving support method performed in the device 100 .
- the communication determination unit 130 is provided to check whether or not V2X (Vehicle to Everything) communication with an external device is possible.
- the communication determining unit 130 determines whether vehicle to everything (V2X) communication is possible with a RoadSide Unit (RSU) installed on the road on which the vehicle 200 is driving and collecting road and traffic information, and collects information based on the determined result. It can be delivered to the unit 140.
- the communication determination unit 130 may determine whether the self-driving vehicle 200 supports V2X (Vehicle to Everything) communication.
- the information collection unit 140 may collect information about different driving environments of the vehicle 200 from an external device according to whether vehicle to everything (V2X) communication is determined by the communication determination unit 130 .
- V2X vehicle to everything
- the information collection unit 140 includes color information of the traffic light (TR) located at the intersection (I) when V2X (Vehicle to Everything) communication with the external device is impossible as described above in FIGS. 1 and 2 First driving environment information may be collected.
- the information collection unit 140 if V2X (Vehicle to Everything) communication with an external device is possible, the second signal including the current signal currently being output from the traffic light TR located at the intersection I and the remaining time of the current signal Driving environment information can be collected.
- the information collection unit 140 may transmit the collected first or second driving environment information to the intersection detection unit 150 .
- intersection detecting unit 150 may be provided to detect an intersection I located on a driving route along which the vehicle 200 travels.
- the intersection detecting unit 150 uses a high-precision map (HD Map) and GPS (Global Positioning System) data transmitted from the information collection unit 140.
- HD Map high-precision map
- GPS Global Positioning System
- An intersection (I) on a driving route on which the vehicle 200 is traveling based on first driving environment information or second driving environment information including information collected from an inertial measurement unit (IMU) 40 can be detected in advance.
- the driving deceleration unit 160 is provided to reduce the driving speed of the vehicle 200.
- the driving reduction unit 160 moves to the intersection I
- the driving speed of the vehicle 200 may be reduced in order to reduce the section of the dilemma zone. Information on the reduced driving speed may be stored in advance.
- the driving determination unit 170 may control stopping or driving of the vehicle 200 by determining whether the intersection I is passable based on information on the first or second driving environment.
- the driving determination unit 170 may control lighting of brake lamps, lighting of emergency lights, output of horns, etc. provided in the vehicle 200 when the vehicle 200 is stopped or driven.
- FIG. 4 is a flowchart illustrating a safe driving support method performed by the safe driving support device 100 of FIG. 3 in a dilemma zone at an intersection I.
- the safe driving support method according to an embodiment of the present invention is shown in FIG. 3 Since it proceeds on substantially the same configuration as the device 100, the same reference numerals are given to the same components as those of the device 100 of FIG. 3, and repeated descriptions will be omitted.
- the safe driving support method of the present invention can be performed in the dilemma zone at the intersection (I) by the safe driving support device 100 provided in the self-driving vehicle 200 interlocking with an external device for autonomous driving.
- This safe driving support method includes a step of checking whether Vehicle to Everything (V2X) communication with an external device is possible (S110), and different driving of the vehicle 200 from an external device depending on whether or not Vehicle to Everything (V2X) communication is possible.
- a step S170 of controlling the vehicle 200 by determining whether it is possible to pass the intersection I may be included.
- the RSU RoadSide Unit
- V2X Vehicle to Everything
- the V2X Vehicle to Everything
- the vehicle 200 equipped with the device 100 is a vehicle capable of V2X (Vehicle to Everything) communication.
- information about the driving environment including the state of the traffic light TR, the driving type of the preceding vehicle, the distance between the vehicle and the speed of the following vehicle, and the like from an external device is determined. information can be collected.
- first driving environment information including color information of a traffic light (TR) located at an intersection (I) may be collected.
- Second driving environment information including the current signal currently being output at the traffic light TR and the remaining time of the current signal may be collected.
- the intersection I on the driving path along which the vehicle 200 travels is detected based on the first or second driving environment information.
- step of controlling the vehicle ( S170 ) whether or not the intersection I can be passed is determined based on the information on the first or second driving environment, and the vehicle 200 can be controlled to stop or drive.
- the step of controlling the vehicle 200 is a step of determining a stop point of the vehicle 200 and controlling the vehicle 200 to stop at the stop point, as shown in FIGS. 5 and 6 to be described later ( S260 and S350), and controlling the vehicle to pass through the intersection by maintaining the running of the vehicle (S250 and S340).
- the safe driving support device 100 performs in the dilemma zone of the intersection. It is a flow chart showing a safe driving support method, and is a diagram specifically explaining the step of controlling the vehicle 200 (S170).
- the apparatus 100 may reduce the traveling speed (S205).
- step of decelerating the driving speed if vehicle to everything (V2X) communication with an external device is impossible, after the step of detecting the intersection (I) (S150), the vehicle 200 is at the detected intersection (I). When approaching within a certain distance, it may be performed to reduce the section of the dilemma zone.
- V2X vehicle to everything
- a certain distance for decelerating the driving speed can be set in advance. For example, when the distance between the vehicle 200 and the stop line at the intersection I reaches 20 m, the driving speed of the vehicle 200 is decelerated from then on. can be made Of course, this distance can be sufficiently changed in consideration of the length of the road, the braking distance according to the current driving speed of the vehicle 200, etc. as an example.
- the device 100 may check the color information of the traffic light TR included in the first driving environment information (S210).
- step of checking the color information of the traffic light TR it can be determined whether the color information of the traffic light TR matches preset color information.
- the color information of the traffic light (TR) included in the first driving information environment information is information included in the image information collected through the camera 10, and is a signal corresponding to the driving direction in which the vehicle 200 intends to drive. includes at least one of green, yellow, and red, which are the colors of , and the preset color information may mean green in which the vehicle 200 can drive.
- the vehicle 200 can be controlled to stop at the stopping point. Yes (S260).
- the stopping point may be determined to be the stop line of the intersection I or the rear of the preceding vehicle. If there is a preceding vehicle, the stopping point is determined to be the rear of the preceding vehicle. and, if there is no preceding vehicle, the stop line of the intersection I may be determined as the stop point.
- the color information of the traffic light (TR) matches the preset color information (S210-yes), that is, if the color information of the traffic light (TR) is green, whether to secure a safe distance from the following vehicle while maintaining the driving of the vehicle 200 It is possible to determine (S220).
- the vehicle 200 keeps the vehicle 200 running so that the brake lamp of the vehicle 200 flickers. Control (S225) is performed. Through this, the vehicle 200 traveling at the reduced speed and the following vehicle can maintain a safe distance.
- the device 100 operates while the vehicle 200 continues to drive. Before the stop line, a step of reconfirming the color information of the traffic light TR (S230) may be performed.
- the signal of the traffic light (TR) may be changed while driving is maintained after the step (S210) of checking the color information of the traffic light (TR) to enter the intersection (I), so additional confirmation is performed.
- the checking step (S210) it is determined whether the color information of the traffic light TR currently being output matches the preset color information (green).
- the apparatus 100 may perform a step of determining whether it is possible to stop before the stop line and whether a predetermined condition is satisfied (S235).
- the predetermined condition is a condition for securing a safe distance for the following vehicle, and may mean a condition in which a braking distance of the following vehicle 200 at the current speed is less than the distance to the following vehicle.
- the device 100 determines the stop point of the vehicle 200 as the stop line, and causes the vehicle to stop at the stop line. It can be controlled (S260).
- the device 100 can determine the driving type of the preceding vehicle (S240).
- the device 100 sets the stopping point of the vehicle 200 to the stop line. It is determined and can be controlled to stop at the stop line (S260). At this time, the device 100 may send an intention to stop to the following vehicle by controlling the vehicle 200 so that the hazard lights are blinked in order to avoid a collision with the following vehicle.
- the device 100 determines whether the vehicle 200 is driving within the speed limit of the road it is driving, if at least one of stop line stopping is impossible and the preset condition is not met (S235-No).
- the vehicle 200 may be controlled so that the vehicle 200 can quickly pass through the intersection I by accelerating the driving speed (S250).
- the device 100 corresponds to at least one of impossible to stop at a stop line and non-fulfillment of a predetermined condition (S235 - No) and controls the vehicle 200 to pass through the intersection.
- the vehicle 200 may be controlled so that the emergency lights are turned on and the horn is output at the same time.
- the preceding vehicle stops or slows down within the intersection It is possible to determine whether or not (S250). As a result, when the preceding vehicle stops or slows down, an emergency light is turned on to avoid a collision with a following vehicle. Then, a step of stopping (S260) is performed, but the vehicle may be stopped before the intersection (I).
- the driving speed of the vehicle 200 is within the regulated speed of the road being driven. It is possible to control the vehicle 200 so that it can quickly pass through the intersection I by accelerating (S250).
- FIG. 6 shows the safety operation performed by the safe driving support device 100 in the intersection dilemma zone when V2X (Vehicle to Everything) communication is used after the intersection I is detected in the intersection detection step (S150).
- V2X Vehicle to Everything
- FIG. 6 shows the safety operation performed by the safe driving support device 100 in the intersection dilemma zone when V2X (Vehicle to Everything) communication is used after the intersection I is detected in the intersection detection step (S150).
- V2X Vehicle to Everything
- the step of controlling the vehicle after the intersection (I) is detected is the step of checking the current signal (S310). Comparing (S320), determining the driving type of the preceding vehicle (S330), passing through an intersection (S340), and stopping (S350).
- step of checking the current signal it may be determined whether the current signal included in the second driving environment information matches preset signal information.
- the current signal of the traffic light (TR) included in the second driving environment information is information included in signal information collected through the traffic light (TR) performing V2I (Vehicle to Infrastructure) communication, and the vehicle 200 intends to drive.
- a signal corresponding to the driving direction may include green, yellow, and red color information and remaining output time of the corresponding color information.
- the preset signal information may refer to signal information corresponding to a green color in which the vehicle 200 can drive.
- a step of stopping (S350) may be performed.
- one of the rear of the preceding vehicle or the stop line may be determined as the stopping point in consideration of the inter-vehicle distance to the preceding vehicle.
- the step of comparing the time required to arrive at the stop line with the remaining time of the current signal may be performed when the current signal matches preset signal information (S310-Yes).
- the vehicle 200 calculates the time required to arrive at the stop line at the intersection at the current speed, and converts the calculated time to the second driving environment information. It can be compared with the remaining time of the included current signal.
- a step of stopping (S350) may be performed.
- the apparatus 100 may perform a step of determining the driving type of the preceding vehicle (S330). In the step of determining the driving type of the preceding vehicle (S330), it may be determined whether the preceding vehicle is stopped or traveling slowly within the intersection.
- the device 100 may determine the stopping point of the vehicle as the stop line of the intersection and control the vehicle to stop before the stop line ( S350).
- the apparatus 100 may notify the following vehicle of the intention to stop in advance and continuously monitor the following vehicle to prevent a rear-end collision.
- the device 100 may control the vehicle 200 to pass through the intersection (S340).
- the safe driving support method of the present invention reduces the length of the intersection dilemma zone when an autonomous vehicle passes through an intersection, thereby reducing the time required to determine whether or not the intersection has passed, and reducing the risk of a traffic accident at the intersection. It is possible to reduce the occurrence frequency of dangerous situations such as obstructing the passage of other vehicles or pedestrians by preventing vehicles from stopping in the crossing.
- the safe driving support method of the present invention may be implemented in the form of program instructions that can be executed through various computer components and recorded on a computer readable recording medium.
- the computer readable recording medium may include program instructions, data files, data structures, etc. alone or in combination.
- Program instructions recorded on the computer-readable recording medium may be those specially designed and configured for the present invention, or those known and usable to those skilled in the art of computer software.
- Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROMs (Compact Disc Read Only Memory) and DVDs (Digital Video Discs), and floptical disks.
- Hardware devices specially configured to store and execute program instructions such as read only memory (ROM), random-access memory (RAM), flash memory, etc. is included
- Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter or the like as well as machine language codes such as those produced by a compiler.
- the hardware device may be configured to act as one or more software modules to perform processing according to the present invention and vice versa.
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Abstract
The present invention relates to a safe-driving support method performed in a dilemma zone of an intersection by a safe-driving support device provided in an autonomous driving vehicle interworking with an external device for autonomous driving, the method comprising the steps of: identifying whether vehicle-to-everything (V2X) communication with the external device is possible; collecting information on different driving environments of the vehicle from the external device according to whether the vehicle-to-everything (V2X) communication is possible; detecting an intersection on a driving route along which the vehicle travels, on the basis of information on a driving environment; and on the basis of the information on the driving environment, determining whether it is possible to pass through the intersection, so as to control the vehicle. Accordingly, when an autonomous driving vehicle passes an intersection, not only a time required to determine whether to pass through an intersection can be decreased and a risk of a traffic accident at the intersection can be reduced by reducing a length of an intersection dilemma zone, but also a frequency of occurrence of a dangerous situation, such as obstructing a passage of another vehicle or a pedestrian, can be reduced by preventing the vehicle from stopping within the intersection or a crossing.
Description
본 발명은 자율주행차량의 안전 운행 지원 장치 및 안전 운행 지원 방법에 관한 것으로 보다 상세하게는 교차로 딜레마 존에서의 자율주행차량의 안전 운행 지원 장치 및 안전 운행 지원 방법에 관한 것이다.The present invention relates to an apparatus for supporting safe driving of an autonomous vehicle and a method for supporting safe driving, and more particularly, to an apparatus and method for supporting safe driving of an autonomous vehicle in an intersection dilemma zone.
자율주행 차량(Autonomous Vehicle)은 운전자의 조작 없이도 스스로 외부 정보를 수집하고 주변 교통 상황을 파악하여 주행 계획을 수립함으로써 설정 목적지까지 자율 주행할 수 있는 차량을 의미한다. 자율주행 차량은 주행 중에 각종 센서를 통해 사물을 인식하는 첨단 센서, 상호 정보를 주고 받는 네트워크 통신, 수집한 각종 데이터를 수신하여 실시간으로 처리하며 판단하는 인공지능제어 시스템 등의 최첨단 기술이 융합된 이동수단이다. 지도 정보뿐만 아니라 교통 정보, 도로 공사, 교통 사고 정보 등 주행 목적지까지의 도로에서 발생하고 있는 정보들을 실시간으로 수신하여 처리한다. 나아가 주변 차량들과 상호 정보를 주고 받는 형태의 기술도 개발되어 있다. 이런 정보들을 이용하면 운전자가 주행하는 것보다 선제적으로 차량의 위험을 파악하여 안정하게 주행할 수 있다.An autonomous vehicle refers to a vehicle capable of self-driving to a set destination by collecting external information on its own, grasping surrounding traffic conditions, and establishing a driving plan without driver manipulation. Self-driving vehicles are a combination of state-of-the-art technologies such as state-of-the-art sensors that recognize objects through various sensors while driving, network communication that exchanges mutual information, and an artificial intelligence control system that receives, processes, and judges various collected data in real time. is a means In addition to map information, information generated on the road to the driving destination, such as traffic information, road construction, and traffic accident information, is received and processed in real time. Furthermore, a technology in the form of mutually exchanging information with surrounding vehicles has also been developed. Using this information, the driver can preemptively identify the danger of the vehicle before driving and drive safely.
최근 국내외 기업들이 적극적으로 기술 개발에 나서면서, 자율주행 차량 관련 기술에 대한 관심이 증가하고 있다. 이러한 자율주행 차량은 다양한 주행 상황에 대한 인식 및 판단을 통해 적절한 행동을 취해야 하는데, 다양한 주행 상황 중에서 교차로의 신호등은 가장 일반적이면서 운전자 및 보행자 안전과도 직결된 중요한 주행 상황 중 하나이다.Recently, as domestic and foreign companies are actively developing technologies, interest in technologies related to autonomous vehicles is increasing. These self-driving vehicles need to take appropriate actions through recognition and judgment of various driving situations. Among various driving situations, traffic lights at intersections are the most common and one of the most important driving situations directly related to driver and pedestrian safety.
이와 관련하여 도로 교통 공단의 교통 사고 현황에 따르면, 2017년도에 교차로 구역에서 발생한 교통 사고 횟수는 전체 교통 사고의 약 47%로 가장 큰 비중을 차지할 정도로 발생 빈도가 높다. In this regard, according to the traffic accident status of the Korea Road Traffic Authority, the number of traffic accidents that occurred in the intersection area in 2017 is about 47% of all traffic accidents, and the frequency of occurrence is high enough to account for the largest portion.
특히나 차량이 교차로로 접근하고 있는 상황에서 신호가 초록색에서 노란색으로 변경되거나, 운전자가 정차 또는 교차로 통과를 쉽게 판단할 수 없는 구간으로, 차량이 정지선에 완전히 멈출 수도 없고 노란색 신호가 점등되어 있는 시간 내에 교차로를 통과할 수도 없는 구간을 딜레마 존이라고 한다. In particular, a section where the signal changes from green to yellow when a vehicle is approaching an intersection, or where the driver cannot easily determine whether to stop or pass an intersection, within the time when the vehicle cannot completely stop at the stop line and the yellow signal is on. The section where it is impossible to pass the intersection is called the dilemma zone.
따라서 자율주행 차량이 교차로의 딜레마 존을 주행함에 있어서 안전성이 보장되도록 구현하는 것이 매우 중요하며, 이러한 구현을 통해 교통 사고 비중을 낮출 수 있는 방안이 필요하다.Therefore, it is very important to implement so that safety is guaranteed when an autonomous vehicle drives through a dilemma zone at an intersection.
[선행기술문허][Prior art literature]
[특허문헌][Patent Literature]
한국공개특허공보 제10-2011-0097091호Korean Patent Publication No. 10-2011-0097091
본 발명은 상기와 같은 문제를 해결하기 위해 안출된 것으로, 본 발명의 목적은 자율주행 차량이 교차로를 통행할 때 교차로 딜레마 존의 길이를 감소시켜 교차로의 통과 여부 판단에 필요한 시간을 줄이고 교차로 교통사고의 위험을 감소시키는 것은 물론, 교차로 또는 건널목 내에 차량이 정지하는 것을 방지하여 타차량이나 보행자의 통행에 방해를 주는 등의 위험한 상황의 발생빈도를 감소시킬 수 있는 자율주행 차량의 안전 운행 지원 장치 및 안전 운행 지원 방법을 제공하는 것이다. The present invention has been made to solve the above problems, and an object of the present invention is to reduce the length of the intersection dilemma zone when an autonomous vehicle passes through an intersection, thereby reducing the time required to determine whether or not the intersection has passed and causing a traffic accident at the intersection Safe operation support device for autonomous vehicles that can reduce the frequency of dangerous situations such as preventing vehicles from stopping in intersections or crossings and interfering with the passage of other vehicles or pedestrians, as well as reducing the risk of It is to provide a safe driving support method.
상기 목적을 달성하기 위한 본 발명의 일 실시예에 따른 자율주행을 위한 외부 장치와 연동하는 자율주행 차량에 마련되는 안전 운행 지원 장치가 교차로의 딜레마 존에서 수행하는 안전 운행 지원 방법은, 상기 외부 장치와의 V2X(Vehicle to Everything) 통신 가능 여부를 확인하는 단계; 상기 V2X(Vehicle to Everything) 통신 가능 여부에 따라 상기 외부 장치로부터 상기 차량의 서로 다른 주행 환경에 대한 정보를 수집하는 단계; 주행 환경에 대한 정보에 기초하여 상기 차량이 주행하는 주행 경로 상의 교차로를 감지하는 단계; 상기 주행 환경에 대한 정보에 기초해 교차로 통과가능 여부를 결정하여 상기 차량을 제어하는 단계를 포함하고, 상기 차량의 서로 다른 주행 환경에 대한 정보를 수집하는 단계에서는, 상기 외부 장치와의 V2X(Vehicle to Everything) 통신이 불가능하면, 상기 교차로에 위치한 신호등의 색상정보를 포함하는 제1 주행 환경 정보를 수집하고, 상기 외부 장치와의 V2X(Vehicle to Everything) 통신이 가능하면, 상기 교차로에 위치한 신호등에서 현재 출력 중인 현재 신호 및 현재 신호의 잔여시간을 포함하는 제2 주행 환경 정보를 수집한다. In order to achieve the above object, a safe driving support method performed in a dilemma zone at an intersection by a safe driving support device provided in an autonomous vehicle interlocking with an external device for autonomous driving according to an embodiment of the present invention for achieving the above object is the external device Checking whether V2X (Vehicle to Everything) communication is possible with; Collecting information about different driving environments of the vehicle from the external device according to whether the V2X (Vehicle to Everything) communication is available; detecting an intersection on a driving route along which the vehicle travels based on information about a driving environment; Controlling the vehicle by determining whether it is possible to pass through the intersection based on the information on the driving environment, and in the step of collecting information on the different driving environments of the vehicle, V2X (Vehicle to X) with the external device to Everything) communication is impossible, first driving environment information including color information of the traffic lights located at the intersection is collected, and if V2X (Vehicle to Everything) communication with the external device is possible, the traffic lights located at the intersection Second driving environment information including a current signal currently being output and a remaining time of the current signal is collected.
그리고 상기 차량을 제어하는 단계는, 상기 차량의 정차 지점을 결정하여 상기 차량이 정차 지점에 정차하도록 제어하는 단계; 및 상기 차량의 주행을 유지하여 교차로를 통과하도록 제어하는 단계를 포함할 수 있다. The controlling of the vehicle may include determining a stopping point of the vehicle and controlling the vehicle to stop at the stopping point; and controlling the vehicle to pass through an intersection by maintaining driving of the vehicle.
또한 상기 차량을 제어하는 단계는, 상기 외부 장치와의 V2X(Vehicle to Everything) 통신이 불가능하면, 상기 교차로를 감지하는 단계 이후 상기 차량이 감지된 교차로에 일정 거리 이내로 접근하면 상기 딜레마 존의 구간을 감소시키기 위해 상기 차량의 주행속도를 감속시키는 단계를 더 포함하고, 교차로를 통과하도록 제어하는 단계에서는, 주행 중인 도로의 규정속도 이내에서 상기 차량의 주행 속도를 가속시켜 상기 교차로를 통과하도록 제어할 수 있다. In addition, in the step of controlling the vehicle, if vehicle to everything (V2X) communication with the external device is impossible, after the step of detecting the intersection, if the vehicle approaches the detected intersection within a certain distance, the section of the dilemma zone is determined. In the step of controlling the vehicle to pass through the intersection, the driving speed of the vehicle may be accelerated within a prescribed speed of the road on which it is traveling and controlled to pass through the intersection. there is.
그리고 상기 차량을 제어하는 단계는, 상기 제1 주행 환경 정보에 포함된 상기 신호등의 색상정보를 확인하는 단계를 더 포함하고, 상기 정차 지점에 정차하도록 제어하는 단계에서는, 상기 색상정보가 기설정된 색상정보와 일치하지 않으면 상기 정차 지점을 상기 교차로의 정지선 또는 선행차량의 후방으로 결정할 수 있다. The controlling of the vehicle further includes checking color information of the traffic light included in the first driving environment information, and in the controlling to stop at the stopping point, the color information is set to a preset color. If the information does not match, the stop point may be determined as the stop line of the intersection or the rear of the preceding vehicle.
또한 상기 차량을 제어하는 단계는, 상기 색상정보가 기설정된 색상정보와 일치하면 상기 차량의 주행을 유지하면서 상기 후행차량과의 안전거리 확보여부를 판단하는 단계; 및 상기 안전거리가 미확보되면 상기 차량의 주행을 유지하면서 상기 차량의 브레이크 등(Brake Lamp)이 점멸되도록 상기 차량을 제어하는 단계를 더 포함할 수 있다. The controlling of the vehicle may include determining whether to secure a safe distance from the following vehicle while maintaining driving of the vehicle when the color information matches preset color information; and controlling the vehicle so that a brake lamp of the vehicle flickers while maintaining the driving of the vehicle when the safety distance is not secured.
그리고 상기 차량을 제어하는 단계는, 상기 신호등의 색상정보를 재확인하는 단계; 재확인한 신호등의 색상정보가 기설정된 색상정보와 일치하면 선행차량의 주행 형태를 판단하는 단계; 및 재확인한 신호등의 색상정보가 기설정된 색상정보와 일치하지 않으면 정지선 정차 가능여부 및 기설정된 조건 충족여부를 판단하는 단계를 더 포함하고, 상기 정차 지점에 정차하도록 제어하는 단계에서는, 상기 조건 충족여부를 판단하는 단계에서 상기 정지선 정차가 가능하면서 기설정된 조건을 충족하거나, 상기 선행차량의 주행 형태를 판단하는 단계에서 상기 교차로 내에서 상기 선행차량의 주행 형태가 정차 또는 서행인 것으로 판단되면, 상기 정차 지점을 상기 교차로의 정지선으로 결정할 수 있다. The controlling of the vehicle may include reconfirming color information of the traffic light; determining the driving mode of the preceding vehicle when the reconfirmed color information of the traffic light matches preset color information; and if the color information of the reconfirmed traffic light does not match the preset color information, determining whether or not the stop line can be stopped and preset conditions are satisfied. If stopping at the stop line is possible and meeting a predetermined condition in the step of determining, or if it is determined that the driving mode of the preceding vehicle is stopped or slowed down within the intersection in the step of determining the driving mode of the preceding vehicle, the vehicle stops The point can be determined as the stop line of the intersection.
또한 상기 교차로를 통과하도록 제어하는 단계는, 상기 선행차량의 주행 형태를 판단하는 단계에서 상기 교차로 내에서 상기 선행차량의 주행 형태가 정상 주행인 것으로 판단되거나, 상기 조건 충족여부를 판단하는 단계에서 상기 정지선 정차 불가능 및 기설정된 조건 미충족 중 적어도 하나에 해당하면 수행되는 단계일 수 있다. In addition, in the step of controlling the vehicle to pass through the intersection, it is determined that the driving mode of the preceding vehicle is normal driving within the intersection in the step of determining the driving mode of the preceding vehicle, or the driving mode of the preceding vehicle is determined to be normal driving in the step of determining whether the condition is satisfied. It may be a step that is performed when at least one of stop line stopping is impossible and predetermined conditions are not satisfied.
그리고 상기 교차로를 통과하도록 제어하는 단계에서는, 상기 정지선 정차 불가능 및 기설정된 조건 미충족 중 적어도 하나에 해당하여 교차로를 통과하도록 제어하는 경우, 상기 차량의 비상등 점등 및 경적이 출력되도록 상기 차량을 제어할 수 있다. In the step of controlling the vehicle to pass through the intersection, when the vehicle is controlled to pass through the intersection in response to at least one of the stop line not being able to stop and the predetermined condition not being satisfied, the vehicle may be controlled to turn on the emergency lights and output the horn. there is.
또한 상기 차량을 제어하는 단계는, 상기 제2 주행 환경 정보에 포함된 현재 신호를 확인하는 단계; 및 상기 현재 신호가 기설정된 신호정보와 일치하면 상기 차량이 현재 속도로 교차로의 정지선 도착에 필요한 소요시간을, 상기 현재 신호의 잔여시간과 비교하는 단계; 및 상기 잔여시간과 비교하는 단계에서 상기 소요시간이 상기 잔여시간보다 짧으면 선행차량의 주행 형태를 판단하는 단계를 더 포함할 수 있다. The controlling of the vehicle may include checking a current signal included in the second driving environment information; and comparing a time required for the vehicle to arrive at a stop line at an intersection at the current speed with a remaining time of the current signal when the current signal matches predetermined signal information. and determining the driving type of the preceding vehicle if the required time is shorter than the remaining time in the step of comparing with the remaining time.
그리고 상기 정차 지점에 정차하도록 제어하는 단계에서는, 상기 현재 신호가 기설정된 신호정보와 일치하지 않거나, 상기 소요되는 시간이 상기 잔여시간 이상이거나, 상기 교차로 내에서 상기 선행차량의 주행 형태가 서행 또는 정차인 것으로 판단되면 상기 정차 지점을 상기 교차로의 정지선 또는 선행차량의 후방으로 결정할 수 있다. In the step of controlling the vehicle to stop at the stop point, the current signal does not match preset signal information, the required time is greater than or equal to the remaining time, or the driving mode of the preceding vehicle within the intersection is slow or stopped. If it is determined that the stop point is the stop line of the intersection or the rear of the preceding vehicle, the stopping point may be determined.
또한 상기 교차로를 통과하도록 제어하는 단계는, 상기 교차로 내에서 상기 선행차량의 주행 형태가 정상 주행인 것으로 판단되면 수행되는 단계일 수 있다. Also, the controlling to pass through the intersection may be performed when it is determined that the driving type of the preceding vehicle is normal driving in the intersection.
한편 상기 목적을 달성하기 위한 본 발명의 일 실시예에 따른 자율주행을 위한 외부 장치와 연동하는 자율주행 차량에 마련되는 안전 운행 지원 장치는, 상기 외부 장치와의 V2X(Vehicle to Everything) 통신 가능 여부를 확인하는 통신 판단부; 상기 V2X(Vehicle to Everything) 통신 가능 여부에 따라 상기 외부 장치로부터 상기 차량의 서로 다른 주행 환경에 대한 정보를 수집하는 정보 수집부; 주행 환경에 대한 정보에 기초하여 상기 차량이 주행하는 주행 경로 상의 교차로를 감지하는 교차로 감지부; 상기 차량이 감지된 교차로에 일정 거리 이내로 접근하면 상기 딜레마 존의 구간을 감소시키기 위해 상기 차량의 주행 속도를 감소시키는 주행 감속부; 및 상기 주행 환경에 대한 정보에 기초해 교차로 통과가능 여부를 결정하여 상기 차량을 제어하는 주행 결정부를 포함하고, 상기 정보 수집부는, 상기 외부 장치와의 V2X(Vehicle to Everything) 통신이 불가능하면, 상기 교차로에 위치한 신호등의 색상정보를 포함하는 제1 주행 환경 정보를 수집하고, 상기 외부 장치와의 V2X(Vehicle to Everything) 통신이 가능하면, 상기 교차로에 위치한 신호등에서 현재 출력 중인 현재 신호 및 현재 신호의 잔여시간을 포함하는 제2 주행 환경 정보를 수집한다. On the other hand, in order to achieve the above object, the safety driving support device provided in an autonomous vehicle that interworks with an external device for autonomous driving according to an embodiment of the present invention determines whether V2X (Vehicle to Everything) communication with the external device is possible. Communication determination unit to check; an information collection unit that collects information about different driving environments of the vehicle from the external device according to whether the V2X (Vehicle to Everything) communication is available; an intersection detecting unit detecting an intersection on a driving path along which the vehicle travels based on information about a driving environment; a driving deceleration unit that reduces a driving speed of the vehicle to reduce a section of the dilemma zone when the vehicle approaches the detected intersection within a predetermined distance; and a driving determination unit configured to control the vehicle by determining whether an intersection can be passed based on the information on the driving environment, wherein the information collection unit, when vehicle to everything (V2X) communication with the external device is impossible, the If the first driving environment information including the color information of the traffic lights located at the intersection is collected and V2X (Vehicle to Everything) communication with the external device is possible, the current signal currently being output from the traffic lights located at the intersection and the current signal Second driving environment information including remaining time is collected.
상술한 본 발명의 일측면에 따르면, 자율주행 차량의 안전 운행 지원 장치 및 안전 운행 지원 방법을 제공함으로써, 자율주행 차량이 교차로를 통행할 때 교차로 딜레마 존의 길이를 감소시켜 교차로의 통과 여부 판단에 필요한 시간을 줄이고 교차로 교통사고의 위험을 감소시키는 것은 물론, 교차로 또는 건널목 내에 차량이 정지하는 것을 방지하여 타차량이나 보행자의 통행에 방해를 주는 등의 위험한 상황의 발생빈도를 감소시킬 수 있다.According to one aspect of the present invention described above, by providing an apparatus for supporting safe driving of an autonomous vehicle and a method for supporting safe driving, when an autonomous vehicle passes through an intersection, the length of the intersection dilemma zone is reduced to determine whether the intersection passes. It can reduce the required time and reduce the risk of traffic accidents at intersections, as well as reduce the frequency of dangerous situations such as obstructing the passage of other vehicles or pedestrians by preventing vehicles from stopping in intersections or crossings.
도 1은 본 발명의 일 실시예에 따른 안전 운행 지원 장치를 적용한 교차로 환경을 나타내는 도면, 1 is a diagram showing an intersection environment to which a safe driving support device according to an embodiment of the present invention is applied;
도 2는 본 발명의 일 실시예에 따른 안전 운행 지원 장치가 외부 장치와 연동되는 모습을 도시한 도면, 2 is a view showing how a safe driving support device according to an embodiment of the present invention is interlocked with an external device;
도 3은 본 발명의 일 실시예에 따른 안전 운행 지원 장치를 나타내는 도면, 3 is a diagram showing a safe driving support device according to an embodiment of the present invention;
도 4는 도 3의 안전 운행 지원 장치가 교차로의 딜레마 존에서 수행하는 안전 운행 지원 방법을 나타내는 흐름도, 4 is a flowchart illustrating a safe driving support method performed by the safe driving support device of FIG. 3 in a dilemma zone of an intersection;
도 5는 V2X(Vehicle to Everything) 통신을 미사용하는 경우에 도 3의 안전 운행 지원 장치가 교차로의 딜레마 존에서 수행하는 안전 운행 지원 방법을 나타내는 흐름도, 그리고 5 is a flowchart illustrating a safe driving support method performed by the safe driving support apparatus of FIG. 3 in a dilemma zone of an intersection when V2X (Vehicle to Everything) communication is not used; and
도 6은 V2X(Vehicle to Everything) 통신을 사용하는 경우에 도 3의 안전 운행 지원 장치가 교차로의 딜레마 존에서 수행하는 안전 운행 지원 방법을 나타내는 흐름도이다. 6 is a flowchart illustrating a safe driving support method performed by the safe driving support apparatus of FIG. 3 in a dilemma zone of an intersection when V2X (Vehicle to Everything) communication is used.
후술하는 본 발명에 대한 상세한 설명은, 본 발명이 실시될 수 있는 특정 실시예를 예시로서 도시하는 첨부 도면을 참조한다. 이들 실시예는 당업자가 본 발명을 실시할 수 있기에 충분하도록 상세히 설명된다. 본 발명의 다양한 실시예는 서로 다르지만 상호 배타적일 필요는 없음이 이해되어야 한다. 예를 들어, 여기에 기재되어 있는 특정 형상, 구조 및 특성은 일 실시예와 관련하여 본 발명의 정신 및 범위를 벗어나지 않으면서 다른 실시예로 구현될 수 있다. 또한, 각각의 개시된 실시예 내의 개별 구성요소의 위치 또는 배치는 본 발명의 정신 및 범위를 벗어나지 않으면서 변경될 수 있음이 이해되어야 한다. 따라서, 후술하는 상세한 설명은 한정적인 의미로서 취하려는 것이 아니며, 본 발명의 범위는, 적절하게 설명된다면, 그 청구항들이 주장하는 것과 균등한 모든 범위와 더불어 첨부된 청구항에 의해서만 한정된다. 도면에서 유사한 참조부호는 여러 측면에 걸쳐서 동일하거나 유사한 기능을 지칭한다.DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The detailed description of the present invention which follows refers to the accompanying drawings which illustrate, by way of illustration, specific embodiments in which the present invention may be practiced. These embodiments are described in sufficient detail to enable one skilled in the art to practice the present invention. It should be understood that the various embodiments of the present invention are different from each other but are not necessarily mutually exclusive. For example, specific shapes, structures, and characteristics described herein may be implemented in another embodiment without departing from the spirit and scope of the invention in connection with one embodiment. Additionally, it should be understood that the location or arrangement of individual components within each disclosed embodiment may be changed without departing from the spirit and scope of the invention. Accordingly, the detailed description set forth below is not to be taken in a limiting sense, and the scope of the present invention, if properly described, is limited only by the appended claims, along with all equivalents as claimed by those claims. Like reference numbers in the drawings indicate the same or similar function throughout the various aspects.
본 발명에 따른 구성요소들은 물리적인 구분이 아니라 기능적인 구분에 의해서 정의되는 구성요소들로서 각각이 수행하는 기능들에 의해서 정의될 수 있다. 각각의 구성요소들은 하드웨어 또는 각각의 기능을 수행하는 프로그램 코드 및 프로세싱 유닛으로 구현될 수 있을 것이며, 두 개 이상의 구성요소의 기능이 하나의 구성요소에 포함되어 구현될 수도 있을 것이다. 따라서 이하의 실시예에서 구성요소에 부여되는 명칭은 각각의 구성요소를 물리적으로 구분하기 위한 것이 아니라 각각의 구성요소가 수행되는 대표적인 기능을 암시하기 위해서 부여된 것이며, 구성요소의 명칭에 의해서 본 발명의 기술적 사상이 한정되지 않는 것임에 유의하여야 한다.Components according to the present invention are components defined not by physical division but by functional division, and may be defined by the functions each performs. Each of the components may be implemented as hardware or program codes and processing units that perform respective functions, and the functions of two or more components may be implemented by being included in one component. Therefore, the names given to the components in the following embodiments are not to physically distinguish each component, but to imply the representative function performed by each component, and the names of the components indicate the present invention. It should be noted that the technical idea of is not limited.
이하에서는 도면들을 참조하여 본 발명의 바람직한 실시예들을 보다 상세하게 설명하기로 한다.Hereinafter, preferred embodiments of the present invention will be described in more detail with reference to the drawings.
도 1은 본 발명의 일 실시예에 따른 안전 운행 지원 장치(100)를 적용한 교차로 환경을 나타내는 도면, 그리고 도 2는 본 발명의 일 실시예에 따른 안전 운행 지원 장치(100)가 외부 장치와 연동되는 모습을 도시한 도면이다. 1 is a diagram showing an intersection environment to which a safe driving support device 100 according to an embodiment of the present invention is applied, and FIG. 2 is a diagram showing a safe driving support device 100 according to an embodiment of the present invention interworking with an external device. This is a drawing showing what it would look like.
본 발명의 일 실시예에 따른 안전 운행 지원 장치(100, 이하 장치)는 자율주행을 위한 외부 장치와 연동하는 자율주행 차량(200)에 마련되어 자율주행 차량(200)이 교차로(I)의 딜레마 존에서 안전하게 교차로(I)를 통과하거나, 정차하도록 하기 위해 마련된다. A safe driving support device (100, hereinafter) according to an embodiment of the present invention is provided in the self-driving vehicle 200 that interworks with an external device for autonomous driving so that the self-driving vehicle 200 is in the dilemma zone at the intersection (I). It is provided to safely pass through the intersection (I) or stop.
이를 위해 장치(100)는 외부 장치로부터 차량(200)의 주행 환경에 대한 정보를 수집할 수 있으며, 이때 외부 장치와의 V2X(Vehicle to Everything) 통신이 가능한지에 따라 서로 다른 주행 환경에 대한 정보를 수집할 수 있다. To this end, the device 100 may collect information about the driving environment of the vehicle 200 from an external device, and at this time, depending on whether Vehicle to Everything (V2X) communication with the external device is possible, the device 100 may collect information about different driving environments. can be collected
주행 환경에 대한 정보는 V2X(Vehicle to Everything) 통신이 불가능하면 수집되는 제1 주행 환경 정보 및 V2X(Vehicle to Everything) 통신이 가능하면 수집되는 제2 주행 환경 정보를 포함할 수 있다. Information on the driving environment may include first driving environment information collected when Vehicle to Everything (V2X) communication is impossible and second driving environment information collected when Vehicle to Everything (V2X) communication is possible.
제1 주행 환경 정보는 교차로에 위치한 신호등(TR)의 색상정보를 포함할 수 있고, 제2 주행 환경 정보는 교차로에 위치한 신호등(TR)에서 현재 출력 중인 현재 신호 및 현재 신호의 잔여시간을 포함할 수 있다. The first driving environment information may include color information of the traffic light TR located at the intersection, and the second driving environment information may include the current signal being output at the traffic light TR located at the intersection and the remaining time of the current signal. can
외부 장치는 자율주행을 위해 필요한 정보를 수집하기 위한 장치로 자율주행 차량(200) 자체에 마련되거나 별도의 센서를 포함하는 장치(100)로 마련될 수 있으며, 이러한 외부 장치는 도 2에 도시된 바와 같이 카메라(Camera)(10), 라이다(Lidar) 센서(20), 레이다(Radar) 센서(30), 관성측정장치(IMU, Inertial Measurement Unit)(40), GPS(Global Positioning System)(50), V2X(Vehicle to Everything) 단말기(60) 등을 포함할 수 있다. The external device is a device for collecting information necessary for autonomous driving and may be provided in the self-driving vehicle 200 itself or in the device 100 including a separate sensor. As shown, a camera 10, a lidar sensor 20, a radar sensor 30, an inertial measurement unit (IMU) 40, a global positioning system (GPS) ( 50), V2X (Vehicle to Everything) terminal 60, and the like.
장치(100)는 이러한 외부 장치로부터 주행 환경 정보를 수집할 수 있으며, 이때 V2X 단말기(60)는 전방 교통 상황과 차량 간의 접근을 알리는 V2V(Vehicle to Vehicle) 통신, 신호등(TR)과 같은 교통 인프라와 소통하는 V2I(Vehicle to Infrastructure) 통신, 보행자 정보를 지원하는 V2P(Vehicle to Pedestrian) 통신 등이 가능한 단말기를 의미할 수 있다. The device 100 may collect driving environment information from these external devices, and at this time, the V2X terminal 60 is a traffic infrastructure such as V2V (Vehicle to Vehicle) communication and traffic lights (TR) informing of forward traffic conditions and approach between vehicles. It may refer to a terminal capable of V2I (Vehicle to Infrastructure) communication, V2P (Vehicle to Pedestrian) communication that supports pedestrian information, and the like.
그리고 장치(100)는 차량(200)에 설치된 OBU(On-Board Unit)를 통해 V2X 단말기(60)로부터 SAE J2735 표준에 정의된 SPAT(Signal Phase And Timing) 메시지 또는 교차로에 설치된 RSU(RoadSide Unit)에서 송신하는 교통신호 정보인 SAE J2735 표준에 정의된 RSA(RoadSide Alert) 메시지를 수신할 수 있다. In addition, the device 100 transmits a Signal Phase And Timing (SPAT) message defined in the SAE J2735 standard from the V2X terminal 60 through an On-Board Unit (OBU) installed in the vehicle 200 or a RoadSide Unit (RSU) installed at an intersection. You can receive the RSA (RoadSide Alert) message defined in the SAE J2735 standard, which is traffic signal information transmitted by
SPAT(Signal Phase And Timing) 메시지에는 교차로 ID, 교차로 상태, 현재 신호, 신호 잔여시간이 포함될 수 있고, RSA(RoadSide Alert) 메시지에는 교차로 사고, 경고 이벤트의 종류(교차로 사고, 도로 공사 등), 해당 경고 이벤트의 내용, 해당 이벤트가 발생한 위치 등의 도로 위험 경고 정보가 포함될 수 있으며, 이러한 SPAT(Signal Phase And Timing) 메시지 및 RSA(RoadSide Alert) 메시지의 주요내용은 아래의 표 1 및 표 2와 같을 수 있다.Signal Phase And Timing (SPAT) message can include intersection ID, intersection status, current signal, and signal remaining time, and RSA (RoadSide Alert) message includes intersection accident, type of warning event (intersection accident, road construction, etc.), corresponding It may include road hazard warning information such as the contents of the warning event and the location where the event occurred. can
[표 1][Table 1]
[표 2][Table 2]
이에 상술한 제1 주행 환경 정보는 카메라(Camera)(10)로부터 수집되는 정보, 라이다(Lidar) 센서(20)로부터 수집되는 정보, 레이다(Radar) 센서(30)로부터 수집되는 정보, 관성측정장치(IMU, Inertial Measurement Unit)(40)로부터 수집되는 정보 및 GPS(Global Positioning System)(50)로부터 수집되는 정보를 포함할 수 있다. Accordingly, the above-described first driving environment information includes information collected from the camera 10, information collected from the lidar sensor 20, information collected from the radar sensor 30, and inertial measurement. Information collected from an Inertial Measurement Unit (IMU) 40 and information collected from a Global Positioning System (GPS) 50 may be included.
한편 제2 주행 환경 정보는, 제1 주행 환경 정보 및 V2X 단말기(60)로부터 수집되는 SPAT(RoadSide Alert) 메시지 및 RSA(RoadSide Alert) 메시지를 포함할 수 있다. Meanwhile, the second driving environment information may include the first driving environment information and a RoadSide Alert (SPAT) message and a RoadSide Alert (RSA) message collected from the V2X terminal 60 .
또한 제1 및 제2 주행 환경 정보에는 차량(200)의 전방에 위치하는 선행차량의 주행 형태(예를 들어 정차, 서행, 정상 주행), 차량(200)의 후방에 위치하는 후행차량과의 차간거리 및 속도, 고정밀 지도(HD Map, High-Definition Map)가 포함될 수 있다. In addition, the first and second driving environment information includes the driving type of the preceding vehicle located in front of the vehicle 200 (for example, stopping, slow driving, normal driving), and the vehicle distance with the following vehicle located at the rear of the vehicle 200. Distance, speed, and high-definition maps (HD Map, High-Definition Map) may be included.
그리고 이러한 외부 장치 중에서 카메라(Camera)(10), 라이다(Lidar) 센서(20), 레이다(Radar) 센서(30), 관성측정장치(IMU, Inertial Measurement Unit)(40) 및 GPS(Global Positioning System)(50)는 도면에서는 자율주행 차량(200)의 외부에 마련되는 것으로 도시되었으나, 이는 설명의 편의를 위한 예시적 사항일 뿐 자율주행 차량(200) 자체에 탑재된 장치일 수도 있다. And among these external devices, a camera 10, a lidar sensor 20, a radar sensor 30, an inertial measurement unit (IMU) 40, and a global positioning unit (GPS) System) 50 is illustrated as being provided outside the self-driving vehicle 200 in the drawings, but this is merely an example for convenience of description and may be a device mounted on the self-driving vehicle 200 itself.
이에 의해 장치(100)는 외부 장치로부터 수집되는 주행 환경 정보에 기초하여 교차로의 통과 또는 정차를 결정할 수 있다. Accordingly, the device 100 may determine passing through or stopping at an intersection based on driving environment information collected from an external device.
한편, 도 3은 본 발명의 일 실시예에 따른 안전 운행 지원 장치(100)를 나타내는 도면이다. 본 실시예에 따른 장치(100)는 통신부(110), 저장부(120), 통신 판단부(130), 정보 수집부(140), 교차로 감지부(150), 주행 감속부(160) 및 주행 결정부(170)를 포함하여 마련될 수 있다. 그리고 장치(100)는 안전 운행 지원 방법을 수행하기 위한 소프트웨어(어플리케이션)가(이) 설치되어 실행될 수 있다. 이에 따라 통신부(110), 저장부(120), 통신 판단부(130), 정보 수집부(140), 교차로 감지부(150), 주행 감속부(160) 및 주행 결정부(170)는 안전 운행 지원 방법을 수행하기 위한 소프트웨어(어플리케이션)에 의해 제어될 수 있다. Meanwhile, FIG. 3 is a diagram illustrating a safe driving support apparatus 100 according to an embodiment of the present invention. The device 100 according to the present embodiment includes a communication unit 110, a storage unit 120, a communication determination unit 130, an information collection unit 140, an intersection detection unit 150, a driving deceleration unit 160, and a driving It may be provided by including the determining unit 170 . In addition, the device 100 may install and execute software (application) for performing the safe driving support method. Accordingly, the communication unit 110, the storage unit 120, the communication determination unit 130, the information collection unit 140, the intersection detection unit 150, the driving deceleration unit 160, and the driving determination unit 170 operate safely. It can be controlled by software (application) to perform the supporting method.
통신부(110)는 장치(100)가 자율주행 차량(200)에 마련된 각종 장치와 정보를 송수신하거나 외부 장치와 정보를 송수신하기 위해 마련될 수 있다. 이러한 통신부(110)는 V2X(Vehicle to Everything) 통신을 수행하기 위한 통신 모듈을 포함할 수 있다. The communication unit 110 may be provided for the device 100 to transmit/receive information with various devices provided in the self-driving vehicle 200 or to transmit/receive information with an external device. This communication unit 110 may include a communication module for performing V2X (Vehicle to Everything) communication.
저장부(120)는 통신부(110)를 통해 송수신하거나 통신 판단부(130), 정보 수집부(140), 교차로 감지부(150), 주행 감속부(160) 및 주행 결정부(170)를 통해 생성되는 정보를 저장하기 위해 마련될 수 있다. 또한 저장부(120)에는 장치(100)에서 수행되는 안전 운행 지원 방법을 수행하기 위한 소프트웨어(어플리케이션)가(이) 저장된다. The storage unit 120 transmits and receives data through the communication unit 110 or through the communication determination unit 130, the information collection unit 140, the intersection detection unit 150, the driving deceleration unit 160, and the driving determination unit 170. It may be provided to store generated information. In addition, the storage unit 120 stores software (application) for performing the safe driving support method performed in the device 100 .
통신 판단부(130)는 외부 장치와의 V2X(Vehicle to Everything) 통신 가능 여부를 확인하기 위해 마련된다. 이러한 통신 판단부(130)는 차량(200)이 주행 중인 도로에 설치된 RSU(RoadSide Unit)와 도로 및 교통 정보 수집을 위한 V2X(Vehicle to Everything) 통신이 가능한지를 판단하고, 판단된 결과를 정보 수집부(140)로 전달할 수 있다. 이러한 통신 판단부(130)는 자율주행 차량(200)이 V2X(Vehicle to Everything) 통신을 지원하는지도 판단할 수 있다. The communication determination unit 130 is provided to check whether or not V2X (Vehicle to Everything) communication with an external device is possible. The communication determining unit 130 determines whether vehicle to everything (V2X) communication is possible with a RoadSide Unit (RSU) installed on the road on which the vehicle 200 is driving and collecting road and traffic information, and collects information based on the determined result. It can be delivered to the unit 140. The communication determination unit 130 may determine whether the self-driving vehicle 200 supports V2X (Vehicle to Everything) communication.
정보 수집부(140)는 통신 판단부(130)에서 판단한 V2X(Vehicle to Everything) 통신 여부에 따라 외부 장치로부터 차량(200)의 서로 다른 주행 환경에 대한 정보를 수집할 수 있다. The information collection unit 140 may collect information about different driving environments of the vehicle 200 from an external device according to whether vehicle to everything (V2X) communication is determined by the communication determination unit 130 .
구체적으로 정보 수집부(140)는 도 1 및 도 2에서 상술한 바와 같이 외부 장치와의 V2X(Vehicle to Everything) 통신이 불가능하면, 교차로(I)에 위치한 신호등(TR)의 색상정보를 포함하는 제1 주행 환경 정보를 수집할 수 있다. 한편 정보 수집부(140)는 외부 장치와의 V2X(Vehicle to Everything) 통신이 가능하면, 교차로(I)에 위치한 신호등(TR)에서 현재 출력 중인 현재 신호 및 현재 신호의 잔여시간을 포함하는 제2 주행 환경 정보를 수집할 수 있다. 그리고 정보 수집부(140)는 수집된 제1 또는 제2 주행 환경 정보를 교차로 감지부(150)로 전달할 수 있다. Specifically, the information collection unit 140 includes color information of the traffic light (TR) located at the intersection (I) when V2X (Vehicle to Everything) communication with the external device is impossible as described above in FIGS. 1 and 2 First driving environment information may be collected. On the other hand, the information collection unit 140, if V2X (Vehicle to Everything) communication with an external device is possible, the second signal including the current signal currently being output from the traffic light TR located at the intersection I and the remaining time of the current signal Driving environment information can be collected. The information collection unit 140 may transmit the collected first or second driving environment information to the intersection detection unit 150 .
한편 교차로 감지부(150)는 차량(200)이 주행하는 주행 경로 상에 위치하는 교차로(I)를 감지하기 위해 마련될 수 있다. 이러한 교차로 감지부(150)는 정보 수집부(140)로부터 전달받은 고정밀 지도(HD Map), GPS(Global Positioning System)Meanwhile, the intersection detecting unit 150 may be provided to detect an intersection I located on a driving route along which the vehicle 200 travels. The intersection detecting unit 150 uses a high-precision map (HD Map) and GPS (Global Positioning System) data transmitted from the information collection unit 140.
정보, 관성측정장치(IMU, Inertial Measurement Unit)(40)로부터 수집한 정보를 포함하는 제1 주행 환경 정보 또는 제2 주행 환경 정보에 기초하여 차량(200)이 주행하는 주행 경로 상의 교차로(I)를 미리 감지할 수 있다. An intersection (I) on a driving route on which the vehicle 200 is traveling based on first driving environment information or second driving environment information including information collected from an inertial measurement unit (IMU) 40 can be detected in advance.
주행 감속부(160)는 차량(200)의 주행 속도를 감속하기 위해 마련되는 것으로, 주행 감속부(160)는 차량(200)이 감지된 교차로(I)에 일정 거리 이내로 접근하면 교차로(I)의 딜레마 존의 구간을 줄이기 위해 차량(200)의 주행 속도를 감속시킬 수 있다. 감속되는 주행 속도에 대한 정보는 사전에 저장될 수 있다. The driving deceleration unit 160 is provided to reduce the driving speed of the vehicle 200. When the vehicle 200 approaches the detected intersection I within a certain distance, the driving reduction unit 160 moves to the intersection I The driving speed of the vehicle 200 may be reduced in order to reduce the section of the dilemma zone. Information on the reduced driving speed may be stored in advance.
한편 주행 결정부(170)는 제1 또는 제2 주행 환경에 대한 정보에 기초해 교차로(I) 통과가능 여부를 결정하여 차량(200)의 정차 또는 주행을 제어할 수 있다. Meanwhile, the driving determination unit 170 may control stopping or driving of the vehicle 200 by determining whether the intersection I is passable based on information on the first or second driving environment.
그리고 주행 결정부(170)는 차량(200)의 정차 또는 주행 시 차량(200)에 마련되는 브레이크 등(Brake Lamp)의 점등, 비상등의 점등, 경적 출력 등을 제어할 수도 있다. In addition, the driving determination unit 170 may control lighting of brake lamps, lighting of emergency lights, output of horns, etc. provided in the vehicle 200 when the vehicle 200 is stopped or driven.
도 4는 도 3의 안전 운행 지원 장치(100)가 교차로(I)의 딜레마 존에서 수행하는 안전 운행 지원 방법을 나타내는 흐름도로써, 본 발명의 일 실시예에 따른 안전 운행 지원 방법은 도 3에 도시된 장치(100)와 실질적으로 동일한 구성 상에서 진행되므로, 도 3의 장치(100)과 동일한 구성요소에 대해 동일한 도면 부호를 부여하고, 반복되는 설명은 생략하기로 한다.4 is a flowchart illustrating a safe driving support method performed by the safe driving support device 100 of FIG. 3 in a dilemma zone at an intersection I. The safe driving support method according to an embodiment of the present invention is shown in FIG. 3 Since it proceeds on substantially the same configuration as the device 100, the same reference numerals are given to the same components as those of the device 100 of FIG. 3, and repeated descriptions will be omitted.
본 발명의 안전 운행 지원 방법은 자율주행을 위한 외부 장치와 연동하는 자율주행 차량(200)에 마련되는 안전 운행 지원 장치(100)에 의해서 교차로(I)의 딜레마 존에서 수행될 수 있다. 이러한 안전 운행 지원 방법은, 외부 장치와의 V2X(Vehicle to Everything) 통신 가능 여부를 확인하는 단계(S110), V2X(Vehicle to Everything) 통신 가능 여부에 따라 외부 장치로부터 차량(200)의 서로 다른 주행 환경에 대한 정보를 수집하는 단계(S130), 주행 환경에 대한 정보에 기초하여 차량(200)이 주행하는 주행 경로 상의 교차로(I)를 감지하는 단계(S150) 및 주행 환경에 대한 정보에 기초해 교차로(I) 통과가능 여부를 결정하여 차량(200)을 제어하는 단계(S170)를 포함할 수 있다. The safe driving support method of the present invention can be performed in the dilemma zone at the intersection (I) by the safe driving support device 100 provided in the self-driving vehicle 200 interlocking with an external device for autonomous driving. This safe driving support method includes a step of checking whether Vehicle to Everything (V2X) communication with an external device is possible (S110), and different driving of the vehicle 200 from an external device depending on whether or not Vehicle to Everything (V2X) communication is possible. Collecting information on the environment (S130), detecting an intersection I on the driving route along which the vehicle 200 is traveling based on the information on the driving environment (S150), and based on the information on the driving environment A step S170 of controlling the vehicle 200 by determining whether it is possible to pass the intersection I may be included.
외부 장치와의 V2X(Vehicle to Everything) 통신 가능 여부를 확인하는 단계(S110)에서는, 차량(200)이 주행 중인 도로에 설치된 RSU(RoadSide Unit)와 도로 및 교통 정보 수집을 위한 V2X(Vehicle to Everything) 통신이 가능한지를 확인할 수 있다. 또한 장치(100)가 마련된 차량(200)이 V2X(Vehicle to Everything) 통신이 가능한 차량인지를 확인할 수도 있다. In the step of checking whether V2X (Vehicle to Everything) communication with an external device is possible (S110), the RSU (RoadSide Unit) installed on the road on which the vehicle 200 is driving and the V2X (Vehicle to Everything) for collecting road and traffic information ) to see if communication is possible. In addition, it may be confirmed whether the vehicle 200 equipped with the device 100 is a vehicle capable of V2X (Vehicle to Everything) communication.
차량의 서로 다른 주행 환경에 대한 정보를 수집하는 단계(S130)에서는, 외부 장치로부터 신호등(TR)의 상태, 선행차량의 주행 형태, 후행차량과의 차간거리 및 속도 등을 포함하는 주행 환경에 대한 정보를 수집할 수 있다. In the step of collecting information on different driving environments of the vehicle (S130), information about the driving environment including the state of the traffic light TR, the driving type of the preceding vehicle, the distance between the vehicle and the speed of the following vehicle, and the like from an external device is determined. information can be collected.
그리고 차량의 서로 다른 주행 환경에 대한 정보를 수집하는 단계(S130)에서는 외부 장치와의 V2X(Vehicle to Everything) 통신 가능 여부를 확인하는 단계(S110)에서 통신 가능 여부를 판단한 결과, 외부 장치와의 V2X(Vehicle to Everything) 통신이 불가능하면, 교차로(I)에 위치한 신호등(TR)의 색상정보를 포함하는 제1 주행 환경 정보를 수집할 수 있다. In addition, in the step of collecting information on the different driving environments of the vehicle (S130), in the step of checking whether or not V2X (Vehicle to Everything) communication with an external device is possible (S110), as a result of determining whether or not communication is possible, If V2X (Vehicle to Everything) communication is impossible, first driving environment information including color information of a traffic light (TR) located at an intersection (I) may be collected.
반면 외부 장치와의 V2X(Vehicle to Everything) 통신 가능 여부를 확인하는 단계(S110)에서 통신 가능 여부를 판단한 결과, 외부 장치와의 V2X(Vehicle to Everything) 통신이 가능하면, 교차로(I)에 위치한 신호등(TR)에서 현재 출력 중인 현재 신호 및 현재 신호의 잔여시간을 포함하는 제2 주행 환경 정보를 수집할 수 있다. On the other hand, as a result of determining whether or not communication is possible in the step of checking whether V2X (Vehicle to Everything) communication with the external device is possible (S110), if V2X (Vehicle to Everything) communication with the external device is possible, located at the intersection (I) Second driving environment information including the current signal currently being output at the traffic light TR and the remaining time of the current signal may be collected.
그리고 교차로(I)를 감지하는 단계(S150)에서는, 제1 또는 제2 주행 환경 정보에 기초하여 차량(200)이 주행하는 주행 경로 상의 교차로(I)를 감지한다. In the step of detecting the intersection I ( S150 ), the intersection I on the driving path along which the vehicle 200 travels is detected based on the first or second driving environment information.
이후 차량을 제어하는 단계(S170)에서는 제1 또는 제2 주행 환경에 대한 정보에 기초해 교차로(I) 통과가능 여부를 결정하여 차량(200)이 정차되거나 주행하도록 제어할 수 있다. Then, in the step of controlling the vehicle ( S170 ), whether or not the intersection I can be passed is determined based on the information on the first or second driving environment, and the vehicle 200 can be controlled to stop or drive.
이를 위해 차량(200)을 제어하는 단계(S170)는 후술할 도 5 및 도 6에 도시된 바와 같이 차량(200)의 정차 지점을 결정하여 차량(200)이 정차 지점에 정차하도록 제어하는 단계(S260, S350) 및 차량의 주행을 유지하여 교차로를 통과하도록 제어하는 단계(S250, S340)를 포함한다. To this end, the step of controlling the vehicle 200 (S170) is a step of determining a stop point of the vehicle 200 and controlling the vehicle 200 to stop at the stop point, as shown in FIGS. 5 and 6 to be described later ( S260 and S350), and controlling the vehicle to pass through the intersection by maintaining the running of the vehicle (S250 and S340).
한편 도 5는 교차로(I)를 감지하는 단계(S150)에서 교차로(I)가 감지된 이후 V2X(Vehicle to Everything) 통신을 미사용하는 경우에 안전 운행 지원 장치(100)가 교차로의 딜레마 존에서 수행하는 안전 운행 지원 방법을 나타내는 흐름도로써 차량(200)을 제어하는 단계(S170)를 구체적으로 설명하는 도면이다. Meanwhile, in FIG. 5 , after the intersection I is detected in the step of detecting the intersection I (S150), when V2X (Vehicle to Everything) communication is not used, the safe driving support device 100 performs in the dilemma zone of the intersection. It is a flow chart showing a safe driving support method, and is a diagram specifically explaining the step of controlling the vehicle 200 (S170).
교차로(I)를 감지하는 단계(S150)에서 교차로(I)가 감지된 이후, 장치(100)는 주행속도를 감속시킬 수 있다(S205). After the intersection I is detected in the step of detecting the intersection I (S150), the apparatus 100 may reduce the traveling speed (S205).
이러한 주행속도를 감속시키는 단계(S205)는 외부 장치와의 V2X(Vehicle to Everything) 통신이 불가능하면, 교차로(I)를 감지하는 단계(S150) 이후 차량(200)이 감지된 교차로(I)에 일정 거리 이내로 접근하면, 딜레마 존의 구간을 감소시키기 위해 수행될 수 있다. In the step of decelerating the driving speed (S205), if vehicle to everything (V2X) communication with an external device is impossible, after the step of detecting the intersection (I) (S150), the vehicle 200 is at the detected intersection (I). When approaching within a certain distance, it may be performed to reduce the section of the dilemma zone.
그리고 주행속도를 감속하기 위한 일정 거리는 사전에 미리 설정될 수 있는 것으로 예를 들면 차량(200)이 교차로(I)의 정지선과의 거리가 20m에 도달되면 그때부터 차량(200)의 주행속도가 감속되도록 할 수 있다. 물론 이러한 거리는 예시적 사항으로 도로의 길이, 차량(200)의 현재 주행속도에 따른 제동거리 등을 고려하여 충분히 변경가능하다. In addition, a certain distance for decelerating the driving speed can be set in advance. For example, when the distance between the vehicle 200 and the stop line at the intersection I reaches 20 m, the driving speed of the vehicle 200 is decelerated from then on. can be made Of course, this distance can be sufficiently changed in consideration of the length of the road, the braking distance according to the current driving speed of the vehicle 200, etc. as an example.
이후 장치(100)는 제1 주행 환경 정보에 포함된 신호등(TR)의 색상정보를 확인할 수 있다(S210). Thereafter, the device 100 may check the color information of the traffic light TR included in the first driving environment information (S210).
이러한 신호등(TR)의 색상정보를 확인하는 단계(S210)에서는 신호등(TR)의 색상정보가 기설정된 색상 정보와 일치하는지 판단할 수 있다. In the step of checking the color information of the traffic light TR (S210), it can be determined whether the color information of the traffic light TR matches preset color information.
여기서 제1 주행 정보 환경 정보에 포함된 신호등(TR)의 색상정보는 카메라(Camera)(10)를 통해 수집되는 영상 정보에 포함된 정보로, 차량(200)이 주행하려는 주행 방향에 대응되는 신호의 색상인 초록색, 노란색, 빨간색 중 적어도 하나를 포함하고, 기설정된 색상 정보는 차량(200)의 주행이 가능한 초록색을 의미할 수 있다. Here, the color information of the traffic light (TR) included in the first driving information environment information is information included in the image information collected through the camera 10, and is a signal corresponding to the driving direction in which the vehicle 200 intends to drive. includes at least one of green, yellow, and red, which are the colors of , and the preset color information may mean green in which the vehicle 200 can drive.
만약 신호등(TR)의 색상정보가 기설정된 색상 정보와 일치하지 않으면(S210-아니오), 즉, 신호등(TR)의 색상정보가 노란색 또는 빨간색이면 차량(200)이 정차 지점에 정차하도록 제어할 수 있다(S260). If the color information of the traffic light TR does not match the preset color information (S210-No), that is, if the color information of the traffic light TR is yellow or red, the vehicle 200 can be controlled to stop at the stopping point. Yes (S260).
차량(200)이 정차 지점에 정차하도록 제어하는 단계(S260)에서는 정차 지점을 교차로(I)의 정지선 또는 선행차량의 후방으로 결정할 수 있는데, 선행차량이 존재하면 정차 지점은 선행차량의 후방으로 결정되고, 선행차량이 존재하지 않으면 교차로(I)의 정지선이 정차 지점으로 결정될 수 있다. In the step of controlling the vehicle 200 to stop at the stopping point (S260), the stopping point may be determined to be the stop line of the intersection I or the rear of the preceding vehicle. If there is a preceding vehicle, the stopping point is determined to be the rear of the preceding vehicle. and, if there is no preceding vehicle, the stop line of the intersection I may be determined as the stop point.
한편 신호등(TR)의 색상정보가 기설정된 색상 정보와 일치하면(S210-예), 즉 신호등(TR)의 색상정보가 초록색이면 차량(200)의 주행을 유지하면서 후행차량과의 안전거리 확보여부를 판단할 수 있다(S220). On the other hand, if the color information of the traffic light (TR) matches the preset color information (S210-yes), that is, if the color information of the traffic light (TR) is green, whether to secure a safe distance from the following vehicle while maintaining the driving of the vehicle 200 It is possible to determine (S220).
만약 안전거리 확보여부를 판단(S220)한 결과 안전거리가 미확보되면(S220-아니오), 차량(200)의 주행을 유지하면서 차량(200)의 브레이크 등(Brake Lamp)이 점멸되도록 차량(200)을 제어(S225)를 수행한다. 이를 통해 감속된 속도로 주행하고 있는 차량(200)과 후행차량이 안전거리를 유지할 수 있다. If, as a result of determining whether or not to secure a safety distance (S220), if the safety distance is not secured (S220-No), the vehicle 200 keeps the vehicle 200 running so that the brake lamp of the vehicle 200 flickers. Control (S225) is performed. Through this, the vehicle 200 traveling at the reduced speed and the following vehicle can maintain a safe distance.
한편 안전거리 확보여부를 판단(S220)한 결과 안전거리가 확보(S220-예)되거나 브레이크 등이 점멸되도록 제어(S225)된 이후, 장치(100)는 차량(200)이 계속 주행을 유지하는 동안 정지선 이전에 신호등(TR)의 색상정보를 재확인하는 단계(S230)를 수행할 수 있다. Meanwhile, as a result of determining whether or not to secure a safe distance (S220), after a safe distance is secured (S220-yes) or the brake light is controlled to blink (S225), the device 100 operates while the vehicle 200 continues to drive. Before the stop line, a step of reconfirming the color information of the traffic light TR (S230) may be performed.
이러한 재확인하는 단계(S230)는 신호등(TR)의 색상정보를 확인하는 단계(S210) 이후에 주행을 유지하여 교차로(I)로 진입하는 도중에 신호등(TR)의 신호가 변경될 수 있기에 추가확인하는 단계로, 확인하는 단계(S210)와 마찬가지로 현재 출력 중인 신호등(TR)의 색상정보가 기설정된 색상정보(초록색)와(과) 일치하는지를 판단한다. In this reconfirming step (S230), the signal of the traffic light (TR) may be changed while driving is maintained after the step (S210) of checking the color information of the traffic light (TR) to enter the intersection (I), so additional confirmation is performed. As a step, similar to the checking step (S210), it is determined whether the color information of the traffic light TR currently being output matches the preset color information (green).
신호등(TR)의 색상정보를 재확인하는 단계(S230)를 수행한 결과, 정지선 이전에 재확인한 색상정보가 기설정된 색상정보와 일치하지 않으면(S230-아니오), 즉 신호등(TR)의 신호색상이 노란색으로 변경되어 초록색이 아니면, 장치(100)는 정지선 이전에 정차가 가능한지를 판단하는 정지선 정차 가능여부 및 기설정된 조건 충족여부를 판단하는 단계(S235)를 수행할 수 있다. As a result of performing the step (S230) of reconfirming the color information of the traffic light (TR), if the color information reconfirmed before the stop line does not match the preset color information (S230-No), that is, the signal color of the traffic light (TR) If the color is changed to yellow and not green, the apparatus 100 may perform a step of determining whether it is possible to stop before the stop line and whether a predetermined condition is satisfied (S235).
여기서 기설정된 조건은 후행차량의 안전거리 확보를 위한 조건으로, 후행차량(200)의 현재속도에서 제동가능한 거리가 후행차량과의 거리 미만인 조건을 의미할 수 있다. Here, the predetermined condition is a condition for securing a safe distance for the following vehicle, and may mean a condition in which a braking distance of the following vehicle 200 at the current speed is less than the distance to the following vehicle.
조건 충족여부를 판단하는 단계(S235)에서 정지선 정차가 가능하면서 기설정된 조건을 충족하면(S235-예), 장치(100)는 차량(200)의 정차 지점을 정지선으로 결정하고, 정지선에 정차되도록 제어할 수 있다(S260). In the step of determining whether the condition is satisfied (S235), if the stop line stop is possible and the predetermined condition is met (S235-Yes), the device 100 determines the stop point of the vehicle 200 as the stop line, and causes the vehicle to stop at the stop line. It can be controlled (S260).
그리고 신호등(TR)의 색상정보를 재확인하는 단계(S230)를 수행한 결과, 정지선 이전에 재확인한 색상정보가 기설정된 색상정보와 일치하면(S230-예), 즉 여전히 신호등(TR)의 신호색상이 초록색이면, 장치(100)는 선행차량의 주행 형태를 판단할 수 있다(S240).And as a result of performing the step (S230) of reconfirming the color information of the traffic light (TR), if the color information reconfirmed before the stop line matches the preset color information (S230-yes), that is, the signal color of the traffic light (TR) is still If it is green, the device 100 can determine the driving type of the preceding vehicle (S240).
선행차량의 주행 형태를 판단(S240)한 결과 선행차량이 교차로(I) 내에서 정차 또는 서행하고 있는 것으로 판단되면(S240-예), 장치(100)는 차량(200)의 정차 지점을 정지선으로 결정하고, 정지선에 정차되도록 제어할 수 있다(S260). 이때 장치(100)는 후행차량과의 추돌을 회피하기 위해 비상등이 점멸되도록 차량(200)을 제어하여 후행차량에게 정지의사를 보낼 수 있다. As a result of determining the driving type of the preceding vehicle (S240), if it is determined that the preceding vehicle is stopped or traveling slowly within the intersection I (S240-Yes), the device 100 sets the stopping point of the vehicle 200 to the stop line. It is determined and can be controlled to stop at the stop line (S260). At this time, the device 100 may send an intention to stop to the following vehicle by controlling the vehicle 200 so that the hazard lights are blinked in order to avoid a collision with the following vehicle.
반면, 장치(100)는 조건 충족여부를 판단하는 단계(S235)에서 정지선 정차 불가능 및 기설정된 조건 미충족 중 적어도 하나에 해당하면(S235-아니오), 주행 중인 도로의 규정속도 이내에서 차량(200)의 주행속도를 가속시켜 빠르게 교차로(I)를 통과할 수 있도록 차량(200)을 제어할 수 있다(S250). On the other hand, in the step of determining whether the condition is met (S235), the device 100 determines whether the vehicle 200 is driving within the speed limit of the road it is driving, if at least one of stop line stopping is impossible and the preset condition is not met (S235-No). The vehicle 200 may be controlled so that the vehicle 200 can quickly pass through the intersection I by accelerating the driving speed (S250).
이러한 교차로를 통과하도록 제어하는 단계(S250)에서 장치(100)는 정지선 정차 불가능 및 기설정된 조건 미충족 중 적어도 하나에 해당(S235-아니오)하여 교차로를 통과하도록 제어하는 경우일 때 차량(200)의 비상등이 점등되도록 함과 동시에 경적이 출력되도록 차량(200)을 제어할 수 있다. In the step of controlling to pass through such an intersection (S250), the device 100 corresponds to at least one of impossible to stop at a stop line and non-fulfillment of a predetermined condition (S235 - No) and controls the vehicle 200 to pass through the intersection. The vehicle 200 may be controlled so that the emergency lights are turned on and the horn is output at the same time.
또한 정지선 정차 불가능 및 기설정된 조건 미충족 중 적어도 하나에 해당(S235-아니오)하여 교차로(I)를 통과할 수 있도록 차량(200)을 제어(S250)한 이후에 교차로 내에서 선행차량이 정차 또는 서행하고 있는지를 판단(S250)할 수 있다. 그 결과 선행차량이 정차 또는 서행하고 있으면, 후행차량과의 추돌을 회피하기 위해 비상등이 점등되도록 한다. 그리고 나서 정차하는 단계(S260)를 수행하되, 교차로(I) 전에 정차되도록 할 수 있다. In addition, after the vehicle 200 is controlled (S250) to pass through the intersection I by corresponding to at least one of impossible to stop at the stop line and non-fulfillment of the predetermined conditions (S235-No), the preceding vehicle stops or slows down within the intersection It is possible to determine whether or not (S250). As a result, when the preceding vehicle stops or slows down, an emergency light is turned on to avoid a collision with a following vehicle. Then, a step of stopping (S260) is performed, but the vehicle may be stopped before the intersection (I).
한편 선행차량의 주행 형태를 판단(S240)한 결과 교차로 내에서의 선행차량의 주행 형태가 정상 주행인 것으로 판단되면(S240-아니오), 주행 중인 도로의 규정속도 이내에서 차량(200)의 주행속도를 가속시켜 빠르게 교차로(I)를 통과할 수 있도록 차량(200)을 제어할 수 있다(S250). Meanwhile, as a result of determining the driving pattern of the preceding vehicle (S240), if it is determined that the driving pattern of the preceding vehicle within the intersection is normal driving (S240-No), the driving speed of the vehicle 200 is within the regulated speed of the road being driven. It is possible to control the vehicle 200 so that it can quickly pass through the intersection I by accelerating (S250).
한편, 도 6은 교차로를 감지하는 단계(S150)에서 교차로(I)가 감지된 이후 V2X(Vehicle to Everything) 통신을 사용하는 경우에 안전 운행 지원 장치(100)가 교차로의 딜레마 존에서 수행하는 안전 운행 지원 방법을 나타내는 흐름도로써 차량(200)을 제어하는 단계(S170)를 구체적으로 설명하는 도면이다. On the other hand, FIG. 6 shows the safety operation performed by the safe driving support device 100 in the intersection dilemma zone when V2X (Vehicle to Everything) communication is used after the intersection I is detected in the intersection detection step (S150). As a flow chart showing a driving support method, it is a diagram specifically explaining the step of controlling the vehicle 200 (S170).
교차로(I)를 감지하는 단계(S150)에서 교차로(I)가 감지된 이후 차량을 제어하는 단계(S170)는 현재 신호를 확인하는 단계(S310), 정지선 도착 소요 시간을 현재 신호의 잔여시간과 비교하는 단계(S320), 선행차량의 주행 형태를 판단하는 단계(S330), 교차로를 통과하는 단계(S340) 및 정차하는 단계(S350)를 포함할 수 있다. In the step of detecting the intersection (I) (S150), the step of controlling the vehicle after the intersection (I) is detected (S170) is the step of checking the current signal (S310). Comparing (S320), determining the driving type of the preceding vehicle (S330), passing through an intersection (S340), and stopping (S350).
현재 신호를 확인하는 단계(S310)에서는, 제2 주행 환경 정보에 포함된 현재 신호가 기설정된 신호 정보와 일치하는지를 판단할 수 있다. In the step of checking the current signal ( S310 ), it may be determined whether the current signal included in the second driving environment information matches preset signal information.
여기서 제2 주행 환경 정보에 포함된 신호등(TR)의 현재 신호는 V2I(Vehicle to Infrastructure) 통신을 수행하는 신호등(TR)을 통해 수집되는 신호 정보에 포함된 정보로써, 차량(200)이 주행하려는 주행 방향에 대응되는 신호로 초록색, 노란색, 빨간색의 색상정보와 해당 색상정보의 잔여 출력시간을 포함할 수 있다. 그리고 기설정된 신호 정보는 차량(200)의 주행이 가능한 초록색에 대응되는 신호 정보를 의미할 수 있다. Here, the current signal of the traffic light (TR) included in the second driving environment information is information included in signal information collected through the traffic light (TR) performing V2I (Vehicle to Infrastructure) communication, and the vehicle 200 intends to drive. A signal corresponding to the driving direction may include green, yellow, and red color information and remaining output time of the corresponding color information. Also, the preset signal information may refer to signal information corresponding to a green color in which the vehicle 200 can drive.
만약 기설정된 신호 정보와 일치하지 않으면(S310-아니오), 정차하는 단계(S350)를 수행할 수 있다. 이때 정차하는 단계(S350)에서는 선행차량과의 차간거리를 고려하여 선행차량의 후방 또는 정지선 중 하나를 정차지점으로 결정할 수 있다.If it does not match the preset signal information (S310-No), a step of stopping (S350) may be performed. At this time, in the step of stopping (S350), one of the rear of the preceding vehicle or the stop line may be determined as the stopping point in consideration of the inter-vehicle distance to the preceding vehicle.
한편 정지선 도착 소요 시간을 현재 신호의 잔여시간과 비교하는 단계(S320)는 현재 신호가 기설정된 신호 정보와 일치하면(S310-예) 수행될 수 있다. 이러한 정지선 도착 소요 시간을 현재 신호의 잔여시간과 비교하는 단계(S320)에서는 차량(200)이 현재 속도로 교차로의 정지선 도착에 필요한 소요시간을 산출하고, 산출된 소요시간을 제2 주행 환경 정보에 포함되어 있는 현재 신호의 잔여시간과 비교할 수 있다. Meanwhile, the step of comparing the time required to arrive at the stop line with the remaining time of the current signal (S320) may be performed when the current signal matches preset signal information (S310-Yes). In the step of comparing the time required to arrive at the stop line with the remaining time of the current signal (S320), the vehicle 200 calculates the time required to arrive at the stop line at the intersection at the current speed, and converts the calculated time to the second driving environment information. It can be compared with the remaining time of the included current signal.
만약, 소요시간이 잔여시간 이상이면(S320-아니오), 정차하는 단계(S350)를 수행할 수 있으며, 정차하는 단계(S350)에서는 선행차량과의 차간거리를 고려하여 선행차량의 후방 또는 정지선 중 하나를 정차지점으로 결정할 수 있다. If the required time is longer than the remaining time (S320 - No), a step of stopping (S350) may be performed. One can be determined as a stopping point.
반면 장치(100)는 소요시간이 잔여시간보다 짧으면(S320-예) 선행차량의 주행 형태를 판단하는 단계(S330)를 수행할 수 있다. 선행차량의 주행 형태를 판단하는 단계(S330)에서는 선행차량이 교차로 내에서 정차 또는 서행 중인지를 판단할 수 있다. On the other hand, if the required time is shorter than the remaining time (S320 - Yes), the apparatus 100 may perform a step of determining the driving type of the preceding vehicle (S330). In the step of determining the driving type of the preceding vehicle (S330), it may be determined whether the preceding vehicle is stopped or traveling slowly within the intersection.
만약 선행차량이 교차로 내에서 정차 또는 서행하고 있는 것으로 판단되면(S330-예), 장치(100)는 차량의 정차 지점을 교차로의 정지선으로 결정하고, 정지선 이전에 차량이 정차하도록 제어할 수 있다(S350). If it is determined that the preceding vehicle is stopped or traveling slowly within the intersection (S330 - Yes), the device 100 may determine the stopping point of the vehicle as the stop line of the intersection and control the vehicle to stop before the stop line ( S350).
그리고 장치(100)는 차량이 결정된 정차 지점에 정차되도록 하는 경우(S350), 후행차량에 정차 의사를 미리 알리고, 후방 추돌을 방지하기 위해 후행차량을 지속적으로 모니터링할 수도 있다. In addition, when the vehicle is stopped at the determined stop point (S350), the apparatus 100 may notify the following vehicle of the intention to stop in advance and continuously monitor the following vehicle to prevent a rear-end collision.
반면 선행차량이 교차로 내에서 정차 또는 서행이 아닌 정상 주행하고 있는 것으로 판단되면(S330-아니오), 장치(100)는 차량(200)이 교차로를 통과하도록 제어할 수 있다(S340). On the other hand, if it is determined that the preceding vehicle is driving normally within the intersection rather than stopping or slowing down (S330 - No), the device 100 may control the vehicle 200 to pass through the intersection (S340).
이에 의해 본 발명의 안전 운행 지원 방법은 자율주행 차량이 교차로를 통행할 때 교차로 딜레마 존의 길이를 감소시켜 교차로의 통과 여부 판단에 필요한 시간을 줄이고 교차로 교통사고의 위험을 감소시키는 것은 물론, 교차로 또는 건널목 내에 차량이 정지하는 것을 방지하여 타차량이나 보행자의 통행에 방해를 주는 등의 위험한 상황의 발생빈도를 감소시킬 수 있다.Accordingly, the safe driving support method of the present invention reduces the length of the intersection dilemma zone when an autonomous vehicle passes through an intersection, thereby reducing the time required to determine whether or not the intersection has passed, and reducing the risk of a traffic accident at the intersection. It is possible to reduce the occurrence frequency of dangerous situations such as obstructing the passage of other vehicles or pedestrians by preventing vehicles from stopping in the crossing.
이와 같은 본 발명의 안전 운행 지원 방법은 다양한 컴퓨터 구성요소를 통하여 수행될 수 있는 프로그램 명령어의 형태로 구현되어 컴퓨터 판독 가능한 기록 매체에 기록될 수 있다. 상기 컴퓨터 판독 가능한 기록 매체는 프로그램 명령어, 데이터 파일, 데이터 구조 등을 단독으로 또는 조합하여 포함할 수 있다. The safe driving support method of the present invention may be implemented in the form of program instructions that can be executed through various computer components and recorded on a computer readable recording medium. The computer readable recording medium may include program instructions, data files, data structures, etc. alone or in combination.
상기 컴퓨터 판독 가능한 기록 매체에 기록되는 프로그램 명령어는 본 발명을 위하여 특별히 설계되고 구성된 것들이거니와 컴퓨터 소프트웨어 분야의 당업자에게 공지되어 사용 가능한 것일 수도 있다. Program instructions recorded on the computer-readable recording medium may be those specially designed and configured for the present invention, or those known and usable to those skilled in the art of computer software.
컴퓨터 판독 가능한 기록 매체의 예에는, 하드 디스크, 플로피 디스크 및 자기 테이프와 같은 자기 매체, CD-ROM(Compact Disc Read Only Memory), DVD(Digital Video Disc)와 같은 광기록 매체, 플롭티컬 디스크(Floptical Disk)와 같은 자기-광 매체(Magneto-Optical Media), 및 ROM(Read Only Memory), RAM(Random-Access Memory), 플래시 메모리(Flash Memory) 등과 같은 프로그램 명령어를 저장하고 수행하도록 특별히 구성된 하드웨어 장치가 포함된다.Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks and magnetic tapes, optical recording media such as CD-ROMs (Compact Disc Read Only Memory) and DVDs (Digital Video Discs), and floptical disks. Hardware devices specially configured to store and execute program instructions such as read only memory (ROM), random-access memory (RAM), flash memory, etc. is included
프로그램 명령어의 예에는, 컴파일러에 의해 만들어지는 것과 같은 기계어 코드뿐만 아니라 인터프리터 등을 사용해서 컴퓨터에 의해서 실행될 수 있는 고급 언어 코드도 포함된다. 상기 하드웨어 장치는 본 발명에 따른 처리를 수행하기 위해 하나 이상의 소프트웨어 모듈로서 작동하도록 구성될 수 있으며, 그 역도 마찬가지이다.Examples of program instructions include high-level language codes that can be executed by a computer using an interpreter or the like as well as machine language codes such as those produced by a compiler. The hardware device may be configured to act as one or more software modules to perform processing according to the present invention and vice versa.
이상에서는 본 발명의 다양한 실시예에 대하여 도시하고 설명하였지만, 본 발명은 상술한 특정의 실시예에 한정되지 아니하며, 청구범위에서 청구하는 본 발명의 요지를 벗어남이 없이 당해 발명이 속하는 기술분야에서 통상의 지식을 가진 자에 의해 다양한 변형실시가 가능한 것은 물론이고, 이러한 변형실시들은 본 발명의 기술적 사상이나 전망으로부터 개별적으로 이해되어져서는 안될 것이다.Although various embodiments of the present invention have been shown and described above, the present invention is not limited to the specific embodiments described above, and is commonly used in the technical field to which the present invention pertains without departing from the gist of the present invention claimed in the claims. Of course, various modifications are possible by those with knowledge of, and these modifications should not be individually understood from the technical spirit or prospect of the present invention.
[부호의 설명][Description of code]
100 : 안전 운행 지원 장치 110 : 통신부 100: safe operation support device 110: communication department
120 : 저장부 130 : 통신 판단부 120: storage unit 130: communication determination unit
140 : 정보 수집부 150 : 교차로 감지부 140: information collection unit 150: intersection detection unit
160 : 주행 감속부 170 : 주행 결정부160: travel reduction unit 170: travel determining unit
200 : 자율주행 차량 I : 교차로 200: autonomous vehicle I: intersection
Claims (12)
- 자율주행을 위한 외부 장치와 연동하는 자율주행 차량에 마련되는 안전 운행 지원 장치가 교차로의 딜레마 존에서 수행하는 안전 운행 지원 방법에 있어서, A safe driving support method performed in a dilemma zone at an intersection by a safety driving support device provided in an autonomous vehicle interlocking with an external device for autonomous driving, the method comprising:상기 외부 장치와의 V2X(Vehicle to Everything) 통신 가능 여부를 확인하는 단계; Checking whether V2X (Vehicle to Everything) communication with the external device is possible;상기 V2X(Vehicle to Everything) 통신 가능 여부에 따라 상기 외부 장치로부터 상기 차량의 서로 다른 주행 환경에 대한 정보를 수집하는 단계; Collecting information about different driving environments of the vehicle from the external device according to whether the V2X (Vehicle to Everything) communication is available;주행 환경에 대한 정보에 기초하여 상기 차량이 주행하는 주행 경로 상의 교차로를 감지하는 단계; 및detecting an intersection on a driving route along which the vehicle travels based on information about a driving environment; and상기 주행 환경에 대한 정보에 기초해 교차로 통과가능 여부를 결정하여 상기 차량을 제어하는 단계를 포함하고, Controlling the vehicle by determining whether it is possible to pass through an intersection based on the information about the driving environment;상기 차량의 서로 다른 주행 환경에 대한 정보를 수집하는 단계에서는, In the step of collecting information on different driving environments of the vehicle,상기 외부 장치와의 V2X(Vehicle to Everything) 통신이 불가능하면, 상기 교차로에 위치한 신호등의 색상정보를 포함하는 제1 주행 환경 정보를 수집하고, If vehicle to everything (V2X) communication with the external device is impossible, collect first driving environment information including color information of traffic lights located at the intersection;상기 외부 장치와의 V2X(Vehicle to Everything) 통신이 가능하면, 상기 교차로에 위치한 신호등에서 현재 출력 중인 현재 신호 및 현재 신호의 잔여시간을 포함하는 제2 주행 환경 정보를 수집하는 것을 특징으로 하는 안전 운행 지원 방법.If V2X (Vehicle to Everything) communication with the external device is possible, safe driving characterized by collecting second driving environment information including the current signal currently output from the traffic light located at the intersection and the remaining time of the current signal How to apply.
- 제1항에 있어서, According to claim 1,상기 차량을 제어하는 단계는, Controlling the vehicle is상기 차량의 정차 지점을 결정하여 상기 차량이 정차 지점에 정차하도록 제어하는 단계; 및determining a stopping point of the vehicle and controlling the vehicle to stop at the stopping point; and상기 차량의 주행을 유지하여 교차로를 통과하도록 제어하는 단계를 포함하는 안전 운행 지원 방법.A safe driving support method comprising the step of controlling the vehicle to pass through an intersection by maintaining the running of the vehicle.
- 제2항에 있어서, According to claim 2,상기 차량을 제어하는 단계는, Controlling the vehicle is상기 외부 장치와의 V2X(Vehicle to Everything) 통신이 불가능하면, 상기 교차로를 감지하는 단계 이후 상기 차량이 감지된 교차로에 일정 거리 이내로 접근하면 상기 딜레마 존의 구간을 감소시키기 위해 상기 차량의 주행속도를 감속시키는 단계를 더 포함하고, If V2X (Vehicle to Everything) communication with the external device is impossible, after the step of detecting the intersection, when the vehicle approaches the detected intersection within a certain distance, the driving speed of the vehicle is set to reduce the section of the dilemma zone. further comprising the step of slowing down;교차로를 통과하도록 제어하는 단계에서는, In the step of controlling to pass through the intersection,주행 중인 도로의 규정속도 이내에서 상기 차량의 주행 속도를 가속시켜 상기 교차로를 통과하도록 제어하는 것을 특징으로 하는 안전 운행 지원 방법. A method for supporting safe driving, characterized in that the driving speed of the vehicle is accelerated within a prescribed speed of the driving road and controlled to pass through the intersection.
- 제3항에 있어서, According to claim 3,상기 차량을 제어하는 단계는, Controlling the vehicle is상기 제1 주행 환경 정보에 포함된 상기 신호등의 색상정보를 확인하는 단계를 더 포함하고, Further comprising checking color information of the traffic light included in the first driving environment information,상기 정차 지점에 정차하도록 제어하는 단계에서는, In the step of controlling to stop at the stop point,상기 색상정보가 기설정된 색상정보와 일치하지 않으면 상기 정차 지점을 상기 교차로의 정지선 또는 선행차량의 후방으로 결정하는 것을 특징으로 하는 안전 운행 지원 방법.And if the color information does not match the preset color information, the stopping point is determined to be the stop line of the intersection or the rear of the preceding vehicle.
- 제4항에 있어서, According to claim 4,상기 차량을 제어하는 단계는, Controlling the vehicle is상기 색상정보가 기설정된 색상정보와 일치하면 상기 차량의 주행을 유지하면서 후행차량과의 안전거리 확보여부를 판단하는 단계; 및 determining whether to secure a safe distance from a following vehicle while maintaining driving of the vehicle when the color information matches preset color information; and상기 안전거리가 미확보되면 상기 차량의 주행을 유지하면서 상기 차량의 브레이크 등(Brake Lamp)이 점멸되도록 상기 차량을 제어하는 단계를 더 포함하는 것을 특징으로 하는 안전 운행 지원 방법.The safe driving support method of claim 1 , further comprising controlling the vehicle so that a brake lamp of the vehicle flickers while maintaining the driving of the vehicle when the safety distance is not secured.
- 제 5항에 있어서, According to claim 5,상기 차량을 제어하는 단계는, Controlling the vehicle is상기 신호등의 색상정보를 재확인하는 단계; Reconfirming the color information of the traffic light;재확인한 신호등의 색상정보가 기설정된 색상정보와 일치하면 선행차량의 주행 형태를 판단하는 단계; 및determining the driving mode of the preceding vehicle when the reconfirmed color information of the traffic light matches preset color information; and재확인한 신호등의 색상정보가 기설정된 색상정보와 일치하지 않으면 정지선 정차 가능여부 및 기설정된 조건 충족여부를 판단하는 단계를 더 포함하고, If the color information of the reconfirmed traffic light does not match the preset color information, further comprising determining whether it is possible to stop at the stop line and whether preset conditions are satisfied,상기 정차 지점에 정차하도록 제어하는 단계에서는, In the step of controlling to stop at the stop point,상기 조건 충족여부를 판단하는 단계에서 상기 정지선 정차가 가능하면서 기설정된 조건을 충족하거나, 상기 선행차량의 주행 형태를 판단하는 단계에서 상기 교차로 내에서 상기 선행차량의 주행 형태가 정차 또는 서행인 것으로 판단되면, 상기 정차 지점을 상기 교차로의 정지선으로 결정하는 것을 특징으로 하는 안전 운행 지원 방법.In the step of determining whether or not the condition is satisfied, it is determined that the stop line stop is possible and a preset condition is satisfied, or in the step of determining the driving mode of the preceding vehicle, it is determined that the driving mode of the preceding vehicle is stopped or slowed down within the intersection. , the stopping point is determined as the stop line of the intersection.
- 제6항에 있어서, According to claim 6,상기 교차로를 통과하도록 제어하는 단계는, The step of controlling to pass through the intersection,상기 선행차량의 주행 형태를 판단하는 단계에서 상기 교차로 내에서 상기 선행차량의 주행 형태가 정상 주행인 것으로 판단되거나, 상기 조건 충족여부를 판단하는 단계에서 상기 정지선 정차 불가능 및 기설정된 조건 미충족 중 적어도 하나에 해당하면 수행되는 단계인 것을 특징으로 하는 안전 운행 지원 방법.In the step of determining the driving mode of the preceding vehicle, it is determined that the driving mode of the preceding vehicle within the intersection is normal driving; A method for supporting safe driving, characterized in that it is a step performed when corresponding to.
- 제7항에 있어서, According to claim 7,상기 교차로를 통과하도록 제어하는 단계에서는, In the step of controlling to pass through the intersection,상기 정지선 정차 불가능 및 기설정된 조건 미충족 중 적어도 하나에 해당하여 교차로를 통과하도록 제어하는 경우, 상기 차량의 비상등 점등 및 경적이 출력되도록 상기 차량을 제어하는 것을 특징으로 하는 안전 운행 지원 방법.and controlling the vehicle to turn on an emergency light and output a horn when controlling the vehicle to pass through an intersection corresponding to at least one of the stop line not being able to stop and the predetermined condition not being satisfied.
- 제2항에 있어서, According to claim 2,상기 차량을 제어하는 단계는, Controlling the vehicle is상기 제2 주행 환경 정보에 포함된 현재 신호를 확인하는 단계; 및 checking a current signal included in the second driving environment information; and상기 현재 신호가 기설정된 신호정보와 일치하면 상기 차량이 현재 속도로 교차로의 정지선 도착에 필요한 소요시간을, 상기 현재 신호의 잔여시간과 비교하는 단계; 및 comparing a time required for the vehicle to arrive at a stop line at an intersection with a remaining time of the current signal when the current signal matches preset signal information; and상기 잔여시간과 비교하는 단계에서 상기 소요시간이 상기 잔여시간보다 짧으면 선행차량의 주행 형태를 판단하는 단계를 더 포함하는 것을 특징으로 하는 안전 운행 지원 방법.In the step of comparing with the remaining time, if the required time is shorter than the remaining time, determining the driving type of the preceding vehicle.
- 제9항에 있어서, According to claim 9,상기 정차 지점에 정차하도록 제어하는 단계에서는, In the step of controlling to stop at the stop point,상기 현재 신호가 기설정된 신호정보와 일치하지 않거나, 상기 소요 시간이 상기 잔여시간 이상이거나, 상기 교차로 내에서 상기 선행차량의 주행 형태가 서행 또는 정차인 것으로 판단되면 상기 정차 지점을 상기 교차로의 정지선 또는 선행차량의 후방으로 결정하는 것을 특징으로 하는 안전 운행 지원 방법.If the current signal does not match the preset signal information, if the required time is longer than the remaining time, or if it is determined that the driving mode of the preceding vehicle is slow or stopped within the intersection, the stop point is set to the stop line or the stop line of the intersection. A safe driving support method characterized in that it is determined to be behind the preceding vehicle.
- 제9항에 있어서, According to claim 9,상기 교차로를 통과하도록 제어하는 단계는, The step of controlling to pass through the intersection,상기 교차로 내에서 상기 선행차량의 주행 형태가 정상 주행인 것으로 판단되면 수행되는 단계인 것을 특징으로 하는 안전 운행 지원 방법.and a step performed when it is determined that the driving type of the preceding vehicle is normal driving within the intersection.
- 자율주행을 위한 외부 장치와 연동하는 자율주행 차량에 마련되는 안전 운행 지원 장치에 있어서,In a safety driving support device provided in an autonomous vehicle that interlocks with an external device for autonomous driving,상기 외부 장치와의 V2X(Vehicle to Everything) 통신 가능 여부를 확인하는 통신 판단부; a communication determination unit that checks whether or not V2X (Vehicle to Everything) communication with the external device is possible;상기 V2X(Vehicle to Everything) 통신 가능 여부에 따라 상기 외부 장치로부터 상기 차량의 서로 다른 주행 환경에 대한 정보를 수집하는 정보 수집부; an information collection unit that collects information about different driving environments of the vehicle from the external device according to whether the V2X (Vehicle to Everything) communication is available;주행 환경에 대한 정보에 기초하여 상기 차량이 주행하는 주행 경로 상의 교차로를 감지하는 교차로 감지부;an intersection detecting unit detecting an intersection on a driving path along which the vehicle travels based on information about a driving environment;상기 차량이 감지된 교차로에 일정 거리 이내로 접근하면 교차로 딜레마 존의 구간을 감소시키기 위해 상기 차량의 주행 속도를 감소시키는 주행 감속부; 및a driving deceleration unit that reduces the traveling speed of the vehicle to reduce the section of an intersection dilemma zone when the vehicle approaches the detected intersection within a predetermined distance; and상기 주행 환경에 대한 정보에 기초해 교차로 통과가능 여부를 결정하여 상기 차량을 제어하는 주행 결정부를 포함하고, a driving determination unit configured to control the vehicle by determining whether an intersection is passable based on the information on the driving environment;상기 정보 수집부는, The information collection unit,상기 외부 장치와의 V2X(Vehicle to Everything) 통신이 불가능하면, 상기 교차로에 위치한 신호등의 색상정보를 포함하는 제1 주행 환경 정보를 수집하고, If vehicle to everything (V2X) communication with the external device is impossible, collect first driving environment information including color information of traffic lights located at the intersection;상기 외부 장치와의 V2X(Vehicle to Everything) 통신이 가능하면, 상기 교차로에 위치한 신호등에서 현재 출력 중인 현재 신호 및 현재 신호의 잔여시간을 포함하는 제2 주행 환경 정보를 수집하는 것을 특징으로 하는 안전 운행 지원 장치.If V2X (Vehicle to Everything) communication with the external device is possible, safe driving, characterized in that for collecting second driving environment information including the current signal currently being output from the traffic light located at the intersection and the remaining time of the current signal support device.
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