KR102318113B1 - System and method for responding to risks exceeding sensor coverage of autonomous vehicles - Google Patents

Abstract

In the sensor coverage excess risk response system of an autonomous vehicle of the present invention, a sensor driving unit for driving sensors including a camera, a radar, and a lidar, and collecting signals input from the sensors, and a signal collected from the sensor driving unit An entity recognition unit for analyzing and determining whether an entity exists, an information exchange unit that communicates with a base station or RSU (Road Side Unit), controls the overall autonomous driving of the autonomous vehicle, and receives from the entity recognition unit and a driving control unit for controlling the driving of the autonomous vehicle according to the recognition result of one entity, and a control execution unit for controlling the driving speed and the driving direction of the autonomous driving vehicle according to the control of the driving control unit.
According to the present invention, it is possible to protect an autonomous vehicle and a person from an accident due to an excess of the sensor coverage of the autonomous vehicle by proposing a countermeasure against the sensor coverage excess of the autonomous vehicle.

Description

{System and method for responding to risks exceeding sensor coverage of autonomous vehicles}

The present invention relates to an autonomous vehicle, and more particularly, to a system and method for responding to a risk of exceeding a sensor coverage of an autonomous vehicle.

The autonomous driving system is a system that enables automatic driving to a pre-designated destination by recognizing the surrounding situation and vehicle state without the driver's intention. This autonomous driving system consists of recognition, judgment and path generation, and vehicle control stages. In dual path generation, an avoidance path is generated in real time by detecting changes in obstacles, and a path reflecting the kinematic behavior characteristics of the vehicle must be generated.

Recently, research and commercialization of autonomous vehicles is accelerating. The autonomous vehicle recognizes the situation through the actions of various sensors and devices, and operates the driver for driving based on this. However, when the input information received through the sensor includes an error or the input sensor does not operate, an error occurs in situation recognition, which may lead to an accident causing serious damage.

Autonomous vehicles detect objects around them through signal processing of sensors such as cameras, radar and lidar, and drive by controlling the driving steering angle or speed based on this. However, even if these devices operate normally, they may fail to recognize objects and cause accidents if they are out of the detection coverage (detection range) of the sensor.

1 is a diagram illustrating a case in which a sensor coverage of an autonomous vehicle is exceeded.

In FIG. 1, (A) illustrates a situation in which the detection range of the sensor is exceeded on a slope, and (B) illustrates a situation in which the detection range of the sensor is exceeded at acute angle cornering.

In FIG. 1 , the autonomous vehicle V1 detects an object in front by operating the installed sensor, but a blind spot is generated that exceeds the detection coverage of the sensor based on environmental requirements. That is, there is a problem in that the accident of the autonomous vehicles V3 and V4 existing in the blind spot in FIG. 1 is not recognized and there is a high possibility that V1 collides.

Republic of Korea Patent Publication 10-2017-0077332

The present invention has been devised to solve the above problems, and the present invention provides a countermeasure in a dangerous situation in which a sensor-based autonomous driving vehicle cannot detect an object using a sensor such as a camera, radar, or lidar. There is a purpose.

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

In the sensor coverage excess risk response system of an autonomous vehicle of the present invention for achieving the above object, a sensor driving unit for driving sensors including a camera, a radar, and a lidar, and collecting signals input from the sensors, the An entity recognition unit for analyzing the signal collected from the sensor driving unit to determine the existence of an entity, an information exchange unit that communicates with a base station or RSU (Road Side Unit), and controls the overall autonomous driving of the autonomous vehicle. , a driving control unit for controlling the driving of the autonomous vehicle according to the recognition result of the entity received by the entity recognition unit, and a control execution unit for controlling the driving speed and the driving direction of the autonomous driving vehicle according to the control of the driving control unit include

If there is no signal collected from the sensor driving unit or if there is no entity identified by the entity recognition unit, the driving control unit receives road condition information or traffic information such as construction or accident from the base station or RSU through the information exchange unit, , generates a driving control signal, which is a control signal for driving, based on the received road condition information or traffic information, and transmits the generated driving control signal to the control execution unit.

In an embodiment of the present invention, the autonomous driving vehicle may further include a route search unit for providing an alarm function, which is a function to include guidance on the road and inform important information about road structures (eg, bumps, steep slopes). have.

It may further include a route search unit for providing an alarm function, which is a function of notifying important information.

If the road condition information or traffic information is not received from the base station or the RSU through the information exchange unit, the driving control unit generates a driving control signal based on the valid alarm information on the road condition information from the route search unit and generates a driving control signal based on it. It can be passed to the control execution unit.

In an embodiment of the present invention, when an emergency situation in which autonomous driving is impossible occurs with the currently available entity identification information, a safety response unit for executing safety countermeasures to cope with this, and a safety countermeasure list in which a list of safety countermeasures is stored It may further include a database.

If there is no valid alarm information from the route search unit, the safety response unit analyzes log information on the current system state, and through this, the operation record of the accelerator pedal, the brake operation record, the change of the steering angle, and the change of the vehicle inclination angle. The system state information is identified, and a safety countermeasure is selected from the safety countermeasure list stored in the safety countermeasure list database based on this, and the driving control unit generates a driving control signal based on the safety countermeasure selected in the safety countermeasures unit. It can be passed to the control execution unit.

In an embodiment of the present invention, a control transfer unit for transferring authority from the autonomous driving mode to the manual driving mode according to the control of the driving controller may be further included.

If the safety countermeasure is not selected by the safety countermeasure unit, the driving control unit may control the authority to be switched from the autonomous driving mode to the manual driving mode through the control transfer unit.

In the sensor coverage risk response method of the sensor coverage excess risk response system of the autonomous vehicle of the present invention, the sensor driving unit drives sensors including a camera, a radar, and a lidar, and collecting signals input from the sensors; The object recognition unit analyzes the signal collected by the sensor driving unit to determine whether an object exists, and the driving control unit controls the overall autonomous driving of the autonomous vehicle, and according to the recognition result of the object received from the object recognition unit controlling the driving of the autonomous vehicle, the control executing unit controlling the driving speed and driving direction of the autonomous driving vehicle according to the control of the driving control unit, and the information exchanging unit communicating with a base station or RSU (Road Side Unit) Wherein, if there is no signal collected from the sensor driving unit or there is no entity identified by the entity recognition unit, the driving control unit receives road condition information or traffic information from a base station or RSU through the information exchange unit. and generate a driving control signal, which is a control signal for driving, based on the received road condition information or traffic information, and transmit the generated driving control signal to the control execution unit.

In an embodiment of the present invention, the route search unit may further include the step of providing an alarm function, which is a function of providing guidance on the road on which the autonomous vehicle travels and notifying important information about structures (eg, bumps, steep slopes) of the road. can

If the road condition information or traffic information is not received from the base station or the RSU through the information exchange unit, the driving control unit generates a driving control signal based on the valid alarm information on the road condition information from the route search unit and generates a driving control signal based on it. It can be passed to the control execution unit.

In one embodiment of the present invention, the safety response unit executes safety countermeasures to cope with an emergency situation in which autonomous driving is impossible with currently available entity identification information, if there is no valid alarm information from the route search unit, The safety response unit analyzes log information on the current system state, and through this, recognizes system state information including an accelerator pedal operation record, a brake operation record, a change in steering angle, and a change in vehicle inclination angle, and based on this, safety Selecting a safety countermeasure from a list of safety countermeasures stored in the countermeasure list database, and the driving control unit generating a driving control signal based on the safety countermeasure selected in the safety countermeasure unit and transmitting the generated driving control signal to the control execution unit. can

In an embodiment of the present invention, the control transfer unit further comprises transferring authority from the autonomous driving mode to the manual driving mode according to the control of the driving controller, and if the safety countermeasure is not selected in the safety countermeasure unit, the driving control unit may control so that the authority is switched from the autonomous driving mode to the manual driving mode through the control transfer unit.

According to the present invention, it is possible to protect an autonomous vehicle and a person from an accident due to an excess of the sensor coverage of the autonomous vehicle by proposing a countermeasure against the sensor coverage excess of the autonomous vehicle.

In addition, according to the present invention, by applying the control software development process of the autonomous vehicle, there is an effect that it is possible to cope with possible accidents in advance.

In addition, the present invention has the effect of improving the safety of the autonomous vehicle and increasing the added value of the vehicle by suggesting a countermeasure for the excess sensor coverage of the autonomous vehicle, which has not been considered in the past.

1 is a diagram illustrating a case in which a sensor coverage of an autonomous vehicle is exceeded.
2 is a block diagram illustrating a structure of a system for responding to a risk of exceeding a sensor coverage of an autonomous vehicle according to an embodiment of the present invention.
3 is a flowchart illustrating a method for responding to a risk of exceeding a sensor coverage of an autonomous vehicle according to an embodiment of the present invention.
4 is a block diagram illustrating components of a list of safety countermeasures according to an embodiment of the present invention.

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail. However, this is not intended to limit the present invention to specific embodiments, and it should be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

The terms used in the present application are only used to describe specific embodiments, and are not intended to limit the present invention. The singular expression includes the plural expression unless the context clearly dictates otherwise. In the present application, terms such as “comprise” or “have” are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, but one or more other features It should be understood that this does not preclude the existence or addition of numbers, steps, operations, components, parts, or combinations thereof.

Unless defined otherwise, all terms used herein, including technical or scientific terms, have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. Terms such as those defined in commonly used dictionaries should be interpreted as having a meaning consistent with the meaning in the context of the related art, and should not be interpreted in an ideal or excessively formal meaning unless explicitly defined in the present application. does not

In addition, in the description with reference to the accompanying drawings, the same components are assigned the same reference numerals regardless of the reference numerals, and the overlapping description thereof will be omitted. In describing the present invention, if it is determined that a detailed description of a related known technology may unnecessarily obscure the gist of the present invention, the detailed description thereof will be omitted.

The present invention relates to a system and method for responding to the risk of exceeding the sensor coverage of an autonomous vehicle.

2 is a block diagram illustrating a structure of a system for responding to a risk of exceeding a sensor coverage of an autonomous vehicle according to an embodiment of the present invention.

Referring to FIG. 2 , the system for responding to the risk of exceeding the sensor coverage of an autonomous vehicle according to the present invention includes a sensor driving unit 110 , an object recognition unit 120 , an information exchange unit 130 , a route search unit 140 , and a safety response unit. 150 , a driving control unit 160 , a control execution unit 170 , and a control transfer unit 180 .

The sensor driver 110 drives sensors including a camera, radar, and lidar, and collects signals input from the sensors.

The object recognition unit 120 analyzes the signal collected by the sensor driver 110 to determine whether an object exists.

The information exchange unit 130 serves to collect road condition information or traffic information through communication with a base station or a Road Side Unit (RSU). For example, the information exchange unit 130 may perform communication between the autonomous vehicle and the base station or the RSU using UTRAN communication.

The route search unit 140 serves to provide an alarm function, which is a function of notifying important information on structural characteristics (eg, bumps and steep slopes) of the road, including guidance on the road on which the autonomous vehicle travels.

The safety response unit 150 serves to execute safety countermeasures to cope with an emergency situation in which autonomous driving is impossible with currently available individual identification information.

The driving controller 160 controls the overall autonomous driving of the autonomous driving vehicle, and controls the driving of the autonomous driving vehicle according to the recognition result of the entity received from the entity recognition unit 120 .

The control execution unit 170 serves to control the driving speed and the driving direction of the autonomous vehicle according to the control of the driving controller 160 .

The control transfer unit 180 serves to transfer authority from the autonomous driving mode to the manual driving mode under the control of the driving controller 160 .

In the present invention, if there is no signal collected from the sensor driving unit 110 or if there is no object identified by the object recognition unit 120 , the driving control unit 160 is constructed from the base station or the RSU through the information exchange unit 130 . It may receive road situation information or traffic information including generation, generate a driving control signal that is a control signal for driving based on the received road situation information or traffic information, and transmit it to the control execution unit 170 .

In the present invention, if road condition information or traffic information is not received from the base station or RSU through the information exchange unit 130 in the present invention, the driving control unit 160 has valid alarm information for the road condition information from the route search unit 140, Based on this, a driving control signal may be generated and transmitted to the control execution unit 170 .

In the present invention, if there is no valid alarm information from the route search unit 140, the safety response unit 150 analyzes log information on the current system state, and through this, the operation record of the accelerator pedal, the brake operation record, and the change of the steering angle , the system status information including changes in the vehicle inclination angle is identified, and based on this, a safety countermeasure is selected from the safety countermeasure list stored in the safety countermeasure list database.

In addition, the driving control unit 160 generates a driving control signal based on the safety countermeasure selected by the safety countermeasure unit 150 and transmits the generated driving control signal to the control execution unit 170 .

In the present invention, if the safety countermeasure is not selected by the safety countermeasure unit 150 , the driving control unit 160 may control the authority to be switched from the autonomous driving mode to the manual driving mode through the control transfer unit 180 .

3 is a flowchart illustrating a method for responding to a risk of exceeding a sensor coverage of an autonomous vehicle according to an embodiment of the present invention.

In Figure 3, the safety countermeasure list database 210 stores a list of safety countermeasures.

Referring to FIG. 3 , the sensor driving unit 110 drives sensors including a camera, a radar, and a lidar, and collects signals input from the sensors ( S301 ).

Then, the object recognition unit 120 analyzes the signal collected by the sensor driver 110 to determine whether the object exists (S303).

In addition, the driving controller 160 that controls the overall autonomous driving of the autonomous driving vehicle controls the driving of the autonomous driving vehicle according to the recognition result of the entity received from the entity recognition unit 120 . That is, when the object recognition unit 120 normally recognizes an object, the driving control unit 160 generates a driving control signal, which is a control signal for driving, and transmits it to the control execution unit 170 ( S323 ).

Then, the control execution unit 180 controls the driving speed and the driving direction of the autonomous vehicle according to the driving control signal (S325).

If there is no signal collected from the sensor driving unit 110 or if there is no object identified by the entity recognition unit 120 , the driving control unit 160 includes construction and accident occurrence from the base station or RSU through the information exchange unit 130 . to receive road condition information or traffic information (S307, S309).

Then, the driving control unit 160 generates a driving control signal, which is a control signal for driving, based on the received road condition information or traffic information, and transmits it to the control execution unit 170 ( S323 ), and the control execution unit 170 . controls the driving speed and driving direction of the autonomous vehicle according to the driving control signal (S325).

If road condition information or traffic information is not received from the base station or the RSU through the information exchange unit (S309), the driving control unit 160 checks whether there is valid alarm information for the road condition information from the route search unit 140 ( S311).

If there is valid alarm information for road condition information from the route search unit 140 (S313), a driving control signal is generated based on this and transmitted to the control executing unit 170 (S323), and the control executing unit 170 is The driving speed and driving direction of the autonomous vehicle are controlled according to the driving control signal (S325).

If there is no valid alarm information from the route search unit (S313), the safety response unit 150 analyzes log information on the current system state, and through this, the accelerator pedal operation record, the brake operation record, the steering angle change, and the vehicle inclination angle Identify the system state information including the change of (S315), and select a safety countermeasure from the list of safety countermeasures stored in the safety countermeasure list database 210 based on this (S317).

Then, the driving control unit 160 generates a driving control signal based on the safety countermeasure selected by the safety response unit 150 and transmits it to the control execution unit 170 ( S323 ), and the control execution unit 170 controls the driving The driving speed and driving direction of the autonomous vehicle are controlled according to the signal (S325).

If the safety countermeasure is not selected in the safety response unit 150 (S319), the driving control unit 160 controls the authority to be switched from the autonomous driving mode to the manual driving mode through the control transfer unit 180 to give the driver the right to control the vehicle. to be transferred (S321).

4 is a block diagram illustrating components of a list of safety countermeasures according to an embodiment of the present invention.

Referring to FIG. 4 , the system state ID 410 is expressed as a pair of accelerator pedal operation information 411 , steering angle 412 , brake operation information 413 , and vehicle inclination 414 .

In addition, the operation information 411 and 413 of the accelerator pedal and the brake is expressed as operation time (time) 415 and 417 and the operation duration 416 and 418, respectively.

For example, the steering angle 412 may have a value between [-60, +60], and the vehicle slope 414 may be equal to the slope of the ramp and have a value between [-20, +20]. there was

A unique system state ID is determined by these four pieces of information 411 to 414, and there is a safety countermeasure ID 420 corresponding one-to-one according to this value.

The safety countermeasure corresponds to any one of stop 421, decelerate + turn right (422), decelerate + turn left (423), decelerate + go straight (424), and no change (425). Of course, five safety countermeasures are proposed in the present invention, but it is natural that the safety countermeasures may be defined differently depending on what kind of risk of autonomous driving.

Although the present invention has been described above using several preferred embodiments, these examples are illustrative and not restrictive. Those of ordinary skill in the art to which the present invention pertains will understand that various changes and modifications can be made without departing from the spirit of the present invention and the scope of the appended claims.

110 Sensor driver 120 Object recognition unit
130 information exchange unit 140 route search unit
150 Safety Response Unit 160 Driving Control Unit
170 Control Execution Unit 180 Control Transfer Unit
210 Safety Measure List Database

Claims (8)

In the risk response system for exceeding the sensor coverage of an autonomous vehicle,
a sensor driving unit for driving sensors including a camera, a radar, and a lidar, and collecting signals input from the sensors;
an object recognition unit for analyzing the signal collected by the sensor driver to determine whether an object exists;
an information exchange unit performing communication with a base station or RSU (Road Side Unit);
a driving control unit for controlling the overall autonomous driving of the autonomous driving vehicle and controlling the driving of the autonomous driving vehicle according to the recognition result of the entity received from the entity recognition unit; and
and a control execution unit for controlling the traveling speed and the traveling direction of the autonomous vehicle according to the control of the traveling control unit,
If there is no signal collected from the sensor driver or there is no object identified by the object recognition unit,
The driving control unit receives road condition information or traffic information including construction occurrence and accident occurrence from a base station or RSU through the information exchange unit, and a driving control that is a control signal for driving based on the received road situation information or traffic information generates a signal and transmits it to the control execution unit;
Further comprising a route search unit for providing an alarm function, which is a function of notifying important information about road guidance and structural features of roads including bumps and steep slopes of the road on which the autonomous vehicle travels,
If road condition information or traffic information is not received from the base station or RSU through the information exchange unit,
When there is valid alarm information on road condition information from the route search unit, the driving control unit generates a driving control signal based on it and transmits it to the control execution unit,
A safety response unit to implement safety countermeasures to deal with an emergency situation in which autonomous driving is impossible with currently available individual identification information;
Further comprising a safety countermeasure list database in which the safety countermeasure list is stored,
The list of safety countermeasures includes a system state ID expressed by accelerator pedal operation time, accelerator pedal duration, brake operation time, brake duration, steering angle, and vehicle inclination information, and stop, decelerate + right turn, decelerate + left turn. , deceleration + straight forward, including a safety countermeasure ID corresponding to any one of the five safety countermeasures without change, at this time, the safety countermeasure ID corresponds to the system state ID according to the ID,
If there is no valid alarm information from the route search unit,
The safety response unit analyzes log information on the current system state, and through this, identifies system state information including an accelerator pedal operation record, a brake operation record, a change in steering angle, and a change in vehicle inclination angle, and based on this Select a safety countermeasure from the list of safety countermeasures stored in the safety countermeasure list database,
The driving control unit generates a driving control signal based on the safety countermeasure selected by the safety countermeasure unit and transmits it to the control execution unit,
Further comprising a control transfer unit for transferring authority from the autonomous driving mode to the manual driving mode according to the control of the driving control unit,
If the safety countermeasures are not selected in the safety response department,
and the driving control unit controls the authority to be switched from the autonomous driving mode to the manual driving mode through the control transfer unit.
delete delete delete In the method for responding to the risk of exceeding the sensor coverage of the autonomous vehicle sensor coverage risk response system,
The sensor driving unit drives sensors including a camera, radar, and lidar, and collecting signals input from the sensors;
determining, by an entity recognition unit, whether an entity exists by analyzing the signal collected by the sensor driving unit;
controlling, by a driving controller, overall autonomous driving of the autonomous driving vehicle, and controlling the driving of the autonomous driving vehicle according to the recognition result of the entity received by the entity recognition unit;
controlling, by a control execution unit, a traveling speed and a traveling direction of the autonomous vehicle according to the control of the driving control unit; and
The information exchange unit includes a step of performing communication with a base station or RSU (Road Side Unit),
If there is no signal collected from the sensor driving unit or if there is no entity identified by the entity recognition unit, the driving control unit receives road condition information or traffic information including construction occurrence and accident occurrence from a base station or RSU through the information exchange unit. and generates a driving control signal, which is a control signal for driving, based on the received road condition information or traffic information and transmits it to the control execution unit,
The route search unit further comprises the step of providing an alarm function, which is a function of notifying important information about the road guidance of the road on which the autonomous vehicle travels, and structural features of the road including bumps and steep slopes,
If the road condition information or traffic information is not received from the base station or the RSU through the information exchange unit, the driving control unit generates a driving control signal based on the valid alarm information on the road condition information from the route search unit and generates a driving control signal based on it. passed to the control execution unit,
The safety response unit may include: executing safety countermeasures to cope with the occurrence of an emergency in which autonomous driving is impossible with the currently available individual identification information;
If there is no valid alarm information from the route search unit, the safety response unit analyzes log information on the current system state, and through this, the operation record of the accelerator pedal, the brake operation record, the change of the steering angle, and the change of the vehicle inclination angle. Selecting a safety countermeasure from a list of safety countermeasures stored in the safety countermeasure list database based on the system status information; and
The driving control unit further comprises the step of generating a driving control signal based on the safety countermeasures selected by the safety countermeasures unit and transmitting the driving control signal to the control execution unit,
The control transfer unit further comprises transferring authority from the autonomous driving mode to the manual driving mode according to the control of the driving controller,
If the safety countermeasure is not selected in the safety response unit, the driving control unit controls the authority to be switched from the autonomous driving mode to the manual driving mode through the control transfer unit,
The list of safety countermeasures includes a system state ID expressed by accelerator pedal operation time, accelerator pedal duration, brake operation time, brake duration, steering angle, and vehicle inclination information, and stop, decelerate + right turn, decelerate + left turn. , deceleration+straight forward, and a safety countermeasure ID corresponding to any one of five safety countermeasures without change, wherein the safety countermeasure ID corresponds to the system state ID according to the system state ID. How to respond to excess risk.
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