WO2023158058A1 - Dispositif et procédé d'aide à la conduite sûre de véhicule à conduite autonome dans une zone de dilemme d'intersection - Google Patents

Dispositif et procédé d'aide à la conduite sûre de véhicule à conduite autonome dans une zone de dilemme d'intersection Download PDF

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Publication number
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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WIPO (PCT)
Prior art keywords
vehicle
intersection
driving
information
controlling
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PCT/KR2022/017599
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English (en)
Korean (ko)
Inventor
한동석
백민진
김지훈
Original Assignee
경북대학교 산학협력단
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Priority claimed from KR1020220039748A external-priority patent/KR20230124836A/ko
Application filed by 경북대학교 산학협력단 filed Critical 경북대학교 산학협력단
Publication of WO2023158058A1 publication Critical patent/WO2023158058A1/fr

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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
    • 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
    • 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
    • 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
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W60/00—Drive control systems specially adapted for autonomous road vehicles
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D1/00—Control of position, course, altitude or attitude of land, water, air or space vehicles, e.g. using automatic pilots

Definitions

  • the present invention relates to an apparatus for 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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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Transportation (AREA)
  • Physics & Mathematics (AREA)
  • Mathematical Physics (AREA)
  • Human Computer Interaction (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • General Physics & Mathematics (AREA)
  • Traffic Control Systems (AREA)

Abstract

La présente invention concerne un procédé d'aide à la conduite sûre effectué dans une zone de dilemme d'une intersection par un dispositif d'aide à la conduite sûre disposé dans un véhicule à conduite autonome coopérant avec un dispositif externe pour une conduite autonome, le procédé comprenant les étapes consistant : à identifier si une communication de véhicule à tout (V2X) avec le dispositif externe est possible ; à collecter des informations sur différents environnements de conduite du véhicule à partir du dispositif externe selon que la communication de véhicule à tout (V2X) est possible ; à détecter une intersection sur un itinéraire de conduite le long duquel le véhicule se déplace, sur la base d'informations sur un environnement de conduite ; et sur la base des informations sur l'environnement de conduite, à déterminer s'il est possible de franchir l'intersection, de façon à commander le véhicule. Par conséquent, lorsqu'un véhicule à conduite autonome passe une intersection, non seulement un temps nécessaire pour déterminer s'il faut franchir une intersection peut être réduit et un risque d'accident de la circulation au niveau de l'intersection peut être réduit en réduisant une longueur d'une zone de dilemme d'intersection, mais également une fréquence de survenue d'une situation dangereuse, telle que l'obstruction du passage d'un autre véhicule ou d'un piéton, peut être réduite en empêchant le véhicule de s'arrêter à l'intérieur de l'intersection ou d'un croisement.
PCT/KR2022/017599 2022-02-18 2022-11-10 Dispositif et procédé d'aide à la conduite sûre de véhicule à conduite autonome dans une zone de dilemme d'intersection WO2023158058A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
KR10-2022-0021300 2022-02-18
KR20220021300 2022-02-18
KR10-2022-0039748 2022-03-30
KR1020220039748A KR20230124836A (ko) 2022-02-18 2022-03-30 교차로 딜레마 존에서의 자율주행 차량의 안전 운행 지원 장치 및 안전 운행 지원 방법

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WO2023158058A1 true WO2023158058A1 (fr) 2023-08-24

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100063471A (ko) * 2008-12-03 2010-06-11 한국전자통신연구원 신호교차로에서의 차량주행 제어시스템 및 그 방법
KR20150047214A (ko) * 2013-10-24 2015-05-04 현대모비스 주식회사 카메라 센서를 이용한 ｓｃｃ 시스템 및 방법
JP2018156667A (ja) * 2014-06-12 2018-10-04 日立オートモティブシステムズ株式会社 車両の走行制御装置
KR20190068037A (ko) * 2017-12-08 2019-06-18 현대자동차주식회사 차량 운전보조장치 및 그 제어 방법
KR20210077280A (ko) * 2019-12-17 2021-06-25 현대자동차주식회사 V2x 통신을 이용한 차량의 자율주행 시스템 및 그 방법

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR20100063471A (ko) * 2008-12-03 2010-06-11 한국전자통신연구원 신호교차로에서의 차량주행 제어시스템 및 그 방법
KR20150047214A (ko) * 2013-10-24 2015-05-04 현대모비스 주식회사 카메라 센서를 이용한 ｓｃｃ 시스템 및 방법
JP2018156667A (ja) * 2014-06-12 2018-10-04 日立オートモティブシステムズ株式会社 車両の走行制御装置
KR20190068037A (ko) * 2017-12-08 2019-06-18 현대자동차주식회사 차량 운전보조장치 및 그 제어 방법
KR20210077280A (ko) * 2019-12-17 2021-06-25 현대자동차주식회사 V2x 통신을 이용한 차량의 자율주행 시스템 및 그 방법

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