KR102245284B1 - Apparatus of emergency braking system for autonomous vehicles - Google Patents

Abstract

Disclosed is an emergency braking system for an autonomous vehicle in urban cooperation. The emergency braking system comprises: a neighboring vehicle emergency braking information receiving unit for receiving emergency braking information of a corresponding neighboring vehicle from a neighboring vehicle in the vicinity of an autonomous vehicle; a main emergency braking controller for performing control so that the autonomous vehicle performs emergency braking when it is determined that the emergency braking is required; a main emergency braking execution unit installed to force the brake pedal of the autonomous vehicle to be driven under the control of the main emergency braking controller; an acceleration and deceleration sensor installed to be linked with the main emergency braking controller to determine whether the main emergency braking execution unit operates normally when the main emergency braking controller sends a signal to operate the main emergency braking execution unit; a sub-emergency braking controller installed so that the autonomous vehicle performs emergency braking if it is determined that the detection result of the acceleration and deceleration sensor is a state in which the emergency braking of the autonomous vehicle due to an emergency is not performed, and that information received from the neighboring vehicle emergency braking information receiving unit is that the neighboring vehicle has performed emergency braking; and a sub-emergency braking execution unit for forcing the brake pedal of the autonomous vehicle to be driven under the control of the sub-emergency braking controller. Therefore, the stability of the emergency braking system can be ensured.

Description

Apparatus of emergency braking system for autonomous vehicles

The present invention relates to an emergency braking system for an autonomous vehicle in urban cooperation, and not only ensures the stability of the emergency braking system in situations where an error in the autonomous driving system is detected or emergency braking is required while the autonomous vehicle is driving. It relates to an emergency braking system for autonomous vehicles in urban cooperation to prevent secondary accidents due to emergency braking.

The emergency braking system (EBS) or the advanced emergency braking system (AEBS) mounted on the vehicle is expected to cause a vehicle accident due to the driver's drowsy driving when an abnormality is detected from an important component for driving the vehicle. This is a device configured to forcibly brake the vehicle if the driver does not react for a certain period of time after an alert is sent to the vehicle driver when an emergency situation is detected while driving, such as in a case. Transportation authorities have regulated that an automatic emergency braking system with such a function is mandatory to be installed on some vehicles.

On the other hand, in recent years, as the development of autonomous vehicles is actively progressing, the development of advanced auxiliary devices to ensure the stability of autonomous vehicles is being attempted. In particular, self-driving vehicles must brake the vehicle without driver intervention when an emergency situation occurs while driving. Therefore, it is necessary to develop a more accurate and stable emergency braking system. For example, an emergency braking system or automatic emergency braking system applied to an autonomous vehicle is forced by an actuator motor connected to the load of the brake pedal installed in the autonomous vehicle in a situation where an error occurs while the control system of the autonomous vehicle is operating. It is configured to be driven.

However, as described above, there is a problem with the actuator motor forcibly driving the brake pedal in a situation in which an error occurs in the control system of the autonomous vehicle or the passenger in the autonomous vehicle operates the emergency brake system to perform emergency braking. When it occurs, it can lead to a very serious accident if emergency braking is not performed normally.

Therefore, in the case of autonomous vehicles, efforts to apply an emergency braking system that must be more secured are required.

This invention not only secures the stability of the emergency braking system in situations where an error in the autonomous driving system is detected or emergency braking is required while driving of the autonomous vehicle, but also prevents secondary accidents caused by emergency braking. The purpose of this is to provide an emergency braking system for autonomous vehicles with urban cooperation.

The emergency braking system of an autonomous vehicle for urban cooperation to achieve the above-described object includes: a peripheral vehicle emergency braking information receiving unit for receiving emergency braking information of the surrounding vehicle from surrounding vehicles in the vicinity of the autonomous vehicle; A main emergency braking controller for controlling an autonomous vehicle to emergency braking when it is determined that emergency braking is required; A main emergency braking execution unit installed to force a brake pedal of an autonomous vehicle to be driven under the control of a main emergency braking controller; An acceleration/deceleration sensor installed in connection with the main emergency braking controller to determine whether the main emergency braking execution unit operates normally when the main emergency braking controller sends a signal to operate the main emergency braking execution unit; When the detection result of the acceleration/deceleration sensor is determined that the autonomous vehicle is not in an emergency stop, and the information received from the emergency braking information receiver of the surrounding vehicle determines that the surrounding vehicle has performed emergency braking, the autonomous vehicle is emergency braking. A sub emergency braking controller that is installed so as to be; And a sub emergency braking execution unit configured to force the brake pedal of the autonomous vehicle to be driven under the control of the sub emergency braking controller. It can be configured to include.

In the emergency braking system of the autonomous vehicle for urban cooperation according to an embodiment of the present invention, the emergency braking information of the surrounding vehicles received by the emergency braking information receiving unit of the surrounding vehicles includes the braking time required from the time of stopping after the surrounding vehicles execute emergency braking, and Information on the braking distance is included, and the sub emergency braking controller may be set to drive the sub emergency braking execution unit by reflecting emergency braking information of the surrounding vehicle.

In the emergency braking system of the autonomous vehicle for urban cooperation according to the embodiment of the present invention, the emergency braking information of the surrounding vehicles received in the emergency braking information receiving unit of the surrounding vehicles includes whether the surrounding vehicles deviated from the driving lane while performing emergency braking and stopped. Information about is included, and the sub emergency braking controller may be set to drive the sub emergency braking execution unit by reflecting emergency braking information of nearby vehicles.

In the emergency braking system of the autonomous vehicle for urban cooperation according to an embodiment of the present invention, the emergency braking information of the surrounding vehicles received by the emergency braking information receiving unit of the surrounding vehicles includes the braking time required from the time of stopping after the surrounding vehicles execute emergency braking, and The braking distance is included, and information on whether the surrounding vehicle has stopped outside the driving lane while performing emergency braking is included, and the sub emergency braking controller is autonomous based on the braking time, braking distance, and lane departure information of the surrounding vehicles. The driving vehicle may be set to drive the sub emergency braking execution unit by analyzing the sliding state of the road surface to be emergency braking and reflecting the analyzed result.

On the basis of the light reflection value of the road surface image input through the camera sensor mounted on the autonomous vehicle in the emergency braking system of the autonomous vehicle for urban cooperation according to the embodiment of the present invention, the road surface that the autonomous vehicle intends to emergency braking is black ice. It further includes a road surface condition analysis unit that analyzes whether the condition is in a state, and the main emergency braking controller and/or the sub emergency braking controller may be set to execute emergency braking by reflecting the analysis result of the road surface condition analysis unit.

In the emergency braking system of the autonomous vehicle for urban cooperation according to an embodiment of the present invention, the main emergency braking execution unit is configured to operate the brake pedal by driving an electric motor, while the sub emergency braking execution unit is configured to operate the brake pedal by hydraulic pressure. Can be.

The emergency braking system of an autonomous vehicle for urban cooperation according to an embodiment of the present invention allows emergency braking to be executed through cooperation with other autonomous vehicles driving around in a situation where multiple vehicles are operating in a complex city or on a highway. This has the advantage of reducing traffic accidents.

In addition, the emergency braking device of the autonomous vehicle for urban cooperation according to the embodiment of the present invention is configured to execute emergency braking by reflecting the road surface condition analyzed through the road surface condition analysis unit, so that it is particularly suitable for black ice that is suddenly formed on the road surface in winter. Accordingly, there is an advantage of preventing a large traffic accident in which multiple vehicles collide.

1 is a view for explaining the configuration of an emergency braking device of an autonomous vehicle for urban cooperation according to an embodiment of the present invention.

Hereinafter, an emergency braking device for an autonomous vehicle for urban cooperation according to an embodiment of the present invention will be described in more detail with reference to the accompanying drawings.

In the drawings for explaining an embodiment of the present invention, parts not related to the description are omitted in order to clearly describe the present invention, and similar reference numerals will be assigned to similar parts throughout the specification. Throughout the specification, when a part is said to be "connected" with another part, this includes not only "directly connected" but also "indirectly connected" with another member interposed therebetween. . In addition, when a part "includes" a certain component, it means that other components may be further provided, rather than excluding other components, unless specifically stated to the contrary.

1 is a view for explaining the configuration of an emergency braking device for an autonomous vehicle for urban cooperation according to an embodiment of the present invention. Reference numeral 100 indicated in the drawings denotes an emergency braking device according to an embodiment of the present invention.

The emergency braking device 100 according to an embodiment of the present invention is in the process of monitoring the abnormality of the control devices including the driving control system 10 of the autonomous vehicle. This is for braking by forcibly operating a brake pedal mounted on an autonomous vehicle when emergency braking is required, such as a state in which an occupant has operated an emergency braking switch. It goes without saying that the emergency braking device according to an embodiment of the present invention can be applied to a general vehicle other than an autonomous vehicle.

In particular, the emergency braking device 100 according to an embodiment of the present invention receives emergency braking information of the corresponding surrounding vehicle from surrounding vehicles in the vicinity of the autonomous vehicle that wants to execute emergency braking in the process of requiring emergency braking. It is configured to include a peripheral vehicle emergency braking information receiving unit 110 that can. Conversely, an autonomous vehicle in which the emergency braking information receiving unit 110 is configured may include an own vehicle emergency braking information transmission unit (not shown) that transmits emergency braking information of the corresponding autonomous vehicle to surrounding vehicles.

The emergency braking information of the surrounding vehicles received by the above-described emergency braking information receiving unit 110 may include information on whether the surrounding vehicles have left the driving lane and stopped while performing emergency braking. In addition, the emergency braking information of the surrounding vehicles may include information on the braking time and braking distance taken until the vehicle stops after performing the emergency braking of the surrounding vehicles.

On the other hand, in an autonomous vehicle to which the emergency braking device 100 according to an embodiment of the present invention is applied, the main emergency braking execution unit 130 and the sub emergency braking are executed to forcibly configure the brake pedal when emergency braking is required. Each unit 150 is configured. The main emergency braking execution unit 130 includes an electric motor for forcibly operating the brake pedal, and the sub emergency braking execution unit 150 is a hydraulic circuit and a hydraulic pump for forcibly operating the brake pedal by hydraulic pressure. Consists of including.

As shown in the drawing, the main emergency braking execution unit 130 and the sub emergency braking execution unit 150 are configured to be controlled by the main emergency braking controller 120 and the sub emergency braking controller 140, respectively.

The main emergency braking controller 120 according to an embodiment of the present invention is configured to control the operation of the main emergency braking execution unit 130 so that the brake pedal is forcibly operated in a situation where emergency braking is required, When the brake pedal is not operated even though the emergency braking execution unit 130 instructs the control command to operate, it corresponds to the sub emergency braking controller 140 so that the brake pedal is forcibly operated by the sub emergency braking execution unit 150 It carries the signal.

As described above, when a control command is sent from the main emergency braking controller 120 to operate the brake pedal by the main emergency braking execution unit 130, an acceleration/deceleration sensor for determining whether the brake pedal has operated ( (Not shown) is installed, and the information detected by the acceleration/deceleration sensor is linked to be transmitted to the main emergency braking controller 120.

On the other hand, if the detection result of the acceleration/deceleration sensor is determined that the autonomous vehicle is not in an emergency braking state, and the information received from the emergency braking information receiving unit 110 of the surrounding vehicle determines that the surrounding vehicle has executed emergency braking, the main The emergency braking controller 120 transmits a control command to the sub emergency braking controller 140 so that the brake pedal can be operated by the sub emergency braking execution unit 150.

In this way, as the emergency braking device of the autonomous vehicle is configured to include the main emergency braking controller 120 and the sub emergency braking controller 140, stability to ensure that emergency braking is normally performed in a situation where emergency braking is required can be secured. have.

In particular, the sub emergency braking controller 150 is driven by reflecting the emergency braking information (braking time, braking distance, lane departure information, etc. of the surrounding vehicles) of the surrounding vehicles received from the emergency braking information receiving unit 110 of the surrounding vehicles. By being configured, a more stable emergency braking is possible even in a very urgent state, such as a state in which an abnormality has occurred in the main emergency braking execution unit 130.

The braking time and braking distance of the surrounding vehicle described above refer to the time and distance it took from the surrounding vehicle to stop after the emergency braking is executed, and includes the driving speed in the situation where the emergency braking of the vehicle is executed. It is to do. On the other hand, the lane departure information when braking of the surrounding vehicle also includes the driving speed when the emergency braking is executed in the surrounding vehicle, and the information on how far the lane has deviated from the driving lane that was driving when the emergency braking is executed and the angle of departure from the driving lane. May contain information.

On the other hand, in the main emergency braking controller 120 or the sub emergency braking controller 140, the emergency braking information including the braking time, braking distance, and lane departure information of the surrounding vehicles received from the emergency braking information receiving unit 110 of surrounding vehicles is stored. It can be configured to reflect on emergency braking.

In particular, in order to reflect the sliding state of the road surface, the emergency braking device 100 according to an embodiment of the present invention includes a road surface based on a light reflection value of a road surface image input through a camera sensor mounted on an autonomous vehicle. It may be configured to further include a road surface condition analysis unit 160 that analyzes the condition of the road surface including whether or not the black ice state. In addition, in the main emergency braking controller 120 and/or the sub emergency braking controller 140, the main emergency braking execution unit 130 and/or the sub emergency braking are reflected by reflecting the condition of the road surface analyzed by the road surface condition analysis unit 160. By controlling the execution unit 150, the emergency braking may be set to be executed.

In this way, by reflecting the road surface condition analyzed through the road surface condition analysis unit 160, emergency braking is performed, so that a large traffic accident in which several vehicles collide due to sudden black ice formed on the road surface can be prevented, especially in winter. You will be able to. On the other hand, the road surface analysis result of the above-described road surface condition analysis unit 160 is determined to be in a black ice state, and the wheel of the autonomous vehicle being braked is braked, but the vehicle is slipping by the road surface in the black ice state. If it is determined that it is, the main emergency braking execution unit 130 and/or the sub emergency braking execution unit 150 can interlock and release the connection state between the brake drum installed on each wheel and the brake lining while performing braking by the engine brake. It is set to control the direction of the vehicle to face the forward direction in a manner of controlling to be repeated. Therefore, when a situation requiring emergency braking occurs while driving on the road in black ice, braking of the autonomous vehicle in emergency braking is performed by the engine brake and emergency braking system, and braking can be performed while the lane is maintained while driving. The vehicle's orientation is controlled so that secondary accidents caused by emergency braking can be prevented.

In particular, there is an advantage of reducing traffic accidents by enabling emergency braking to be performed through cooperation with other autonomous vehicles running around in a situation in which several vehicles are operated in a complex manner on a city center or highway.

As described above, the road surface condition is analyzed or the road surface condition is analyzed through emergency braking information (braking time, braking distance, lane departure information when braking, etc.) of surrounding vehicles received from the emergency braking information receiving unit 110 of surrounding vehicles. Machine learning technology or deep learning technology may be applied in the process of determining the road surface condition by analyzing the camera image through the unit 160.

In the above, with reference to the accompanying drawings, the emergency braking device of the autonomous vehicle for urban cooperation according to an embodiment of the present invention has been described.

The above-described technical contents may be implemented in the form of program instructions that can be executed through various computer means and recorded in a computer-readable medium. The computer-readable medium may include program instructions, data files, data structures, and the like alone or in combination. The program instructions recorded in the medium may be specially designed and configured for embodiments, or may be known to and usable by those skilled in computer software. Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and magnetic media such as floptical disks. -A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like.

Examples of program instructions include not only machine language codes such as those produced by a compiler, but also high-level language codes that can be executed by a computer using an interpreter or the like. The hardware device may be configured to operate as one or more software modules to perform operations of the embodiments, and vice versa.

The above description of the present invention is for illustrative purposes only, and those of ordinary skill in the art to which the present invention pertains will be able to understand that other specific forms can be easily modified without changing the technical spirit or essential features of the present invention. will be. Therefore, it should be understood that the embodiments described above are illustrative and non-limiting in all respects. For example, each component described as a single type may be implemented in a distributed manner, and similarly, components described as being distributed may also be implemented in a combined form.

100: emergency braking device
110: Emergency braking information receiving unit for nearby vehicles
120: main emergency braking controller
130: main emergency braking execution unit
140: sub emergency braking controller
150: sub emergency braking execution unit
160: road surface condition analysis unit

Claims (6)

To monitor for abnormalities in the control devices installed in the autonomous vehicle to force the brake pedal of the autonomous vehicle to be driven when a serious abnormality occurs in the control device or when the emergency brake switch is operated inside the autonomous vehicle. In the emergency braking system of the configured autonomous vehicle,
The emergency braking information of the surrounding vehicle is received from the surrounding vehicles in the vicinity of the autonomous vehicle, but the emergency braking information of the surrounding vehicle includes the braking time and braking distance required to stop after the surrounding vehicle performs emergency braking. A peripheral vehicle emergency braking information receiving unit that includes information about information about how much the surrounding vehicle has deviated from the lane on which the vehicle has been traveling while performing emergency braking, and information about the angle at which the vehicle has deviated from and stopped;
A road surface condition analysis unit that analyzes whether the road surface for emergency braking by the autonomous vehicle is black ice based on the light reflection value of the road surface image input through the camera sensor mounted on the autonomous vehicle;
A main emergency braking controller configured to control the autonomous vehicle to emergency braking when it is determined that emergency braking is required, but to execute emergency braking by reflecting the analysis result of the road surface condition analysis unit;
When the brake pedal of the autonomous vehicle is forcibly driven by the control of the main emergency braking controller, and the road surface analysis result of the road surface condition analysis unit is determined to be in a black ice state, the brake is performed while the lane is maintained while driving. A main emergency braking execution unit for controlling the orientation of the vehicle by repeating interlocking and releasing the connection state;
An acceleration/deceleration sensor installed in connection with the main emergency braking controller to determine whether the main emergency braking execution unit operates normally when the main emergency braking controller sends a signal to operate the main emergency braking execution unit;
When the detection result of the acceleration/deceleration sensor is determined that the autonomous vehicle is not in an emergency stop, and the information received from the emergency braking information receiving unit of the surrounding vehicle determines that the surrounding vehicle has performed emergency braking, the surrounding vehicle A sub emergency braking controller installed so that the self-driving vehicle emergency braking by reflecting the emergency braking information of the vehicle, and configured to execute emergency braking by reflecting the analysis result of the road surface condition analysis unit; And
The brake pedal of the autonomous vehicle is forcibly driven by the control of the sub emergency braking controller, but if it is determined that the road surface analysis result of the road surface condition analysis unit is in a black ice state, the brake is connected so that braking is performed while the lane is maintained while driving. A sub emergency braking execution unit for controlling the orientation of the vehicle by repeating the interlocking and releasing states; Emergency braking device of an autonomous vehicle for urban cooperation, characterized in that configured to include.
delete The method of claim 1,
Wherein the main emergency braking execution unit is configured to operate a brake pedal by driving an electric motor, while the sub emergency braking execution unit is configured to operate a brake pedal by hydraulic pressure.
delete delete delete

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