KR102303419B1 - Autonomous vehicle apparatus - Google Patents

Abstract

The present invention relates to a system for providing object selection navigation for an autonomous driving vehicle, and an autonomous driving vehicle apparatus therefor. The present invention accesses the autonomous driving guide server 400 through the network 200 and provides a shortest time or shortest distance according to the avoidance driving route information for vehicle avoidance returned from the autonomous driving guide server 400 and traffic situation information. A steering wheel, which is a steering device that configures the driving unit to go to a preset destination by receiving destination route information indicating a route to the destination by an autonomous driving module 171 for generating autonomous driving control information to control autonomous driving of the autonomous driving vehicle 10; And when pointing coordinate information is generated through designation of a preset pointing method for one object in the landscape unfolded by the front windshield 110, a pointing-based destination route information request for the generated pointing coordinate information is sent to the autonomous driving guide server ( 400), a designated object adopting module 174 for controlling the transceiver 160 to receive the destination route information from the circumnavigation guide server 400; It is characterized in that it includes.
Accordingly, the vehicle occupant sharing the autonomous driving vehicle provides an effect of being able to input a destination by selecting a visible object rather than inputting the destination through text or voice in a general navigation system.

Description

Autonomous vehicle device {AUTONOMOUS VEHICLE APPARATUS}

The present invention relates to a system for providing object selection navigation for an autonomous driving vehicle, and an autonomous driving vehicle apparatus for the same. It relates to a system for providing object selection navigation of an autonomous driving vehicle for selecting a visible object and inputting a destination by selecting a visible object, and an autonomous driving vehicle apparatus therefor.

Autonomous driving vehicles are embedded in various driving means and include vehicle terminals corresponding to autonomous driving devices that perform autonomous driving through driving location search. It is also applied to a driving vehicle, for example, notifies a user of various information such as a driving route and road congestion through a monitor, or drives a vehicle by itself or controls a driving state.

In the case of a moving object moving at high speed, the autonomous vehicle recognizes the driving environment (eg, front vehicle recognition, obstacle detection, etc.) in real time and informs the driver, or determines the driving environment in real time and responds to the driving environment in real time. It needs to perform an emergency function, and for this purpose, a large amount of data can be processed in real time.

On the other hand, in an existing autonomous vehicle, a vehicle occupant sharing an autonomous vehicle inputs a destination by text or voice on the navigation system. There is a limit that does not fit the concept of fully autonomous driving because the input process is not good.

Korean Patent Application No. 10-2018-0004940 "SYSTEM AND METHOD FOR PROVIDING INTEGRATED ARTIFICIAL INTELLIGENCE SERVICE INTERWORKING VIRTUAL ACCOUNT USING SELF-DRIVING VEHICLE"

The present invention is intended to solve the above problems, and is an autonomous vehicle for allowing a vehicle occupant sharing an autonomous vehicle to input a destination by selecting a visible object rather than inputting the destination by text or voice in a general navigation system. It is to provide an object selection navigation providing system, and an autonomous vehicle device for the same.

In addition, in the present invention, when a vehicle occupant sharing an autonomous vehicle arrives near a destination, but may not know the exact route in a complex road situation such as an intersection, it is possible to quickly provide destination route information through setting of the destination in the vehicle window. It is to provide a system for providing object selection navigation of an autonomous driving vehicle so as to be provided, and an autonomous driving vehicle apparatus therefor.

In addition, the present invention provides an object recognition system of an autonomous driving vehicle for providing an enlarged image image when the pointing coordinates once designated can designate a plurality of objects and enabling setting again for a destination based on the provided image image, and It is intended to provide an autonomous vehicle device.

However, the objects of the present invention are not limited to the above-mentioned objects, and other objects not mentioned will be clearly understood by those skilled in the art from the following description.

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In order to achieve the above object, the autonomous driving vehicle apparatus according to an embodiment of the present invention accesses the autonomous driving guide server 400 through the network 200 to avoid the vehicle returned from the autonomous driving guide server 400 . According to the avoidance driving route information and traffic situation information, the driver receives the destination route information, which means the route to the destination by the shortest time or the shortest distance, and uses the avoidance route information and the destination route information to go to the preset destination. an autonomous driving module 171 that controls autonomous driving of the autonomous vehicle 10 by generating autonomous driving control information for a steering wheel, which is a steering device constituting the steering device, and an accelerator pedal and a brake pedal; And when pointing coordinate information is generated through designation of a preset pointing method for one object in the landscape unfolded by the front windshield 110, a pointing-based destination route information request for the generated pointing coordinate information is sent to the autonomous driving guide server ( 400), a designated object adopting module 174 for controlling the transceiver 160 to receive the destination route information from the circumnavigation guide server 400; It is characterized in that it includes.

At this time, the present invention, a transparent front touch screen 120 formed in the form of a pad on the inside of the vehicle centering on the front windshield 110; It is characterized in that it further comprises.

In addition, the present invention provides a designation object input module 172 for generating touch-input pointing coordinate information when receiving a touch input for designation of a target object through the transparent front touch screen 120; It is characterized in that it further comprises.

In addition, in the present invention, the designated object input module 172 is front side by an internal camera 132 constituting the sensor module 130 formed in the rear end area of the driver's seat on the lower surface of the roof of the autonomous vehicle 10 . When recognition of finger pointing designation by a vehicle occupant of the autonomous driving vehicle 10 facing the windshield 110 is performed, the recognized pointing coordinate information is generated.

In addition, the present invention provides a designated object output module ( 173); It is characterized in that it further comprises.

The system for providing object selection navigation of an autonomous driving vehicle, and an autonomous driving vehicle apparatus therefor, according to an embodiment of the present invention, provide a view that a vehicle occupant sharing an autonomous driving vehicle does not input a destination by text or voice in a general navigation system. It provides the effect of entering a destination by selecting an object.

In addition, in the system for providing object selection navigation of an autonomous driving vehicle, and an autonomous driving vehicle apparatus therefor, according to another embodiment of the present invention, a vehicle occupant sharing an autonomous driving vehicle arrives near a destination, but complex road conditions such as an intersection It provides the effect of being able to receive prompt destination route information by setting the destination on the vehicle's windshield when the exact route cannot be known.

In addition, the system for providing object selection navigation of an autonomous driving vehicle, and an autonomous driving vehicle apparatus therefor, according to another embodiment of the present invention, provide an enlarged image image when pointing coordinates designated once can designate a plurality of objects, Based on the provided video image, it provides an effect that can be set again for the destination.

1 is a diagram illustrating a system 1 for providing object selection navigation of an autonomous vehicle according to an embodiment of the present invention.
FIG. 2 is a block diagram illustrating components of an autonomous driving vehicle apparatus 100 in a system 1 for providing object selection navigation of an autonomous driving vehicle according to an embodiment of the present invention.
3 and 4 are diagrams for explaining a process of guiding a route to a designated target object by the system 1 for providing object selection navigation of an autonomous vehicle according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, detailed description of preferred embodiments of the present invention will be described with reference to the accompanying drawings. In the following description of the present invention, if it is determined that a detailed description of a related known function or configuration may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

In the present specification, when one component 'transmits' data or signal to another component, the component may directly transmit the data or signal to another component, and through at least one other component This means that data or signals can be transmitted to other components.

1 is a diagram illustrating a system 1 for providing object selection navigation of an autonomous vehicle according to an embodiment of the present invention. Referring to FIG. 1 , a system 1 for providing object selection navigation of an autonomous driving vehicle includes an autonomous vehicle device 100 installed in an autonomous vehicle 10 , a network 200 , an object recognition service providing server 300 , and autonomous driving vehicle 10 . By including the driving guide server 400, when the front windshield is touched while looking at the target object (building, landscape, landmark, etc.) seen through the vehicle window in the autonomous driving vehicle 10, information of the target object is output as well as the target object Route information can be provided through destination input for .

Here, the network 200 is a high-speed backbone network of a large-scale communication network capable of large-capacity, long-distance voice and data services, and may be a next-generation wired or wireless network for providing the Internet or high-speed multimedia services. When the network 200 is a mobile communication network, it may be a synchronous mobile communication network or an asynchronous mobile communication network. As an embodiment of the asynchronous mobile communication network, there may be a wideband code division multiple access (WCDMA) type communication network. In this case, although not shown in the drawing, the network 200 may include a Radio Network Controller (RNC). Meanwhile, although the WCDMA network is taken as an example, it may be a next-generation communication network such as a 3G LTE network or a 4G network, or other IP-based IP networks. The network 200 serves to mutually transmit signals and data between the autonomous vehicle device 100 , the network 200 , the object recognition service providing server 300 , the autonomous driving guide server 400 , and other systems. .

2 is a block diagram illustrating components of an autonomous driving vehicle apparatus 100 in a system 1 for providing object selection navigation of an autonomous driving vehicle according to an embodiment of the present invention. 3 and 4 are diagrams for explaining a process of guiding a route to a designated target object by the system 1 for providing object selection navigation of an autonomous vehicle according to an embodiment of the present invention. Referring to FIG. 2 , the autonomous vehicle device 100 includes a front glass window 110 , a transparent front touch screen 120 , a sensor module 130 , an internal display 140 , a storage unit 150 , and a transmission/reception unit 160 . ) and a control unit 170 . The sensor module 130 may include an external camera 131 , an internal camera 132 , a distance detection sensor 133 , and a GPS sensor 134 , and the distance detection sensor 133 is a lidar (Light Detection And Ranging). , LiDAR), radar, and ultrasonic sensors by being formed of at least one complex sensor, it can be formed to improve safety by increasing overlap through sufficient overlap. LiDAR, often called LADAR (Laser Detection And Ranging), ToF (Time of Flight), laser scanner, laser radar, etc., is a sensing method that detects an object and maps the distance. After measuring the characteristics of the reflected carrier signal, the width of the optical-pulse can vary from a few nanoseconds to a few microseconds.

The controller 170 may include an autonomous driving module 171 , a designated object input module 172 , a designated object output module 173 , a designated object adoption module 174 , and a designated object path providing module 175 .

And, in the present specification, a module may mean a functional and structural combination of hardware for carrying out the technical idea of the present invention and software for driving the hardware. For example, the module may mean a logical unit of a predetermined code and a hardware resource for executing the predetermined code, and does not necessarily mean physically connected code or a single type of hardware. It can be easily inferred to an average expert in the technical field of

The autonomous driving module 171 accesses the autonomous driving guide server 400 through the network 200 and is photographed by an external camera 131 installed in the front, rear, left, and right directions included in the sensor module 130 . It provides image information obtained by doing so, distance information between vehicles within the detection sensor range obtained by the distance detection sensor 133, and avoidance driving route information for vehicle avoidance returned from the autonomous driving guide server 400, and traffic conditions A steering wheel, which is a steering device that receives destination route information that means a route to the destination by the shortest time or shortest distance according to the information, and configures the driving unit to go to a preset destination by using the avoidance driving route information and destination route information , and autonomous driving control information for the accelerator pedal and the brake pedal may be generated to control the autonomous driving of the autonomous driving vehicle 10 .

The designated object input module 172 performs a touch input for designating a target object with the transparent front touch screen 120 formed in the form of being padded inside the vehicle around the front windshield 110 as shown in FIG. 3, or The vehicle occupant of the autonomous driving vehicle 10 faces the front windshield 110 by the internal camera 132 constituting the sensor module 130 formed in the rear end region of the driver's seat on the lower surface of the roof of the autonomous driving vehicle 10 . By performing recognition of finger pointing designation by , touch input or recognized pointing coordinate information may be generated.

The designated object output module 173 may extract map object information for extracting a designated object from the navigation destination route information currently output on the internal display 140 or the transparent front screen 120 from the storage 150 . Here, the map object information may mean all objects designated as metadata of geographic coordinates of route information in the navigation destination route information file, and the storage unit 150 is powered by a non-volatile memory (NVM). Even if the data is not deleted, the stored data is continuously maintained and not deleted. can be composed of

Then, the designated object output module 173 is a pattern image of each map information object through image recognition for the image image taken by the sensor module 130 for the designated object corresponding to the pointing coordinate information from the extracted map information object. Control the transceiver 160 to extract the name of the designated object from the storage unit 150 through comparison with or to request and return the name of the designated object to the autonomous driving guide server 400 through the network 200 can

That is, the designated object output module 173 is stored in the storage unit 150 or stored in the autonomous driving guide server 400 for comparison between the captured image image and the pattern image of each map information object provided by the autonomous driving guide server 400 . ), the pattern image of each map information object stored in the database can be utilized. The designated object output module 173 may extract a matching map information object as a designated object through comparison between a pattern image on a horizontal plane of each map information object as a pattern image, an image inclined at a preset angle, etc., and a photographed image image. .

When the name of the designated object is extracted, the designated object output module 173 is powered on for the pixel for explanation for outputting the name of the designated object for the description area for the designated object on the transparent front touch screen 130 By outputting the name of the designated object through

Designated object adoption module 174 is a transparent front touch screen 120 formed in the form of padding inside the vehicle around the front windshield 110 as shown in FIG. 3 for the recognized designated object, once again for destination designation The autonomous driving vehicle that performs a touch input or faces the front windshield 110 by the internal camera 132 constituting the sensor module 130 formed in the rear end region of the driver's seat on the lower surface of the roof of the autonomous driving vehicle 10 By performing the recognition once again for the finger pointing designation by the vehicle occupant of (10), a pointing-based destination route information request including name information for a designated object set as a destination that is touch input or recognized once more is sent to the autonomous driving guide server By transmitting to 400 , the transceiver 160 may be controlled to receive destination route information from the perimeter guide server 400 .

More specifically, the designated object adopting module 174 is a designated object in the form of a top view of the transparent front touch screen 120 formed in the form of padding inside the vehicle around the front windshield 110 as shown in FIG. 4 . It can be controlled to output the destination route information to the .

In another embodiment of the present invention, the designated object adoption module 174 includes distance information between vehicles and the GPS sensor 134 for avoidance within the detection sensor range obtained by the distance detection sensor 133 among the sensor modules 130 . You can utilize the location and orientation information provided by More specifically, the designated object adoption module 174 utilizes the location and orientation information to analyze whether the destination route information toward the designated object is deviated, but between vehicles within the detection sensor range obtained by the distance detection sensor 133 In the case of deviation of the path due to the avoidance of the object by the autonomous vehicle 10 according to the distance information, a request for correction of the path according to the deviated position and orientation is transmitted to the autonomous driving guide server 400 through the network 200. After controlling the transceiver 160 , the autonomous driving may be performed by receiving the corrected destination route information from the autonomous driving guide server 400 and providing it to the autonomous driving module 171 .

In another embodiment of the present invention, the designated object adoption module 174 is a transparent front touch screen 120 formed in the form of a padding on the inside of the front glass window 110 by the designated object input module 172 to the target object. The self-driving vehicle 10 that recognizes a single touch input for designation or faces the front windshield 110 by the sensor module 130 formed in the rear end region of the driver's seat on the lower surface of the roof of the autonomous vehicle 10 . ), when a touch input or recognized pointing coordinate information is generated by performing one direction recognition for finger pointing designation by a vehicle occupant, a plurality of target objects are extracted from the storage unit 150 in the generated pointing coordinate information , an enlarged image corresponding to a preset multiple around the entire area of the transparent front touch screen 120 or the entire area including the plurality of target objects on the transparent front touch screen 130 for reselection of a plurality of target objects can be output to the transparent front touch screen 120 . That is, the transparent front touch screen 120 performs a function of reinforcing the front glass window 120 with transparent glass, but performs the function of a display when outputting an enlarged image.

Thereafter, the designated object adopting module 174 performs touch input recognition for designating the target object to the transparent front touch screen 120 on which the enlarged image is output, or the lower surface of the loop of the autonomous vehicle 10 . By re-recognizing the finger pointing designation by the vehicle occupant of the autonomous driving vehicle 10 facing the front windshield 110 by the sensor module 130 formed in the rear end region of the driver's seat, touch input or recognized pointing By generating coordinate information and providing the designated pointing coordinate information to the designated object output module 173, by the designated object output module 173 in the above-described manner, from the map information object to the pointing coordinate information in the storage unit 150 The name of the designated object is stored in the storage unit 150 through image recognition for the image image taken by the internal camera 132 among the sensor module 130 for the corresponding target object and compared with the pattern image of each map information object. ) can be extracted and output using the transparent front touch screen 120 .

Thereafter, the designated object adoption module 174 transmits a pointing-based destination route information request to the autonomous driving guide server 400 along with the name information of the designated object for the reselected designated object that is touch-input or recognized, to the autonomous driving guide server By controlling the transceiver 160 to receive the destination route information from the 400 , the destination route information may be received and output to the transparent front touch screen 120 or may be controlled to be output on the internal display 140 .

The present invention can also be implemented as computer-readable codes on a computer-readable recording medium. The computer-readable recording medium includes all kinds of recording devices in which data readable by a computer system is stored.

Examples of computer-readable recording media include ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. also includes

In addition, the computer-readable recording medium is distributed in a computer system connected through a network, so that the computer-readable code can be stored and executed in a distributed manner. In addition, functional programs, codes, and code segments for implementing the present invention can be easily inferred by programmers in the technical field to which the present invention pertains.

As described above, preferred embodiments of the present invention have been disclosed in the present specification and drawings, and although specific terms are used, these are only used in a general sense to easily explain the technical contents of the present invention and to help the understanding of the present invention. , it is not intended to limit the scope of the present invention. It will be apparent to those of ordinary skill in the art to which the present invention pertains that other modifications based on the technical spirit of the present invention can be implemented in addition to the embodiments disclosed herein.

1: Object selection navigation system for autonomous vehicles
10: autonomous vehicle
100: autonomous vehicle device
110: front windshield
120: transparent front touch screen
130: sensor module
131: external camera
132: internal camera
133: distance sensor
134: GPS sensor
140: internal display
150: storage
160: transceiver
170: control unit
200: network
300: object recognition service providing server
400: autonomous driving guide server

Claims (5)

When a touch input for designating a target object is received on the transparent front touch screen 120 , the pointing coordinate information of the touched object is generated, or in the rear region of the driver's seat from the lower surface of the roof of the autonomous vehicle 10 . When the recognition of finger pointing designation by the vehicle occupant of the autonomous driving vehicle 10 facing the front windshield 110 by the internal camera 132 constituting the formed sensor module 130 is performed, the recognized pointing coordinate information a specified object input module 172 to generate;
Through image recognition for the image image taken by the sensor module 130 for the designated object corresponding to the pointing coordinate information, the name of the designated object is stored from the storage 150 through comparison with the pattern image of each map information object. a designated object output module 173 for controlling the transceiver 160 to extract or request and return the name of the designated object for the autonomous driving guide server 400 through the network 200; and
A designated object that controls the transceiver 160 to receive the destination route information from the autonomous driving guide server 400 by sending a pointing-based destination route information request for the generated pointing coordinate information to the autonomous driving guide server 400 Adopted module 174;
including,
When a plurality of target objects are extracted from the storage unit 150 in the generated pointing coordinate information, the designated object adoption module 174 displays a plurality of objects on the transparent front touch screen 120 for reselection of the plurality of target objects. An autonomous driving vehicle device, characterized in that it outputs a target object. delete delete delete delete

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