KR102022773B1 - Apparatus for sensing location of autonomic vehicle and system for stopping right location using thereof - Google Patents

Abstract

The present invention relates to a precision position sensing apparatus, a sensing method of a self-driving vehicle, a stopping support system and a stopping support method through the precise position detecting apparatus. More specifically, the precision position detection device of the autonomous vehicle, A plurality of reference receiving unit is installed in the vicinity of a specific target stop position; A distance measuring unit which is provided in the autonomous vehicle and measures a distance to each of the reference receivers by transmitting a signal to each of the reference receivers during operation; And a position detecting unit detecting a current position of the autonomous vehicle based on the measured distance.

Description

Apparatus for sensing location of autonomic vehicle and system for stopping right location using knowledge}

The present invention relates to a precision position sensing apparatus, a sensing method of a self-driving vehicle, a stopping support system and a stopping support method through the precise position detecting apparatus.

Autonomous cars (autonomous cars, autonomous vehicles) are autonomous vehicles that can carry out the main transport functions of existing vehicles, and are also called uncrewed vehicles, driverless cars, self-driving cars, and robotic cars.

Self-driving vehicles can detect the surrounding environment without human intervention and can operate auto navigation.

Currently, robot cars exist as prototypes.

The driving vehicle senses the surrounding environment with radar, Lidar, GPS, and computer vision technology.

More advanced control systems interpret information that identifies not only the corresponding navigation path, but also signs associated with obstacles.

Unmanned vehicles should be able to automatically update the map based on sensor inputs to maintain their route even in unregistered environments or changing conditions.

Daimler autonomous trucks are implemented with front-range long-range, short-range radar and stereoscopic cameras, and adaptive cruise control technology, including Active Cruise Control (ACC) and Active Brake Assist. ABA) 'uses long-range and short-range radar to adjust driving and deceleration, and automatically adjusts the distance between cars.

The long range radar searches up to 250m forward with an 18 ° viewing angle and the short range radar searches up to 70m forward with a 130 ° viewing angle.

The 3D camera attached to the truck's windshield navigates up to 100m at a horizontal 45 ° and 27 ° viewing angle and recognizes lane markings, while the 'Highway Pilot' system connects the front radar and the 3D camera to maintain lane collision. It provides functions such as avoidance, speed control and deceleration.

In addition to detecting the vehicle's own real-time ambient situation, the GPS system (Global Positioning System) can also be used to make predictions through precise maps. .

As new technologies related to autonomous vehicles emerge, new laws are also changing. In other words, countries around the world are making new laws to advance the era of self-driving cars, while revising existing regulations that hinder each other.

In Korea, a special zone for autonomous vehicles will be prepared, led by the Ministry of Land, Infrastructure and Transport and the Ministry of Trade, Industry and Energy. This is due to the fact that autonomous vehicle technology is the future growth engine. The ministry is planning to secure a special zone and dedicated area for piloting autonomous vehicles within this year.

As a prior art, Korean Patent No. 171197 (Automatic Parking System and Control Method thereof) of the self-driving vehicle, the user of the autonomous vehicle and the parking management system for managing a plurality of parking surfaces by using the parking management system It describes how to park autonomous vehicles automatically. 1 is a block diagram of an automatic parking system of a conventional autonomous vehicle.

This method includes a first step of registering an autonomous vehicle in the parking management system; A second step of receiving, by the parking management system, the destination information from the terminal when the destination of the user is designated through the terminal; A third step of determining, by the parking management system, whether the autonomous vehicle is registered; A fourth step of transmitting, when the autonomous vehicle is registered, at least one parking lot information adjacent to the destination among the plurality of parking lots registered in the parking management system to the terminal; A fifth step of designating, by the user, a first parking lot among the at least one parking lot; A sixth step in which the autonomous vehicle receives the first parking lot information from the terminal and performs autonomous driving to the first parking lot; A seventh step of receiving the information of the at least one camera disposed on the plurality of parking surfaces by the autonomous vehicle; An eighth step of identifying an empty parking surface of the plurality of parking surfaces by using the photographed information; A ninth step of the autonomous vehicle performing a parking operation on the empty parking surface; A tenth step of transmitting information indicating that the autonomous vehicle has completed the parking operation to the parking management system; And an eleventh step of the parking management system transmitting the information related to the completion of the parking operation and the parked parking surface to the terminal.

Further, the traveling control device described in Japanese Patent No. 5757713 has an object to provide a traveling control device capable of improving the possibility of the vehicle arriving at the target position when the vehicle is autonomously driven to the target position.

2A and 2B show the configuration of a traveling control device according to Japanese Patent No. 5757713. The traveling control device compares the linear distance set when the previous correction is performed with the linear distance from the vehicle position of the current vehicle to the target parking position while the vehicle is running, and the linear distance becomes shorter than the linear distance. Attempt to re-recognize the target parking position. As a result, each time the vehicle approaches the target position, the target parking position can be recognized again, so that the error included in the recognized parking position can be gradually (stepwise) lowered. Therefore, since the specific precision of the target parking position can be improved gradually (stepwise), the possibility of the vehicle arriving at the target parking position can be improved.

3 is a flowchart illustrating an autonomous driving method using an autonomous driving system in a parking lot according to Korean Patent No. 1637842. When the autonomous driving system in the parking lot according to the reference 3 detects a vehicle entry into the parking lot, the parking lot server transmits the parking lot information including the parking lot map data to which the virtual lane is applied to the vehicle, and the vehicle is parked using the virtual lane. It is configured to include an autonomous driving device that performs autonomous driving to any one of the empty parking spaces in the vehicle.

In addition, the parking lot server configures a virtual center line on the driving road of the parking lot map data, and forms a center line of the virtual lane spaced at a predetermined distance in both directions perpendicular to the center line in consideration of the right turn or the left turn of the vehicle. The autonomous driving device includes a sensor unit for detecting an obstacle located around the vehicle, and the sensor unit includes at least one of a radar, a lidar, an ultrasonic wave, and an image sensor.

These prior arts all determine the position, speed, direction, etc. of the vehicle based on the GPS signal when controlling the autonomous vehicle to stop the autonomous vehicle at a specific stop position (stop, parking lot, etc.).

Accordingly, in the prior arts, a complicated configuration and algorithm are required for more precise position control and direction control for stopping at an accurate position.

Recently, autonomous vehicles are equipped with video camera, laser sensor, and lidar (LDAR) sensor, and most of them are applied for lane recognition, proximity vehicle recognition, background and vehicle object. The sensor performs a function to measure the distance between adjacent vehicles, obstacles, and the distance between surrounding objects.

In self-driving vehicles, more precise stops are required than in human-driven vehicles to ensure the safety of the passengers in the cars and the passengers at the stops.

The position error of general GPS is more than 10m, and even more accurate DGPS has a location error of more than 30cm.

In the case where the autonomous vehicle stops the vehicle depending on the GPS signal to accurately stop the autonomous vehicle at a specific stop position, there is a problem in that the position of the vehicle cannot be accurately determined.

Therefore, it was required to develop a system and a method for precisely measuring the position of a vehicle within a few cm from a specific target stop position such as a stop and a parking lot, and to stop the autonomous vehicle at a fixed position based on this.

Republic of Korea Patent No. 1711797 Japanese Patent No.5617513 Republic of Korea Patent No. 1637842 Japanese Patent No. 5169804

Therefore, the present invention has been made to solve the above-mentioned conventional problems, according to an embodiment of the present invention, precisely measuring the position of the vehicle within a few cm at a specific target stop position, such as a stop, parking lot, based on this The purpose of the present invention is to provide a system and method for stopping autonomous vehicles in position.

In addition, according to one embodiment of the present invention, when the autonomous vehicle reaches a proximity range of 5 to 20 m from a specific target stop position, the distance measurement is composed of a laser, a lidar sensor, or RFID installed in the autonomous vehicle It is an object of the present invention to provide a system and a method for operating a transmission unit for measuring a distance to a plurality of reference receivers installed at a stop position and accurately detecting the position of an autonomous vehicle based on the distance. .

According to an embodiment of the present invention, when the autonomous vehicle reaches a proximity range of 5 to 20 m from a specific target stop position, the distance measurement is composed of a laser, a lidar sensor, an RFID, or the like installed in the autonomous vehicle. It is an object of the present invention to provide a system and a method for operating a transmission unit for measuring a distance to a plurality of reference receivers installed at a stop position and accurately detecting the position of an autonomous vehicle based on the distance. .

On the other hand, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems that are not mentioned are clearly to those skilled in the art from the following description. It can be understood.

A first object of the present invention is to provide a precise position sensing apparatus for an autonomous vehicle, comprising: a plurality of reference receivers installed near a specific target stop position; A distance measuring unit which is provided in the autonomous vehicle and measures a distance to each of the reference receivers by transmitting a signal to each of the reference receivers during operation; And a position detector for detecting a current position of the autonomous vehicle on the basis of the measured distance.

In addition, the distance measuring unit may be operated when the vehicle is located within a specific proximity range of the target stop position.

The distance measuring unit may be configured as at least one of a laser sensor, a lidar sensor, an ultrasonic sensor, and an infrared sensor.

In addition, the reference receiver includes a first reference receiver and a second reference receiver respectively disposed near the specific target stop position, and the distance measuring unit includes a distance L1 and a second reference from the first reference receiver. The distance L2 from the receiver may be measured.

The position detection unit may include a preset coordinate P (x1, y1, z1) of the first reference receiver, a coordinate Q (x2, y2, z2) of the second reference receiver, and a z coordinate z3 of the distance measuring unit. And detecting the location of the vehicle based on the measured L1 and L2 and Equation 1 and 2 below.

[Equation 1, 2]

According to a second aspect of the present invention, there is provided a method for accurately detecting a position of an autonomous vehicle, the method comprising: detecting a position of a vehicle through a GPS receiver in a normal mode; When the vehicle reaches within a specific proximity range of a target stop position, operating the distance measuring unit to switch to the precision position determination mode; Measuring, by the distance measuring unit, a distance to each of the reference receivers by transmitting a signal to each of the plurality of reference receivers installed near the target stop position; And detecting a current position of the vehicle on the basis of the measured distance of the position detecting unit.

In the precision position sensing apparatus according to the first object, the distance measuring unit is configured with an RFID reader, the plurality of reference receivers are configured with an RFID tag, and the electromagnetic wave sent from the reader reaches the tag. The apparatus may further include a distance measuring unit configured to measure respective distances between the reader and the plurality of tags in consideration of the return time and the signal processing time.

In addition, in the precision position sensing apparatus according to the first object, the distance measuring unit is composed of an RFID tag, the plurality of reference receiving units are configured with an RFID reader, and the electromagnetic wave sent from the reader reaches the tag. And a distance measuring unit for measuring respective distances between the plurality of readers and the tags in consideration of the return time and the signal processing time.

According to a third aspect of the present invention, there is provided a method for accurately detecting a position of an autonomous vehicle, the method comprising: detecting a position of a vehicle through a GPS receiver in a normal mode; When the vehicle reaches a specific proximity range of a target stop position, the RFID reader installed in the vehicle is operated to switch to the precise position determination mode; Transmitting, by the reader, electromagnetic waves to each of a plurality of RFID tags installed near the target stop position; Measuring a distance between the reader and the plurality of tags in consideration of a time for returning after the electromagnetic wave sent from the reader reaches the tag and a signal processing time; And detecting a current position of the vehicle on the basis of the measured distance of the position detecting unit.

A fourth object of the present invention is to provide a fixed position stop support system, comprising: a precision position detecting device according to the first object mentioned above; A database storing coordinate information of a specific target stop position, coordinate information of a reference point, a plurality of reference receiver coordinate information, and z coordinates of a distance measuring unit; And a vehicle control unit configured to control the driving of the autonomous vehicle based on the vehicle position sensed by the precision position detecting device and the target stop position. Can be achieved as a support system.

The vehicle may further include a stop position determination unit determining whether the autonomous vehicle reaches the target stop position.

In addition, when the stop determination unit determines that the autonomous driving vehicle has reached the target stop position, the vehicle controller may set the autonomous driving vehicle to stand still.

In addition, the position detection means for comparing the position of the vehicle detected by the precision position detection device with the position of the vehicle according to the GPS receiver may further include a position correction means for correcting the GPS position through the GPS correction value.

A fifth object of the present invention is to provide a stop position support method for an autonomous vehicle, the method comprising: detecting a position of a vehicle through a GPS receiver in a normal mode; When the vehicle reaches within a specific proximity range of a target stop position, operating the distance measuring unit to switch to the precision position determination mode; Measuring, by the distance measuring unit, a distance to each of the reference receivers by transmitting a signal to each of the plurality of reference receivers installed near the target stop position; Detecting the current position of the vehicle based on the measured distance, the coordinate information of the coordinate information reference point of the specific target stop position stored in the database, the plurality of basic receiver coordinate information, and the z coordinate of the distance measuring unit; ; And controlling the vehicle to move the autonomous vehicle to the target stop position based on the vehicle position detected by the position detection unit and the target stop position. It can be achieved as an in-situ stop support method through sensing.

Determining whether the autonomous vehicle has reached the target stop position; And when the autonomous vehicle reaches the target stop position by the stop determination unit, the vehicle controller may further include stopping the autonomous vehicle.

The method may further include correcting the GPS position through the GPS correction value by comparing the position of the vehicle detected by the precision position detecting device with the position of the vehicle according to the GPS receiver.

According to an accurate position detecting device for an autonomous vehicle according to an embodiment of the present invention, and a stop support system through the precise position detecting device, the position of the vehicle is precisely measured within a few cm at a specific target stop position such as a stop or a parking lot. On the basis of this, the autonomous vehicle can be stopped at the correct position.

In addition, according to the precision position sensing device of the self-driving vehicle and the stop support system through the precision position sensing apparatus according to an embodiment of the present invention, the autonomous driving vehicle is in the proximity range of 5 to 20 m from a specific target stop position. When reaching, the distance measuring transmitting unit, which is composed of a laser, a lidar sensor, an RFID, or the like installed in the autonomous vehicle, is operated to measure a distance to a plurality of reference receiving units installed at a stop position, and based on the distance This has the effect of accurately detecting the position of the autonomous vehicle.

In addition, according to the precision position sensing device of the self-driving vehicle and the stop support system through the precision position sensing apparatus according to an embodiment of the present invention, the autonomous driving vehicle is located in a proximity range of 5 to 20 m from a specific target stop position. When reaching, the distance measuring transmitting unit, which is composed of a laser, a lidar sensor, an RFID, or the like installed in the autonomous vehicle, is operated to measure a distance to a plurality of reference receiving units installed at a stop position, and based on the distance This has the effect of accurately detecting the position of the autonomous vehicle.

On the other hand, the effect obtained in the present invention is not limited to the above-mentioned effects, other effects that are not mentioned will be clearly understood by those skilled in the art from the following description. Could be.

The following drawings, which are attached to this specification, illustrate one preferred embodiment of the present invention, and together with the detailed description thereof, serve to further understand the technical spirit of the present invention. It should not be construed as limited.
1 is a configuration diagram of an automatic parking system of a conventional autonomous vehicle;
2a and 2b is a configuration diagram of a driving control device according to Japanese Patent No.
3 is a flowchart of an autonomous driving method using an autonomous driving system in a parking lot according to Korean Patent No. 1637842;
4 and 5 is a block diagram of a precision position detection device of an autonomous vehicle according to an embodiment of the present invention,
6 is a block diagram of an exact position stop support system through the precise position detection of an autonomous vehicle according to a first embodiment of the present invention;
7 is a flowchart of a method for supporting a fixed position stop by precise position detection of an autonomous vehicle according to a first embodiment of the present invention;
8 is a block diagram of an exact position stop support system through precision position detection of an autonomous vehicle according to a second embodiment of the present invention;
FIG. 9 is a flowchart illustrating a method for supporting a fixed position stop by precise position detection of an autonomous vehicle according to a second embodiment of the present invention.

Objects, other objects, features and advantages of the present invention will be readily understood through the following preferred embodiments associated with the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms. Rather, the embodiments introduced herein are provided so that the disclosure may be made thorough and complete, and to fully convey the spirit of the invention to those skilled in the art.

In the present specification, when a component is mentioned to be on another component, it means that it may be formed directly on the other component or a third component may be interposed therebetween. In addition, in the drawings, the thickness of the components are exaggerated for the effective description of the technical content.

Embodiments described herein will be described with reference to cross-sectional and / or plan views, which are ideal exemplary views of the present invention. In the drawings, the thicknesses of films and regions are exaggerated for effective explanation of technical content. Therefore, the shape of the exemplary diagram may be modified by manufacturing techniques and / or tolerances. Accordingly, the embodiments of the present invention are not limited to the specific forms shown, but also include changes in forms generated according to manufacturing processes. For example, the region shown at right angles may be rounded or have a predetermined curvature. Thus, the regions illustrated in the figures have properties, and the shape of the regions illustrated in the figures is intended to illustrate a particular form of region of the device and is not intended to limit the scope of the invention. Although terms such as first and second are used to describe various components in various embodiments of the present specification, these components should not be limited by such terms. These terms are only used to distinguish one component from another. The embodiments described and illustrated herein also include complementary embodiments thereof.

The terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. In this specification, the singular also includes the plural unless specifically stated otherwise in the phrase. As used herein, the words 'comprises' and / or 'comprising' do not exclude the presence or addition of one or more other components.

In describing the specific embodiments below, various specific details are set forth in order to explain the invention more specifically and to help understand. However, those skilled in the art can understand that the present invention can be used without these various specific details. In some cases, it is mentioned in advance that parts of the invention which are commonly known in the description of the invention and which are not highly related to the invention are not described in order to prevent confusion in explaining the invention without cause.

Hereinafter, the configuration and function of the precision position sensing device of the autonomous vehicle 1 according to the embodiment of the present invention will be described. First, FIG. 4 and FIG. 5 show the configuration of the precision position sensing apparatus of the autonomous vehicle 1 according to the embodiment of the present invention.

Precise position detection apparatus for an autonomous vehicle according to an embodiment of the present invention, as shown in Figure 4 and 5, including a plurality of reference receiving unit, the distance measuring unit 300, the position detection unit 310, etc. It can be seen that it can be configured.

The plurality of reference receivers 100 are installed near the specific target stop position 2. In the embodiment of the present invention, as shown in FIGS. 4 and 5, the plurality of reference receivers 100 are respectively installed near the specific target stop position 2. The first reference receiving unit 100 and 100 and the second reference receiving unit 100 and 200 may be configured.

The distance measuring unit 300 is provided in the autonomous vehicle 1 to operate the first and second reference receivers 100 and 200 to transmit signals to the first and second reference receivers 100 and 200. Measure the distance from each other. In addition, such a distance measuring unit 300 is activated when the vehicle 1 is located within a specific proximity range of the target stop position (2).

The position detector 310 detects the current position of the autonomous vehicle 1 based on the measured distance. In detail, the position detector 310 measures the coordinates P (x1, y1, z1) of the first reference receiver 100 and the coordinates Q (x2, y2, z2) of the second reference receiver 200 and the distance measurement. The position V (x3, y3, z3) of the vehicle 1 is detected based on the z coordinate z3 of the unit 300 and the measured L1 and L2 and Equation 1 and 2 below.

[Equation 1, 2]

Hereinafter, a configuration and a stop support method of a stop position support system through the precise position detection of an autonomous vehicle according to the first embodiment of the present invention will be described.

FIG. 6 is a block diagram of an exact position stop support system through precision position detection of an autonomous vehicle according to a first embodiment of the present invention. And, Figure 7 shows a flow chart of a method for supporting a stop position by the precise position detection of the autonomous vehicle according to the first embodiment of the present invention.

The stop support system according to the first embodiment of the present invention includes the configuration of the above-described precision position detecting device as it is. As shown in FIG. 6, the position stop support system using the precise position detection of the autonomous vehicle according to the first embodiment of the present invention includes a distance measuring unit 300 and a position detection unit provided in the vehicle 1. The first reference receiving unit 100 includes a vehicle control unit 320, an exact position stop determination unit 330, a database 340, and error correction means 360, and are installed near a specific target stop position 2. ) And a second reference receiving unit 200.

The database 340 may include coordinate information (Q (x4, y4, z4)) of a specific target stop position 2, coordinate information of a reference point, and coordinate information P (x1) of the first and second reference receivers 100 and 200. , y1, z1), Q (x2, y2, z2)), and the z coordinate z3 of the distance measuring unit 300 are stored.

In addition, the vehicle controller 320 controls the driving of the autonomous vehicle 1 based on the position of the vehicle 1 detected by the precision position detection device and the target stop position 2.

In addition, the stationary stop determination unit 330 determines whether the autonomous vehicle 1 has reached the target stop position 2.

The position correction means 360 compares the position of the vehicle 1 detected by the precision position detection device with the position of the vehicle 1 according to the GPS receiver 3 to correct the GPS position through the GPS correction value. do.

The distance measuring unit 300 according to the first embodiment of the present invention is composed of at least one of a laser sensor, a lidar sensor, an ultrasonic sensor, and an infrared sensor. In the first embodiment, a configuration of a LiDAR (Light Detection and Ranging) sensor will be described as an example.

The autonomous vehicle 1 normally grasps the position of the vehicle 1 via the GPS receiver 3 (S1, normal mode). When the autonomous vehicle 1 reaches a specific proximity range of the target stop position 2, the distance measuring unit 300 including the lidar is operated (S2). That is, the operation controller 350 controls the lidar to operate when the vehicle 1 reaches a specific proximity range.

The rider measures the time required for returning by firing the lidar to each of the first reference receiver 100 and the second reference receiver 200 to measure a position, and then measuring the first and second reference receivers 100, The distance up to 200 is obtained (S3).

In addition, the rider can scan a predetermined range in the vertical, horizontal direction. In order to minimize the movement of the lidar, the z coordinates z1 and z2 of the first reference receiver 100 and the second reference receiver 200 are preferably equal to the z coordinate z3 of the lidar 300. .

In addition, the y coordinates y1 and y2 of the first reference receivers 100 and P and the second reference receivers 200 and Q are located at positions of the first and second reference receivers 100 and 200 of the vehicle 1. It is effective to stay within the horizontal scan range of the lidar from the time when the measurement starts.

In addition, since the range of the y coordinate scanned by the lidar at the starting point varies depending on the y-direction position of the vehicle 1 and the angle between the advance direction of the vehicle 1 and the y-axis, the first and second reference receivers are considered in this regard. It is necessary to determine the installation position of (100, 200).

When the traveling direction of the vehicle 1 is inclined a lot with the y-axis, the first and second reference receivers 100 and 200 may be out of the scan range of the lidar, so that the vehicle 1 may receive the first and second reference receivers ( The lidar may be controlled by controlling the direction of the lidar from the starting point of measuring the positions of the 100 and 200 so that the first and second reference receivers 100 and 200 can be scanned.

When the distances L1 and L2 between the distance measuring unit 300 and the first and second reference transmitter / receivers 100 and 200 are measured by the distance measuring unit 300 composed of a lidar, By using Equations 1 and 2, V (x3, y3, z3), which are accurate positions of the vehicle 1, is calculated (S4).

 [Equation 1, 2]

In addition, the vehicle controller 320 controls driving to move the autonomous vehicle 1 to the target stop position 2 based on the vehicle position sensed by the position detector 310 and the target stop position 2. (S5).

In addition, the stationary stop determination unit 330 determines whether the autonomous vehicle 1 has reached the target stop position 2 (S6), and the autonomous vehicle 1 at the stop determination unit 330 stops at the target. When it is determined that the position 2 has been reached, the vehicle control unit 320 controls the autonomous vehicle 1 to stop (S7).

The position correction means 360 may compare the position of the vehicle 1 detected by the precision position detection device with the position of the vehicle 1 according to the GPS receiver 3 to correct the GPS position through the GPS correction value. have.

That is, the precise stop control of the vehicle 1 uses the position of the vehicle 1 measured using the lidar from entering the stop to the stop of the vehicle 1 or when the vehicle enters the stop, 1) by comparing the position and the position of the vehicle (1) given by the GPS installed in the vehicle (1) to secure the GPS correction value and using the GPS position corrected by the correction value, the vehicle control unit 320 is a self-driving vehicle ( You can also control the running of 1)

FIG. 8 is a block diagram of an exact position stop support system through precision position detection of an autonomous vehicle according to a second embodiment of the present invention. FIG. 9 is a flowchart illustrating a method for supporting a stop position by using a precise position detection of an autonomous vehicle according to a second embodiment of the present invention.

The second embodiment of the present invention includes some of the configurations of the above-described first embodiment, but the distance measuring unit 300 is constituted of an RFID reader 410 or an RFID tag. In general, RFID is used to recognize an object by reading the information stored in the electronic tag by sending a radio wave from the reader 410. In the second embodiment of the present invention, the RFID is used to detect the position.

That is, the distance measuring unit 300 is constituted by the RFID reader 410, and the first and second reference receivers 100 and 200 are constituted by the first and second RFID tags 421 and 422. And the distance measuring unit 430 and the RFID reader 410 in consideration of the return time and the signal processing time after the electromagnetic wave sent from the RFID reader 410 reaches the first, second RFID tag (421, 422) The distance between each of the first and second RFID tags 421 and 422 is measured.

That is, in the normal mode, the position of the vehicle 1 is determined through the GPS receiver 3 (S11), and when the vehicle 1 reaches a specific proximity range of the target stop position 2 (S12), the vehicle The RFID reader 410 installed in (1) is operated to switch to the precision position determination mode (S13). That is, the operation controller 350 controls the RFID reader 410 to operate when the vehicle 1 reaches a specific proximity range.

In addition, the RFID reader 410 transmits electromagnetic waves to each of the first and second RFID tags 421 and 422 installed near the target stop position 2, and the distance measuring unit 430 is sent from the RFID reader 410. The distance L! And L2 between the reader 410 and the first and second tags 421 and 422 are measured in consideration of the time when the electromagnetic wave reaches the tag and then returns, and the signal processing time ( S14).

When the distances L1 and L2 are measured by the distance measuring unit 430, V, which is the position of the vehicle 1, is detected using Equations 1 and 2 below (S15).

[Equation 1, 2]

In addition, the vehicle controller 320 controls driving to move the autonomous vehicle 1 to the target stop position 2 based on the vehicle position sensed by the position detector 310 and the target stop position 2. (S16).

In addition, the stationary stop determination unit 330 determines whether the autonomous vehicle 1 has reached the target stop position 2 (S17), and the autonomous vehicle 1 at the stop determination unit 330 stops at the target. When it is determined that the position 2 has been reached, the vehicle controller 320 controls the autonomous vehicle 1 to stop (S18).

The position correction means 360 may compare the position of the vehicle 1 detected by the precision position detection device with the position of the vehicle 1 according to the GPS receiver 3 to correct the GPS position through the GPS correction value. have.

That is, the precise stop control of the vehicle 1 uses the position of the vehicle 1 measured by using the RFID from the stop entry to the stop of the vehicle 1 or the accurate vehicle 1 detected by the RFID when entering the stop. Comparing the position and the position of the vehicle (1) given by the GPS installed in the vehicle (1) to secure the GPS correction value and using the GPS position corrected by the correction value, the vehicle controller 320 is the autonomous vehicle (1) It is also possible to apply a method of controlling the running of the.

In addition, the above-described apparatus and method may not be limitedly applied to the configuration and method of the above-described embodiments, but the embodiments may be selectively combined in whole or in part in each of the embodiments so that various modifications may be made. It may be configured.

1: vehicle
2: stop position
3: GPS receiver
100: first reference receiver
200: second standard receiver
300: distance measuring unit
310: position detection unit
320: vehicle control unit
330: Position stop judgment
340: Database
350: operation control unit
360: error correction means
410: RFID reader
421: First RFID tag
422: Second RFID tag
430: distance measuring unit

Claims (16)

In the system that detects the precise position of the autonomous vehicle, and supports the exact position stop,
A plurality of reference receivers installed near a specific target stop position, a distance measuring unit which is provided in an autonomous driving vehicle and transmits a signal to each of the reference receivers during operation to measure a distance from each of the reference receivers, and the measured distance A position detecting unit detecting a current position of the autonomous driving vehicle based on the position, and the reference receiving unit includes a first reference receiving unit and a second reference receiving unit respectively installed near the specific target stop position, and for measuring the distance. The unit measures the distance L1 between the first reference receiver and the distance L2 between the second reference receiver, and the position detector includes the coordinates P (x1, y1, z1) of the first reference receiver, and 2 Precise position for detecting the position of the vehicle based on the coordinates Q (x2, y2, z2) of the reference receiver and the z coordinate (z3) of the distance measuring unit and measured L1 and L2, Sensing device;
A database storing coordinate information of a specific target stop position, coordinate information of a reference point, a plurality of reference receiver coordinate information, and z coordinates of a distance measuring unit; And
A vehicle controller configured to control driving of the autonomous vehicle based on the vehicle position sensed by the precision position detecting device and the target stop position;
A stop position determination unit that determines whether the autonomous vehicle has reached the target stop position; And
And position correction means for comparing the position of the vehicle detected by the precision position detection device with the position of the vehicle according to the GPS receiver to correct the GPS position through the GPS correction value.
When the stop determination unit determines that the autonomous driving vehicle has reached the target stop position, the vehicle control unit stops the autonomous driving vehicle,
The distance measuring unit is operated when the vehicle is located within a specific proximity range of a target stop position, the distance measuring unit is configured with an RFID reader, and the plurality of reference receiving units are configured with an RFID tag, The distance measuring unit measures the distance between the reader and the plurality of tags in consideration of the time when the electromagnetic wave sent back after reaching the tag and the signal processing time, or the distance measuring unit is an RFID tag The reference receiver comprises a plurality of reference receivers, and each of the plurality of reference receivers between the reader and the tag in consideration of a time for returning after the electromagnetic wave sent from the reader reaches the tag and a signal processing time. Positioning through precision position detection of autonomous vehicle, characterized in that it comprises a distance measuring unit for measuring the distance Stop support system:
[Equation 1, 2]

In the position stop support method for autonomous vehicles using the position stop support system according to claim 1,
Determining the location of the vehicle through the GPS receiver in the normal mode;
When the vehicle reaches within a specific proximity range of a target stop position, operating the distance measuring unit to switch to the precision position determination mode;
Measuring, by the distance measuring unit, a distance to each of the reference receivers by transmitting a signal to each of the plurality of reference receivers installed near the target stop position;
Detecting the current position of the vehicle based on the measured distance, the coordinate information of the coordinate information reference point of the specific target stop position stored in the database, the plurality of basic receiver coordinate information, and the z coordinate of the distance measuring unit; ; And
And controlling the vehicle to move the autonomous vehicle to the target stop position based on the vehicle position detected by the position detection unit and the target stop position. How to support stop position exactly.
The method of claim 2,
Determining whether the autonomous vehicle has reached the target stop position by an exact position stop determination unit; And
When the stop determination unit determines that the autonomous driving vehicle has reached the target stop position, the vehicle control unit further comprises the step of stopping the autonomous driving vehicle. Location stop support method.
The method of claim 3, wherein
Position correcting means further comprises the step of comparing the position of the vehicle detected by the precision position detection device with the position of the vehicle according to the GPS receiver to correct the GPS position through the GPS correction value, characterized in that the precision of the autonomous vehicle Position stop support method by position detection. delete delete delete delete delete delete delete delete delete delete delete delete

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