KR20210089361A - Lidar system and autonomous driving system using the same - Google Patents

Abstract

The present invention relates to a LiDAR system and an autonomous driving system using the same. The LiDAR system includes: a light source generating a laser beam; a light emitting unit including a scanner moving the laser beam from the light source and scanning an object with the laser beam; a first receiving sensor including pixels converting a receiving signal of the light received from the object into an electric signal; a separate second receiving sensor physically separated from a light receiving unit; and a monitor sensor examining the power of a laser diode. A contaminated object near a LiDAR sensor is detected by the separate second receiving sensor and a monitor receiving sensor. The LiDAR system and the autonomous driving system using the same of the present invention can be linked to an artificial intelligence module, a drone (unmanned aerial vehicle), a robot, an augmented reality device, a virtual reality device, a 5G service-related device, and so on.

Description

LiDAR system and autonomous driving system using the same

This specification relates to an autonomous driving system and a control method thereof, and more particularly, to a lidar system for detecting a polluted object near a sensor, and an autonomous driving system using the same.

A vehicle may be classified into an internal combustion engine vehicle, an external combustion engine vehicle, a gas turbine vehicle, an electric vehicle, or the like, according to a type of a prime mover used.

An autonomous vehicle refers to a vehicle that can operate by itself without the manipulation of a driver or a passenger, and an autonomous driving system refers to a system that monitors and controls such an autonomous vehicle so that it can operate by itself.

In the autonomous driving system, there is an increasing demand for a technology that provides a safer driving environment to passengers or pedestrians as well as a technology for controlling a vehicle to quickly drive the vehicle to a destination. To this end, autonomous vehicles require various sensors to quickly and accurately sense surrounding terrain and objects in real time.

The LiDAR (Light Imaging Detection and Ranging, RIDAR) system irradiates a laser light pulse to an object and analyzes the reflected light from the object to detect the size and arrangement of the object and measure the distance to the object. .

SUMMARY OF THE INVENTION The present specification aims to solve the above-mentioned needs and/or problems.

Since autonomous vehicles drive without driver intervention, various sensors are required to quickly and accurately sense surrounding terrain and objects in real time.

LiDAR (Light Imaging Detection and Ranging, RIDAR) can detect the size and placement of an object by irradiating a laser light pulse to an object and analyzing the light reflected from the object, and can map the distance to the object.

For lidar, a vehicle sensor based on optical properties, a contaminant object is critical to sensor performance.

The purpose of the present specification is to provide a lidar system by using an existing laser beam and adding a separate low-cost photo diode, as it is possible to detect lens contamination at a close distance and does not require a separate light source for a separate close distance. aim to do The photodiode may be disposed at a position physically separated from the light transmitting unit and the light receiving unit of the lidar sensor.

In addition, the present specification detects lens contamination of the lidar sensor window using a sub-beam incident to a monitor receiving sensor that measures the power of a laser diode in the existing lidar sensor and a main beam reflected from lens contamination suggest how to

An object of the present invention is to provide a lidar system that can be implemented in a small and light size and can respond to various use cases and an autonomous driving system using the same.

The technical problems to be achieved in this specification are not limited to the technical problems mentioned above, and other technical problems not mentioned are clear to those skilled in the art from the detailed description of the invention below. can be understood clearly.

LiDAR system according to an embodiment of the present specification, a light source for generating a laser beam; a light emitting unit including a scanner for moving the laser beam from the light source to scan a contaminated object or object with the laser beam; a light receiving unit converting the laser beam into an electrical signal; The light receiving unit includes a first receiving sensor that converts the first light reflected from the object into an electrical signal, and a second receiving sensor that converts the second light reflected from the contaminated object and received into an electrical signal and; and a visor connected to the second receiving sensor and having a structure for receiving light reflected from the contaminated object.

In addition, the first receiving sensor may be physically separated from the light emitting unit.

In addition, the second reception sensor may exist physically separated from the first reception sensor and the light emitting unit.

In addition, the visor may have a C shape.

In addition, the upper side of the c of the visor may have a preset first critical angle for receiving the first light reflected from the contaminated object.

In addition, the lower side of the c of the visor may have a preset second critical angle for blocking the upper laser beam moved by the scanner.

In addition, the light emitting unit and the first receiving sensor may be characterized in that when viewed in a plan view, arranged on the same line.

In addition, the polluted object of the lidar sensor may include at least one of a polluted object inside the lidar sensor and snow, rain, and fog outside the lidar sensor.

A lidar system according to another embodiment of the present specification includes a light source for generating a laser beam, a light emitting unit for scanning an object or a contaminated object with the laser beam, including a scanner for moving the laser beam from the light source; a first receiving sensor for converting a first laser beam reflected from the contaminated object into an electrical signal; a monitor receiving sensor configured to receive a second laser beam that is a part of the laser beam and measure the power of the light source; A preamplifier for amplifying the output signal of the receiving sensor, an integrator for integrating the output signal of the preamplifier, and an analog-to-digital converter for converting a digital signal, wherein the monitor receiving sensor includes the first The sum of the laser beam and the second laser beam may be converted into an electrical signal.

The effect of the lidar device according to an embodiment of the present invention will be described as follows.

According to an embodiment of the present specification, it can be an alternative to the limitation of the lidar sensor in which it is difficult to detect an ultra-short-range (close distance) near the lidar sensor. Contamination objects can be detected at a very short distance through a sub-beam corresponding to low-power instead of a main beam corresponding to high-power, so even when power is low. Enables detection and removal of contaminating objects.

Further, according to an embodiment of the present specification, a contaminant object may be detected using an existing laser beam without the need for a separate light source for a proximity distance. By adding a separate low-cost photo diode, it is possible to detect a contaminated object near the lidar sensor without adding an existing contaminated object or an expensive APD used for object detection for each pixel.

In addition, according to an embodiment of the present specification, an additional separate low-cost photodiode is used to detect a contaminated object in the lidar sensor window using a sub-beam incident to the existing lidar sensor monitor receiving sensor and a main beam reflected from the contaminated object. Contamination objects in the vicinity of the sensor can be detected without installation.

In addition, according to an embodiment of the present specification, it can be implemented with a small and light size and can correspond to various use cases.

Effects that can be obtained in the embodiments of the present specification are not limited to the effects mentioned above, and other effects not mentioned are clearly understood by those of ordinary skill in the art to which the present invention belongs from the description below. it could be

1 illustrates a block diagram of a wireless communication system to which the methods proposed in the present specification can be applied.
2 is a diagram illustrating an example of a signal transmission/reception method in a wireless communication system.
3 shows an example of basic operations of a user terminal and a 5G network in a 5G communication system.
4 illustrates an example of a vehicle-to-vehicle basic operation using 5G communication.
5 is a diagram illustrating a vehicle according to an embodiment of the present specification.
6 is a control block diagram of a vehicle according to an embodiment of the present specification.
7 is a block diagram showing a lidar system according to an embodiment of the present specification.
8 is a detailed block diagram of a signal processing unit according to an embodiment of the present specification.
9 is a diagram illustrating a position in a receiving sensor, a structure of a visor, and a lidar sensor device according to an embodiment of the present specification.
10 is a view comparing the shape of the visor according to the embodiment of the present specification.
11 is a view illustrating an optical path of a laser beam reflected from a contaminated object according to a difference in angle of an upper end of a visor according to an embodiment of the present specification.
12 is a view illustrating an incident path of a laser beam generated by a light emitting unit according to an embodiment of the present specification.
13 is a view illustrating an arrangement of a light receiving unit and a light emitting unit in a lamp according to an embodiment of the present specification.
14 is a view showing the arrangement of the light emitting unit, the second receiving sensor, and the monitor receiving sensor of the lidar sensor according to the embodiment of the present specification, and the path of the laser beam.

Hereinafter, the embodiments disclosed in the present specification will be described in detail with reference to the accompanying drawings, but the same or similar components are assigned the same reference numbers regardless of reference numerals, and redundant description thereof will be omitted. The suffixes "module" and "part" for the components used in the following description are given or mixed in consideration of only the ease of writing the specification, and do not have a meaning or role distinct from each other by themselves. In addition, in describing the embodiments disclosed in the present specification, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in the present specification, the detailed description thereof will be omitted. In addition, the accompanying drawings are only for easy understanding of the embodiments disclosed in the present specification, and the technical spirit disclosed herein is not limited by the accompanying drawings, and all changes included in the spirit and scope of the present invention , should be understood to include equivalents or substitutes.

Terms including an ordinal number, such as first, second, etc., may be used to describe various elements, but the elements are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is referred to as being “connected” or “connected” to another component, it is understood that the other component may be directly connected or connected to the other component, but other components may exist in between. it should be On the other hand, when it is mentioned that a certain element is "directly connected" or "directly connected" to another element, it should be understood that the other element does not exist in the middle.

The singular expression includes the plural expression unless the context clearly dictates otherwise.

In the present application, terms such as "comprises" 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.

Hereinafter, 5G communication required by a device requiring autonomous driving information and/or an autonomous driving vehicle will be described with reference to paragraphs A to G.

A. Example UE and 5G network block diagram

1 illustrates a block diagram of a wireless communication system to which the methods proposed in the present specification can be applied.

Referring to FIG. 1 , a device (autonomous driving device) including an autonomous driving module may be defined as a first communication device ( 910 in FIG. 1 ), and a processor 911 may perform a detailed autonomous driving operation.

A 5G network including another vehicle communicating with the autonomous driving device may be defined as a second communication device ( 920 in FIG. 1 ), and the processor 921 may perform a detailed autonomous driving operation.

The 5G network may be represented as the first communication device and the autonomous driving device may be represented as the second communication device.

For example, the first communication device or the second communication device may be a base station, a network node, a transmitting terminal, a receiving terminal, a wireless device, a wireless communication device, an autonomous driving device, or the like.

For example, a terminal or user equipment (UE) includes a vehicle, a mobile phone, a smart phone, a laptop computer, a digital broadcasting terminal, personal digital assistants (PDA), and a portable multimedia player (PMP). , navigation, slate PC, tablet PC, ultrabook, wearable device, for example, watch-type terminal (smartwatch), glass-type terminal (smart glass), HMD ( head mounted display) and the like. For example, the HMD may be a display device worn on the head. For example, an HMD may be used to implement VR, AR or MR. Referring to FIG. 1 , a first communication device 910 and a second communication device 920 include a processor 911,921, a memory 914,924, and one or more Tx/Rx RF modules (radio frequency module, 915,925). , including Tx processors 912 and 922 , Rx processors 913 and 923 , and antennas 916 and 926 . Tx/Rx modules are also called transceivers. Each Tx/Rx module 915 transmits a signal via a respective antenna 926 . The processor implements the functions, processes and/or methods salpinned above. The processor 921 may be associated with a memory 924 that stores program code and data. Memory may be referred to as a computer-readable medium. More specifically, in DL (communication from a first communication device to a second communication device), the transmit (TX) processor 912 implements various signal processing functions for the L1 layer (ie, the physical layer). The receive (RX) processor implements the various signal processing functions of L1 (ie, the physical layer).

The UL (second communication device to first communication device) is handled in the first communication device 910 in a manner similar to that described with respect to the receiver function in the second communication device 920 . Each Tx/Rx module 925 receives a signal via a respective antenna 926 . Each Tx/Rx module provides an RF carrier and information to the RX processor 923 . The processor 921 may be associated with a memory 924 that stores program code and data. Memory may be referred to as a computer-readable medium.

B. Signal transmission/reception method in wireless communication system

2 is a diagram illustrating an example of a signal transmission/reception method in a wireless communication system.

Referring to FIG. 2 , the UE performs an initial cell search operation such as synchronizing with the BS when the power is turned on or a new cell is entered ( S201 ). To this end, the UE receives a primary synchronization channel (P-SCH) and a secondary synchronization channel (S-SCH) from the BS, synchronizes with the BS, and acquires information such as cell ID can do. In the LTE system and the NR system, the P-SCH and the S-SCH are called a primary synchronization signal (PSS) and a secondary synchronization signal (SSS), respectively. After the initial cell discovery, the UE may receive a physical broadcast channel (PBCH) from the BS to obtain broadcast information in the cell. Meanwhile, the UE may check the downlink channel state by receiving a downlink reference signal (DL RS) in the initial cell search step. After the initial cell search, the UE receives a physical downlink control channel (PDCCH) and a physical downlink shared channel (PDSCH) according to information carried on the PDCCH to obtain more specific system information. It can be done (S202).

On the other hand, when there is no radio resource for the first access to the BS or signal transmission, the UE may perform a random access procedure (RACH) to the BS (steps S203 to S206). To this end, the UE transmits a specific sequence as a preamble through a physical random access channel (PRACH) (S203 and S205), and a random access response to the preamble through the PDCCH and the corresponding PDSCH (random access response, RAR) message may be received (S204 and S206). In the case of contention-based RACH, a contention resolution procedure may be additionally performed.

After performing the process as described above, the UE receives PDCCH/PDSCH (S207) and a physical uplink shared channel (PUSCH)/physical uplink control channel as a general uplink/downlink signal transmission process. Uplink control channel, PUCCH) transmission (S208) may be performed. In particular, the UE receives downlink control information (DCI) through the PDCCH. The UE monitors a set of PDCCH candidates in monitoring opportunities set in one or more control element sets (CORESETs) on a serving cell according to corresponding search space configurations. The set of PDCCH candidates to be monitored by the UE is defined in terms of search space sets, which may be a common search space set or a UE-specific search space set. CORESET consists of a set of (physical) resource blocks with a time duration of 1 to 3 OFDM symbols. The network may configure the UE to have multiple CORESETs. The UE monitors PDCCH candidates in one or more search space sets. Here, monitoring means trying to decode PDCCH candidate(s) in the search space. If the UE succeeds in decoding one of the PDCCH candidates in the search space, the UE determines that the PDCCH is detected in the corresponding PDCCH candidate, and performs PDSCH reception or PUSCH transmission based on the DCI in the detected PDCCH. The PDCCH may be used to schedule DL transmissions on PDSCH and UL transmissions on PUSCH. Here, the DCI on the PDCCH is a downlink assignment (i.e., downlink grant; DL grant) including at least modulation and coding format and resource allocation information related to the downlink shared channel, or uplink It includes an uplink grant (UL grant) including a modulation and coding format and resource allocation information related to a shared channel.

Referring to FIG. 2 , an initial access (IA) procedure in a 5G communication system will be additionally described.

The UE may perform cell search, system information acquisition, beam alignment for initial access, DL measurement, and the like based on the SSB. The SSB is mixed with an SS/PBCH (Synchronization Signal/Physical Broadcast channel) block.

SSB consists of PSS, SSS and PBCH. The SSB is configured in four consecutive OFDM symbols, and PSS, PBCH, SSS/PBCH or PBCH are transmitted for each OFDM symbol. PSS and SSS consist of 1 OFDM symbol and 127 subcarriers, respectively, and PBCH consists of 3 OFDM symbols and 576 subcarriers.

Cell discovery refers to a process in which the UE acquires time/frequency synchronization of a cell, and detects a cell ID (Identifier) (eg, Physical layer Cell ID, PCI) of the cell. PSS is used to detect a cell ID within a cell ID group, and SSS is used to detect a cell ID group. PBCH is used for SSB (time) index detection and half-frame detection.

There are 336 cell ID groups, and there are 3 cell IDs for each cell ID group. There are a total of 1008 cell IDs. Information on the cell ID group to which the cell ID of the cell belongs is provided/obtained through the SSS of the cell, and information on the cell ID among 336 cells in the cell ID is provided/obtained through the PSS

The SSB is transmitted periodically according to the SSB period (periodicity). The SSB basic period assumed by the UE during initial cell discovery is defined as 20 ms. After cell access, the SSB period may be set to one of {5ms, 10ms, 20ms, 40ms, 80ms, 160ms} by the network (eg, BS).

Next, the acquisition of system information (SI) will be described.

The SI is divided into a master information block (MIB) and a plurality of system information blocks (SIB). SI other than MIB may be referred to as Remaining Minimum System Information (RMSI). The MIB includes information/parameters for monitoring the PDCCH scheduling the PDSCH carrying the System Information Block1 (SIB1) and is transmitted by the BS through the PBCH of the SSB. SIB1 includes information related to availability and scheduling (eg, transmission period, SI-size) of the remaining SIBs (hereinafter, SIBx, where x is an integer greater than or equal to 2). SIBx is included in the SI message and transmitted through the PDSCH. Each SI message is transmitted within a periodically occurring time window (ie, an SI-window).

Referring to FIG. 2 , a random access (RA) process in a 5G communication system will be additionally described.

The random access process is used for a variety of purposes. For example, the random access procedure may be used for network initial access, handover, and UE-triggered UL data transmission. The UE may acquire UL synchronization and UL transmission resources through a random access procedure. The random access process is divided into a contention-based random access process and a contention free random access process. The detailed procedure for the contention-based random access process is as follows.

The UE may transmit the random access preamble through the PRACH as Msg1 of the random access procedure in the UL. Random access preamble sequences having two different lengths are supported. The long sequence length 839 applies for subcarrier spacings of 1.25 and 5 kHz, and the short sequence length 139 applies for subcarrier spacings of 15, 30, 60 and 120 kHz.

When the BS receives the random access preamble from the UE, the BS sends a random access response (RAR) message (Msg2) to the UE. The PDCCH scheduling the PDSCH carrying the RAR is CRC-masked and transmitted with a random access (RA) radio network temporary identifier (RNTI) (RA-RNTI). The UE detecting the PDCCH masked by the RA-RNTI may receive the RAR from the PDSCH scheduled by the DCI carried by the PDCCH. The UE checks whether the random access response information for the preamble it has transmitted, that is, Msg1, is in the RAR. Whether or not random access information for Msg1 transmitted by itself exists may be determined by whether a random access preamble ID for the preamble transmitted by the UE exists. If there is no response to Msg1, the UE may retransmit the RACH preamble within a predetermined number of times while performing power ramping. The UE calculates the PRACH transmit power for the retransmission of the preamble based on the most recent path loss and power ramping counter.

The UE may transmit UL transmission on the uplink shared channel as Msg3 of the random access procedure based on the random access response information. Msg3 may include the RRC connection request and UE identifier. As a response to Msg3, the network may send Msg4, which may be treated as a contention resolution message on DL. By receiving Msg4, the UE can enter the RRC connected state.

C. Beam Management (BM) Procedure of 5G Communication System

The BM process may be divided into (1) a DL BM process using SSB or CSI-RS, and (2) a UL BM process using a sounding reference signal (SRS). In addition, each BM process may include Tx beam sweeping to determine a Tx beam and Rx beam sweeping to determine an Rx beam.

Let's look at the DL BM process using SSB.

A configuration for a beam report using the SSB is performed during channel state information (CSI)/beam configuration in RRC_CONNECTED.

- The UE receives from the BS a CSI-ResourceConfig IE including a CSI-SSB-ResourceSetList for SSB resources used for BM. The RRC parameter csi-SSB-ResourceSetList indicates a list of SSB resources used for beam management and reporting in one resource set. Here, the SSB resource set may be set to {SSBx1, SSBx2, SSBx3, SSBx4, ??}. The SSB index may be defined from 0 to 63.

- UE receives signals on SSB resources from the BS based on the CSI-SSB-ResourceSetList.

- When the CSI-RS reportConfig related to reporting on SSBRI and reference signal received power (RSRP) is configured, the UE reports the best SSBRI and RSRP corresponding thereto to the BS. For example, when the reportQuantity of the CSI-RS reportConfig IE is set to 'ssb-Index-RSRP', the UE reports the best SSBRI and the corresponding RSRP to the BS.

If the CSI-RS resource is configured in the same OFDM symbol(s) as the SSB, and 'QCL-TypeD' is applicable, the UE has the CSI-RS and the SSB similarly located in the 'QCL-TypeD' point of view ( quasi co-located, QCL). Here, QCL-TypeD may mean QCL between antenna ports in terms of spatial Rx parameters. When the UE receives signals of a plurality of DL antenna ports in a QCL-TypeD relationship, the same reception beam may be applied.

Next, a DL BM process using CSI-RS will be described.

The Rx beam determination (or refinement) process of the UE using the CSI-RS and the Tx beam sweeping process of the BS will be described in turn. In the UE Rx beam determination process, the repetition parameter is set to 'ON', and in the BS Tx beam sweeping process, the repetition parameter is set to 'OFF'.

First, a process of determining the Rx beam of the UE will be described.

- The UE receives the NZP CSI-RS resource set IE including the RRC parameter for 'repetition' from the BS through RRC signaling. Here, the RRC parameter 'repetition' is set to 'ON'.

- The UE repeats signals on the resource(s) in the CSI-RS resource set in which the RRC parameter 'repetition' is set to 'ON' in different OFDM symbols through the same Tx beam (or DL spatial domain transmission filter) of the BS receive

- The UE determines its own Rx beam.

- The UE omits CSI reporting. That is, the UE may omit the CSI report when the multi-RRC parameter 'repetition' is set to 'ON'.

Next, the Tx beam determination process of the BS will be described.

- The UE receives the NZP CSI-RS resource set IE including the RRC parameter for 'repetition' from the BS through RRC signaling. Here, the RRC parameter 'repetition' is set to 'OFF' and is related to the Tx beam sweeping process of the BS.

- The UE receives signals on resources in the CSI-RS resource set in which the RRC parameter 'repetition' is set to 'OFF' through different Tx beams (DL spatial domain transmission filter) of the BS.

- The UE selects (or determines) the best beam.

- The UE reports the ID (eg, CRI) and related quality information (eg, RSRP) for the selected beam to the BS. That is, when the CSI-RS is transmitted for the BM, the UE reports the CRI and the RSRP to the BS.

Next, a UL BM process using SRS will be described.

- The UE receives the RRC signaling (eg, SRS-Config IE) including the (RRC parameter) usage parameter set to 'beam management' from the BS. SRS-Config IE is used for SRS transmission configuration. The SRS-Config IE includes a list of SRS-Resources and a list of SRS-ResourceSets. Each SRS resource set means a set of SRS-resources.

- The UE determines Tx beamforming for the SRS resource to be transmitted based on the SRS-SpatialRelation Info included in the SRS-Config IE. Here, the SRS-SpatialRelation Info is set for each SRS resource and indicates whether to apply the same beamforming as that used in SSB, CSI-RS, or SRS for each SRS resource.

- If SRS-SpatialRelationInfo is configured in the SRS resource, the same beamforming as that used in SSB, CSI-RS, or SRS is applied and transmitted. However, if SRS-SpatialRelationInfo is not configured in the SRS resource, the UE arbitrarily determines Tx beamforming and transmits the SRS through the determined Tx beamforming.

Next, a beam failure recovery (BFR) process will be described.

In a beamformed system, Radio Link Failure (RLF) may frequently occur due to rotation, movement, or beamforming blockage of the UE. Therefore, BFR is supported in NR to prevent frequent RLF from occurring. BFR is similar to the radio link failure recovery process, and can be supported when the UE knows new candidate beam(s). For beam failure detection, the BS sets beam failure detection reference signals to the UE, and the UE determines that the number of beam failure indications from the physical layer of the UE is within a period set by the RRC signaling of the BS. When a threshold set by RRC signaling is reached (reach), a beam failure is declared (declare). after beam failure is detected, the UE triggers beam failure recovery by initiating a random access procedure on the PCell; Beam failure recovery is performed by selecting a suitable beam (if the BS provides dedicated random access resources for certain beams, these are prioritized by the UE). Upon completion of the random access procedure, it is considered that beam failure recovery has been completed.

D. URLLC (Ultra-Reliable and Low Latency Communication)

URLLC transmission defined in NR has (1) relatively low traffic size, (2) relatively low arrival rate, (3) extremely low latency requirements (eg, 0.5, 1ms), (4) a relatively short transmission duration (eg, 2 OFDM symbols), (5) may mean transmission for an urgent service/message, etc. In the case of UL, transmission for a specific type of traffic (eg, URLLC) is multiplexed with other previously scheduled transmissions (eg, eMBB) in order to satisfy a more stringent latency requirement. Needs to be. In this regard, as one method, information to be preempted for a specific resource is given to the previously scheduled UE, and the resource is used by the URLLC UE for UL transmission.

For NR, dynamic resource sharing between eMBB and URLLC is supported. eMBB and URLLC services may be scheduled on non-overlapping time/frequency resources, and URLLC transmission may occur on resources scheduled for ongoing eMBB traffic. The eMBB UE may not know whether the PDSCH transmission of the corresponding UE is partially punctured, and the UE may not be able to decode the PDSCH due to corrupted coded bits. In consideration of this, NR provides a preemption indication. The preemption indication may be referred to as an interrupted transmission indication.

With respect to the preemption indication, the UE receives the DownlinkPreemption IE through RRC signaling from the BS. When the UE is provided with the DownlinkPreemption IE, for monitoring the PDCCH carrying DCI format 2_1, the UE is configured with the INT-RNTI provided by the parameter int-RNTI in the DownlinkPreemption IE. The UE is additionally configured with a set of serving cells by INT-ConfigurationPerServing Cell including a set of serving cell indices provided by servingCellID and a corresponding set of positions for fields in DCI format 2_1 by positionInDCI, dci-PayloadSize It is established with the information payload size for DCI format 2_1 by , and is set with the indicated granularity of time-frequency resources by timeFrequencySect.

The UE receives DCI format 2_1 from the BS based on the DownlinkPreemption IE.

When the UE detects the DCI format 2_1 for the serving cell in the configured set of serving cells, the UE determines that the DCI format of the set of PRBs and the set of symbols of the monitoring period immediately preceding the monitoring period to which the DCI format 2_1 belongs. It can be assumed that there is no transmission to the UE in the PRBs and symbols indicated by 2_1. For example, the UE sees that the signal in the time-frequency resource indicated by the preemption is not the scheduled DL transmission for itself and decodes data based on the signals received in the remaining resource region.

E. mMTC (massive MTC)

mMTC (massive machine type communication) is one of the scenarios of 5G to support hyper-connectivity service that communicates simultaneously with a large number of UEs. In this environment, the UE communicates intermittently with a very low transmission rate and mobility. Therefore, mMTC is primarily aimed at how long the UE can run at a low cost. In relation to mMTC technology, 3GPP deals with MTC and NB (NarrowBand)-IoT.

The mMTC technology has features such as repeated transmission of PDCCH, PUCCH, physical downlink shared channel (PDSCH), PUSCH, and the like, frequency hopping, retuning, and guard period.

That is, a PUSCH (or PUCCH (particularly, long PUCCH) or PRACH) including specific information and a PDSCH (or PDCCH) including a response to specific information are repeatedly transmitted. Repeated transmission is performed through frequency hopping, and for repeated transmission, (RF) retuning is performed in a guard period from a first frequency resource to a second frequency resource, and specific information And a response to specific information may be transmitted/received through a narrowband (ex. 6 RB (resource block) or 1 RB).

F. Basic operation between autonomous vehicles using 5G communication

3 shows an example of basic operations of an autonomous vehicle and a 5G network in a 5G communication system.

The autonomous vehicle transmits specific information transmission to the 5G network (S1). The specific information may include autonomous driving-related information. Then, the 5G network may determine whether to remotely control the vehicle (S2). Here, the 5G network may include a server or module for performing remote control related to autonomous driving. In addition, the 5G network may transmit information (or signals) related to remote control to the autonomous vehicle (S3).

G. Application operation between autonomous vehicle and 5G network in 5G communication system

Hereinafter, the operation of the autonomous vehicle using 5G communication will be described in more detail with reference to FIGS. 1 and 2 and the above salpin wireless communication technology (BM procedure, URLLC, Mmtc, etc.).

First, the method proposed in the present invention, which will be described later, and the basic procedure of the application operation to which the eMBB technology of 5G communication is applied will be described.

As in steps S1 and S3 of FIG. 3 , in order for the autonomous vehicle to transmit/receive signals and information to/from the 5G network, the autonomous vehicle performs an initial access procedure with the 5G network before step S1 of FIG. and a random access procedure.

More specifically, the autonomous vehicle performs an initial access procedure with the 5G network based on the SSB to obtain DL synchronization and system information. A beam management (BM) process and a beam failure recovery process may be added to the initial access procedure, and in the process of the autonomous vehicle receiving a signal from the 5G network, QCL (quasi-co location) ) relationship can be added.

In addition, the autonomous vehicle performs a random access procedure with the 5G network for UL synchronization acquisition and/or UL transmission. In addition, the 5G network may transmit a UL grant for scheduling transmission of specific information to the autonomous vehicle. Accordingly, the autonomous vehicle transmits specific information to the 5G network based on the UL grant. In addition, the 5G network transmits a DL grant for scheduling transmission of a 5G processing result for the specific information to the autonomous vehicle. Accordingly, the 5G network may transmit information (or signals) related to remote control to the autonomous vehicle based on the DL grant.

Next, the method proposed in the present invention, which will be described later, and the basic procedure of the application operation to which the URLLC technology of 5G communication is applied will be described.

As described above, after the autonomous vehicle performs an initial access procedure and/or a random access procedure with the 5G network, the autonomous vehicle may receive a DownlinkPreemption IE from the 5G network. Then, the autonomous vehicle receives DCI format 2_1 including a pre-emption indication from the 5G network based on the DownlinkPreemption IE. In addition, the autonomous vehicle does not perform (or expect or assume) the reception of eMBB data in the resource (PRB and/or OFDM symbol) indicated by the pre-emption indication. Thereafter, the autonomous vehicle may receive a UL grant from the 5G network when it is necessary to transmit specific information.

Next, the method proposed in the present invention, which will be described later, and the basic procedure of the application operation to which the mMTC technology of 5G communication is applied will be described.

Among the steps of FIG. 3, the parts that are changed by the application of the mMTC technology will be mainly described.

In step S1 of FIG. 3 , the autonomous vehicle receives a UL grant from the 5G network to transmit specific information to the 5G network. Here, the UL grant includes information on the number of repetitions for the transmission of the specific information, and the specific information may be repeatedly transmitted based on the information on the number of repetitions. That is, the autonomous vehicle transmits specific information to the 5G network based on the UL grant. In addition, repeated transmission of specific information may be performed through frequency hopping, transmission of the first specific information may be transmitted in a first frequency resource, and transmission of the second specific information may be transmitted in a second frequency resource. The specific information may be transmitted through a narrowband of 6RB (Resource Block) or 1RB (Resource Block).

H. Autonomous vehicle-to-vehicle operation using 5G communication

4 illustrates an example of a vehicle-to-vehicle basic operation using 5G communication.

The first vehicle transmits specific information to the second vehicle (S61). The second vehicle transmits a response to the specific information to the first vehicle (S62).

On the other hand, depending on whether the 5G network is directly (sidelink communication transmission mode 3) or indirectly (sidelink communication transmission mode 4) involved in the resource allocation of the specific information and the response to the specific information, the vehicle-to-vehicle application operation Configuration may vary.

Next, a vehicle-to-vehicle application operation using 5G communication will be examined.

First, how the 5G network is directly involved in resource allocation of vehicle-to-vehicle signal transmission/reception will be described.

The 5G network may transmit DCI format 5A to the first vehicle for scheduling of mode 3 transmission (PSCCH and/or PSSCH transmission). Here, a physical sidelink control channel (PSCCH) is a 5G physical channel for scheduling specific information transmission, and a physical sidelink shared channel (PSSCH) is a 5G physical channel for transmitting specific information. Then, the first vehicle transmits SCI format 1 for scheduling of transmission of specific information to the second vehicle on the PSCCH. Then, the first vehicle transmits specific information to the second vehicle on the PSSCH.

Next, how the 5G network is indirectly involved in resource allocation of signal transmission/reception will be examined.

The first vehicle senses a resource for mode 4 transmission in the first window. Then, the first vehicle selects a resource for mode 4 transmission in the second window based on the sensing result. Here, the first window means a sensing window, and the second window means a selection window. The first vehicle transmits SCI format 1 for scheduling of transmission of specific information to the second vehicle on the PSCCH based on the selected resource. Then, the first vehicle transmits specific information to the second vehicle on the PSSCH.

The above salpin 5G communication technology may be applied in combination with the methods proposed in the present invention to be described later, or may be supplemented to specify or clarify the technical characteristics of the methods proposed in the present invention.

Driving

(1) Vehicle exterior

5 is a diagram illustrating a vehicle according to an embodiment of the present invention.

Referring to FIG. 5 , a vehicle 10 according to an embodiment of the present invention is defined as a transportation means traveling on a road or track. The vehicle 10 is a concept including a car, a train, and a motorcycle. The vehicle 10 may be a concept including all of an internal combustion engine vehicle having an engine as a power source, a hybrid vehicle having an engine and an electric motor as a power source, and an electric vehicle having an electric motor as a power source. The vehicle 10 may be a vehicle owned by an individual. The vehicle 10 may be a shared vehicle. The vehicle 10 may be an autonomous vehicle.

(2) Components of the vehicle

6 is a control block diagram of a vehicle according to an embodiment of the present specification.

Referring to FIG. 6 , the vehicle 10 includes a user interface device 200 , an object detection device 210 , a communication device 220 , a driving manipulation device 230 , a main ECU 240 , and a driving control device 250 . ), an autonomous driving device 260 , a sensing unit 270 , and a location data generating device 280 . The object detecting device 210 , the communication device 220 , the driving manipulation device 230 , the main ECU 240 , the driving control device 250 , the autonomous driving device 260 , the sensing unit 270 , and the location data generating device 280 may be implemented as electronic devices that each generate electrical signals and exchange electrical signals with each other.

1) User interface device

The user interface device 200 is a device for communication between the vehicle 10 and a user. The user interface device 200 may receive a user input and provide information generated in the vehicle 10 to the user. The vehicle 10 may implement a user interface (UI) or a user experience (UX) through the user interface device 200 . The user interface device 200 may include an input device, an output device, and a user monitoring device.

2) Object detection device

The object detection apparatus 210 may generate information about an object outside the vehicle 10 . The information about the object may include at least one of information on the existence of the object, location information of the object, distance information between the vehicle 10 and the object, and relative speed information between the vehicle 10 and the object. . The object detecting apparatus 210 may detect an object outside the vehicle 10 . The object detecting apparatus 210 may include at least one sensor capable of detecting an object outside the vehicle 10 . The object detecting apparatus 210 may include at least one of a camera, a radar, a lidar, an ultrasonic sensor, and an infrared sensor. The object detecting apparatus 210 may provide data on an object generated based on a sensing signal generated by a sensor to at least one electronic device included in the vehicle.

2.1) Camera

The camera may generate information about an object outside the vehicle 10 by using the image. The camera may include at least one lens, at least one image sensor, and at least one processor that is electrically connected to the image sensor to process a received signal, and generate data about the object based on the processed signal.

The camera may be at least one of a mono camera, a stereo camera, and an AVM (Around View Monitoring) camera. The camera may obtain position information of the object, distance information from the object, or relative speed information with the object by using various image processing algorithms. For example, the camera may acquire distance information and relative velocity information from an object based on a change in the size of the object over time from the acquired image. For example, the camera may acquire distance information and relative speed information with respect to an object through a pinhole model, road surface profiling, or the like. For example, the camera may acquire distance information and relative velocity information from an object based on disparity information in a stereo image obtained from the stereo camera.

The camera may be mounted at a position where a field of view (FOV) can be secured in the vehicle in order to photograph the outside of the vehicle. The camera may be disposed adjacent to the front windshield in the interior of the vehicle to acquire an image of the front of the vehicle. The camera may be placed around the front bumper or radiator grill. The camera may be disposed adjacent to the rear glass in the interior of the vehicle to acquire an image of the rear of the vehicle. The camera may be placed around the rear bumper, trunk or tailgate. The camera may be disposed adjacent to at least one of the sides in the interior of the vehicle in order to acquire an image of the side of the vehicle. Alternatively, the camera may be disposed around a side mirror, a fender or a door.

2.2) Radar

The radar may generate information about an object outside the vehicle 10 using radio waves. The radar may include an electromagnetic wave transmitter, an electromagnetic wave receiver, and at least one processor that is electrically connected to the electromagnetic wave transmitter and the electromagnetic wave receiver, processes a received signal, and generates data for an object based on the processed signal. The radar may be implemented in a pulse radar method or a continuous wave radar method in terms of a radio wave emission principle. The radar may be implemented in a frequency modulated continuous wave (FMCW) method or a frequency shift keyong (FSK) method according to a signal waveform among continuous wave radar methods. The radar detects an object based on an electromagnetic wave, a time of flight (TOF) method or a phase-shift method, and detects the position of the detected object, the distance to the detected object, and the relative speed. can The radar may be placed at a suitable location outside of the vehicle to detect objects located in front, rear or side of the vehicle.

2.3) Lidar

The lidar may generate information about an object outside the vehicle 10 by using laser light. The lidar may include at least one processor that is electrically connected to the light transmitter, the light receiver, and the light transmitter and the light receiver, processes the received signal, and generates data about the object based on the processed signal. . The lidar may be implemented in a time of flight (TOF) method or a phase-shift method. Lidar can be implemented as driven or non-driven. When implemented as a driving type, the lidar is rotated by a motor and may detect an object around the vehicle 10 . When implemented as a non-driven type, the lidar may detect an object located within a predetermined range with respect to the vehicle by light steering. Vehicle 100 may include a plurality of non-driven lidar. LiDAR detects an object based on a time of flight (TOF) method or a phase-shift method with a laser light medium, and calculates the position of the detected object, the distance to the detected object, and the relative speed. can be detected. The lidar may be placed at a suitable location outside of the vehicle to detect an object located in front, rear or side of the vehicle.

3) communication device

The communication apparatus 220 may exchange signals with a device located outside the vehicle 10 . The communication device 220 may exchange signals with at least one of an infrastructure (eg, a server, a broadcasting station), another vehicle, and a terminal. The communication device 220 may include at least one of a transmit antenna, a receive antenna, a radio frequency (RF) circuit capable of implementing various communication protocols, and an RF element to perform communication.

For example, the communication apparatus may exchange a signal with an external device based on C-V2X (Cellular V2X) technology. For example, the C-V2X technology may include LTE-based sidelink communication and/or NR-based sidelink communication. Contents related to C-V2X will be described later.

For example, communication devices communicate with external devices based on IEEE 802.11p PHY/MAC layer technology and IEEE 1609 Network/Transport layer technology-based Dedicated Short Range Communications (DSRC) technology or WAVE (Wireless Access in Vehicular Environment) standard. can be exchanged for DSRC (or WAVE standard) technology is a communication standard prepared to provide ITS (Intelligent Transport System) service through short-distance dedicated communication between in-vehicle devices or between roadside devices and in-vehicle devices. The DSRC technology may use a frequency of 5.9 GHz and may be a communication method having a data transmission rate of 3 Mbps to 27 Mbps. IEEE 802.11p technology can be combined with IEEE 1609 technology to support DSRC technology (or WAVE standard).

The communication apparatus of the present specification may exchange a signal with an external device using either one of the C-V2X technology or the DSRC technology. Alternatively, the communication apparatus of the present specification may exchange signals with an external device by hybridizing C-V2X technology and DSRC technology.

4) Driving control device

The driving operation device 230 is a device that receives a user input for driving. In the manual mode, the vehicle 10 may be driven based on a signal provided by the driving manipulation device 230 . The driving manipulation device 230 may include a steering input device (eg, a steering wheel), an acceleration input device (eg, an accelerator pedal), and a brake input device (eg, a brake pedal).

5) Main ECU

The main ECU 240 may control the overall operation of at least one electronic device included in the vehicle 10 .

6) drive control device

The drive control device 250 is a device that electrically controls various vehicle drive devices in the vehicle 10 . The drive control device 250 may include a power train drive control device, a chassis drive control device, a door/drive control device, a safety device drive control device, a lamp drive control device, and an air conditioning drive control device. The power train drive control device may include a power source drive control device and a transmission drive control device. The chassis drive control device may include a steering drive control device, a brake drive control device, and a suspension drive control device. Meanwhile, the safety device drive control device may include a safety belt drive control device for seat belt control.

The drive control device 250 includes at least one electronic control device (eg, a control ECU (Electronic Control Unit)).

The pitch control device 250 may control the vehicle driving device based on a signal received from the autonomous driving device 260 . For example, the control device 250 may control a power train, a steering device, and a brake device based on a signal received from the autonomous driving device 260 .

7) autonomous driving device

The autonomous driving device 260 may generate a path for autonomous driving based on the obtained data. The autonomous driving device 260 may generate a driving plan for driving along the generated path. The autonomous driving device 260 may generate a signal for controlling the movement of the vehicle according to the driving plan. The autonomous driving device 260 may provide the generated signal to the driving control device 250 .

The autonomous driving apparatus 260 may implement at least one Advanced Driver Assistance System (ADAS) function. ADAS includes Adaptive Cruise Control (ACC), Autonomous Emergency Braking (AEB), Forward Collision Warning (FCW), Lane Keeping Assist (LKA), ), Lane Change Assist (LCA), Target Following Assist (TFA), Blind Spot Detection (BSD), Adaptive High Beam Control (HBA) , Auto Parking System (APS), Pedestrian Collision Warning System (PD Collision Warning System), Traffic Sign Recognition (TSR), Trafffic Sign Assist (TSA), Night Vision System At least one of a Night Vision (NV), a Driver Status Monitoring (DSM), and a Traffic Jam Assist (TJA) may be implemented.

The autonomous driving device 260 may perform a switching operation from the autonomous driving mode to the manual driving mode or a switching operation from the manual driving mode to the autonomous driving mode. For example, the autonomous driving device 260 may switch the mode of the vehicle 10 from the autonomous driving mode to the manual driving mode or from the manual driving mode to the autonomous driving mode based on a signal received from the user interface device 200 . can be converted to

8) Sensing unit

The sensing unit 270 may sense the state of the vehicle. The sensing unit 270 may include an inertial measurement unit (IMU) sensor, a collision sensor, a wheel sensor, a speed sensor, an inclination sensor, a weight sensor, a heading sensor, a position module, and a vehicle. It may include at least one of a forward/reverse sensor, a battery sensor, a fuel sensor, a tire sensor, a steering sensor, a temperature sensor, a humidity sensor, an ultrasonic sensor, an illuminance sensor, and a pedal position sensor. Meanwhile, an inertial measurement unit (IMU) sensor may include at least one of an acceleration sensor, a gyro sensor, and a magnetic sensor.

The sensing unit 270 may generate state data of the vehicle based on a signal generated by at least one sensor. The vehicle state data may be information generated based on data sensed by various sensors provided inside the vehicle. The sensing unit 270 may include vehicle attitude data, vehicle motion data, vehicle yaw data, vehicle roll data, vehicle pitch data, vehicle collision data, vehicle direction data, vehicle angle data, and vehicle speed. data, vehicle acceleration data, vehicle inclination data, vehicle forward/reverse data, vehicle weight data, battery data, fuel data, tire pressure data, vehicle interior temperature data, vehicle interior humidity data, steering wheel rotation angle data, vehicle exterior illumination Data, pressure data applied to the accelerator pedal, pressure data applied to the brake pedal, and the like may be generated.

9) Location data generating device

The location data generating device 280 may generate location data of the vehicle 10 . The location data generating apparatus 280 may include at least one of a Global Positioning System (GPS) and a Differential Global Positioning System (DGPS). The location data generating apparatus 280 may generate location data of the vehicle 10 based on a signal generated from at least one of GPS and DGPS. According to an embodiment, the location data generating apparatus 280 may correct the location data based on at least one of an Inertial Measurement Unit (IMU) of the sensing unit 270 and a camera of the object detecting apparatus 210 . The location data generating device 280 may be referred to as a Global Navigation Satellite System (GNSS).

The vehicle 10 may include an internal communication system 50 . A plurality of electronic devices included in the vehicle 10 may exchange signals via the internal communication system 50 . Signals may contain data. The internal communication system 50 may use at least one communication protocol (eg, CAN, LIN, FlexRay, MOST, Ethernet).

7 is a block diagram showing a lidar system according to an embodiment of the present specification.

Referring to FIG. 7 , the lidar system 1 includes a light source driving unit 100 , a monitor receiving sensor 101 , a light emitting unit 102 , a light receiving unit 106 , a signal processing unit 108 , and a sensor control unit 120 . do.

The light emitting unit 102 may include one or more light sources LS and a light scanning unit SC.

The light source driver 100 drives the light source LS by supplying a current to the light source LS of the light emitting unit 102 . The light source LS may emit a laser beam in the form of a line light source or a point light source.

The light source driver 100 may periodically alternate the optical power with low power and high power by adjusting the amount of current of the light source LS.

The light source driver 100 may vary the optical power by adjusting the driving current of each of the light sources LS according to the driving environment information on the driving route received through the network. The driving environment information may include terrain information of a driving section, traffic congestion information, weather, and the like.

The wavelength of the laser beam generated from the light source LS may be 905 nm or 1550 nm. The 905 nm laser light source may be implemented as an InGaAs/GaAs-based semiconductor diode laser, and may emit high power laser light. The peak power of the InGaAs/GaAs-based semiconductor diode laser is 25W from one emitter. In order to increase the output of the InGaAs/GaAs-based semiconductor diode laser, three emitters can be combined in a stack structure to output 75W laser light. Semiconductor diode lasers based on InGaAs/GaAs are small in size and can be implemented at low cost. The driving mode of InGaAs/GaAs-based semiconductor diode laser is spatial mode and multi mode.

The 1550nm laser light source may be implemented as a fiber laser, a diode pumped solid state (DPSS) laser, a semiconductor diode laser, or the like. A typical example of a fiber laser is an erbium-doped fiber laser. The 1550nm fiber laser uses a 980nm diode laser as a pump laser and can emit a 1550nm laser through an erbium-doped fiber. The peak power of a 1550nm fiber laser can be up to several kW. The operation mode of 1550nm fiber laser is spatial mode, few mode. The 1550nm fiber laser has good light quality and has a small aperture size, so it can detect objects with high resolution. The DPSS laser uses a 980 nm diode laser as a pump laser and can emit 1534 nm laser light through laser crystals such as MgAlO and YVO. The 1550nm Semiconductor Diode Laser can be implemented as an InGaAsP/InP-based Semiconductor Diode Laser, and its peak power is tens of W. 1550nm Semiconductor Diode Laser is smaller than fiber laser.

The laser beam generated from the light source LS is incident on the light scanning unit SC. The optical scan unit SC reciprocates the laser beam from the light source LS to implement a preset field of view (FOV). The optical scan unit SC is a two-dimensional (2D) scanner that reciprocates a laser beam within a predetermined rotation angle range in each of a horizontal direction (x-axis) and a vertical direction (y-axis), or a two-dimensional (2D) scanner that rotates in a direction orthogonal to each other. It may be implemented with one or more one-dimensional (1D) scanners. The scanner may be implemented as a galvano scanner or a Micro Electro Mechanical Systems (MEMS) scanner.

The optical scanning unit SC is to be synchronized with the cells of the first sensor 105 or the second sensor of the light receiving unit 106 activated for each scan angle of the laser beam under the control of the sensor control unit 120, and the monitor receiving sensor 101. can

The laser beam emitted from the light emitting unit 102 is reflected on the object 111 or the contaminated object 112 and is received by the first receiving sensor 105 or the second receiving sensor 107 . The pixels of the first reception sensor 105 or the second reception sensor 107 may be arranged in a matrix form in which a plurality of row lines and a plurality of column lines cross each other. Each of the pixels converts the received light into an electric current using a photo-diode.

The signal processing unit 108 converts the output of the first reception sensor 105 or the second reception sensor 107 into a voltage and amplifies it, and then converts the amplified signal to an analog-to-digital converter (ADC) using an analog-to-digital converter (ADC). to convert it into a digital signal. The signal processing unit 108 analyzes the digital data input from the ADC using a Time of Flight (TOF) algorithm or a phase-shift algorithm to determine the distance from the object 111 or the contaminated object 112, the object 111 or The shape of the contaminated object 112 is detected.

8 is a block diagram illustrating a signal processing unit in detail.

Referring to FIG. 8 , the signal processing unit 108 converts a current input from the activated pixels of the first reception sensor 105 or the second reception sensor 107 into a voltage and amplifies it by a trans-impedance amplifier (Trans Impedance Amplifier, TIA) 310, an integrator (INT) 320 for integrating the output signal of the preamplifier 310, a noise removing unit 330 for removing noise from the output signal of the integrator 320, a noise removing unit ( The ADC 340 converts the output signal of the 330 into a digital signal, and a detector 350 analyzes the digital signal input from the ADC 340 , and the like.

The preamplifier 310 amplifies the output of the first reception sensor 105 or the second reception sensor 107 . The gain of the preamplifier 310 may be varied with a programmable gain. In this case, the gain of the preamplifier 310 may be changed according to data input from the autonomous driving device 260 or an external device connected to the network through I2C communication.

The integrator 320 increases the voltage level of the signal by accumulating the output of the preamplifier 310 in the capacitor a predetermined number of times.

The noise removing unit 330 removes noise by detecting a waveform of the input signal and analyzing waveform characteristics. Also, the noise removing unit 330 may remove noise of the input signal.

The detection unit 350 analyzes the digital signal of each of the activated pixels input from the ADC 340 using a TOF or a phase shift algorithm to generate depth information for each scan angle to detect the presence of the contaminant object 112 on the lens. can be measured

The signal processing unit 108 may provide sensor data including shape information and a distance to the contaminating object 112 on the lens to the autonomous driving device 260 . The autonomous driving device 260 receives sensor data received from the lidar system and generates a signal for removing the polluted object from the vehicle based on the detected polluted object information.

In detecting a contaminated object in the vicinity of a lidar sensor, there are the following limitations in cost and structure of the lidar sensor.

There is a high possibility that the light emitting unit 102 and the light receiving unit 106 inside the lidar sensor cannot be disposed in the same space due to their physical structure. That is, since the light incident on the light receiving unit 106 is for detecting an object or a contaminated object, if several lights interfere, it may confuse the detection of an accurate object or a contaminated object, and thus the light receiving unit 102 and the light emitting unit 106 ), it is necessary to physically separate the space.

In addition, in the conventional method of detecting an object, the signal processing unit 108 converts the current input from the first receiving sensor 105 of the light receiving unit 106 into a voltage, and the ADC 320 in the preamplifier 310 . Since it is necessary to obtain a digital signal converted from an output signal, there is a problem in that the ADC 320 is required for each pixel in the object detection method.

According to an embodiment of the present specification, a device for detecting a polluted object by separately adding a second receiving sensor 107 cheaper than the first receiving sensor 105 used for object detection is shown.

9 is a diagram illustrating the structure of a lidar system according to an embodiment of the present specification.

Figure 9 (a) shows the arrangement of the light emitting unit 102, the first receiving sensor 105 and the second receiving sensor 107 of the lidar system (1). The light emitting unit 102 and the first reception sensor 105 are physically separated, and the generation point of the light source LS and the incident point of the first reception sensor 105 may not exist on the same axis. Therefore, when the second light L2 generated by the light source LS is reflected at an ultra-proximity position such as near the lidar sensor, it may not be incident on the first reception sensor 105 .

In order to solve this problem, according to an embodiment of the present specification, a position and a visor 109 that is physically separated from the first receiving sensor and can incident light reflected from the polluting object OB2 existing in a very close position ), a second receiving sensor 107 connected to may be separately disposed.

The first light L1 may be reflected by the object OB1 to be incident on the first reception sensor 105 . Also, the second light L2 may be reflected by the polluted object OB2 at an ultra-proximity position near the lidar sensor to be incident on the second reception sensor 107 .

9 (b) is an enlarged view of the structure of the second receiving sensor 107 and the visor 109 connected thereto.

Unlike the first reception sensor 105 , the second reception sensor 107 may use a low-cost, low-performance reception sensor as the second reception sensor 107 .

The second receiving sensor 107 may be surrounded by a visor 109 . The visor 109 may have a structure for detecting a contaminant object that is very close to the lidar sensor.

According to the embodiment of the present specification, the visor 109 may have a C-shape having a thickness, and an end of each side exposed to the outside may have an acute angle. The "c" shape of the visor 109 is only one embodiment, and the scope of the present invention is not limited thereto. For example, it goes without saying that the arrangement structure of the second receiving sensor 107 and the shape of the visor 109 may be variously modified and implemented in order to detect a contaminated object.

A process in which the second light L2 generated from the light source LS by the shape of the visor 109 is incident on the second reception sensor 107 can be described as follows.

10 is a view comparing the shape of the visor according to the embodiment of the present specification.

Referring to FIG. 10 , the visor 109 may have a C-shape having an upper side, a lower side, and a height.

Comparing (a) and (b) of FIG. 10 , the visor 109 has an upper edge (top line 0, TL0), a height (height, h), a bottom edge (base line, BL), and an angle of the lower edge (A2) is the same. However, the upper side lower (top line 1, TL1) connected to the second receiving sensor 107 of FIG. 10 (a) is a top line connected with the second receiving sensor 107 of FIG. 10 (b). 2, shorter than TL2). This difference is due to the fact that the angle A1 of the upper end of FIG. 10A is smaller than the angle A1' of the upper end of FIG. 10B.

Which of the angle A1 of the upper side of Fig. 10 (a) and the angle A1' of the upper side of Fig. 10 (b) is more suitable according to the embodiment of the present specification will be looked at through Fig. 11 do.

11 is a view showing a difference in the optical path of a laser beam reflected from a contaminated object according to a difference in the angle of the upper end of the visor according to an embodiment of the present specification.

Referring to FIG. 11 , the angle of the upper end of the visor 109 represented by hatching may be A1. In addition, the angle of the upper end of the visor 109 expressed in the shapeless may be A1'.

The laser beam L0 generated by the light source LS of the light emitting unit 102 may be incident on the contaminated object OB2 . When the second light L2 reflected by the contaminated object OB2 is reflected by the visor 109 represented by hatching, it may be incident on the second receiving sensor 107 like the first path L1 . However, when the first light back L1 ′ reflected by the polluted object OB2 is reflected by the shapeless visor 109 , the second receiver 107 like the first path back L1 ′. cannot be entered into

Therefore, since the upper end angle of the visor 109 is reflected from the contaminated object OB2 and is incident on the second receiving sensor 107, the visor 109 having an A1 angle is more suitable according to the embodiment of the present specification. can

12 is a view showing an incident path of a laser beam L0 generated by a light emitting unit according to an embodiment of the present specification.

Referring to FIG. 12 , the laser beam L1 generated by the light emitting unit 102 may be incident on the contaminated object OB2 located at an ultra-short distance near the lidar sensor. The light L12 reflected from the contaminated object OB2 may be reflected on an inclined surface of the upper side of the visor 109 , and the light L13 reflected on the upper side may be incident on the second receiving sensor 107 .

The light L4 incident from the object OB1 may be reflected by the object OB1 , and the reflected light L42 may be incident on the first reception sensor 105 . However, the light L41 reflected from the object OB1 may be blocked by the upper side of the visor 109 .

The laser beam L3 generated by the light emitting unit 102 is blocked by the beveled surface of the lower side of the visor 109 and cannot be incident on the second receiving sensor 107 .

13 is a diagram illustrating the arrangement of a light emitting unit and a light receiving unit in a lamp according to an embodiment of the present specification. 13 shows a top view of a vehicle and a lamp.

Referring to FIG. 13A , the positions of the front right lamp 270a and the front left lamp 270b of the vehicle 260 may be identified.

13 (b) and 13 (c) may show the arrangement of the light emitting unit 102 and the light receiving unit 106 of the lidar sensor located in the front right lamp 270a of the vehicle.

Referring to FIG. 13B , when the laser beam L0 generated from the light emitting unit 102 inside the front right lamp 270a is incident on the object OB1 outside the lamp, it is refracted at the contact point of the lamp curved surface. and distortion may occur. Also, when the first light L1 reflected from the object OB1 is incident on the first sensor 105 , refraction and distortion may occur at the contact point of the curved surface of the lamp.

In the case of (c) of FIG. 13 , when the laser beam L0 generated from the light emitting unit 102 inside the front right lamp 270a is incident on the object OB1 outside the lamp, refraction and distortion may occur. However, unlike the case of (a) of FIG. 13 , when the laser beam L1 reflected from the object OB1 is reflected and is incident on the first sensor 105 , refraction and reflection occur at the contact point of the same curved surface. It is possible to accurately detect the shape of an object by reducing the distortion caused by the curved surface of the ramp.

14 is a diagram illustrating an arrangement of a monitor reception sensor of a lidar sensor and a path of a laser beam according to an embodiment of the present specification.

The light source driver 100 may adjust the amount of current of the light source LS to periodically alternate the optical power with low power and high power.

The light source driver 100 may vary the optical power by adjusting the driving current of each of the light sources LS according to the driving environment information on the driving route received through the network. The driving environment information may include terrain information of a driving section, traffic congestion information, weather, and the like.

The light source driver 100 may vary the optical power that is changed according to the weather by adjusting the driving current. In this case, the light source driver 100 may periodically measure optical power through a monitor photo diode (monitor PD, 101). That is, the monitor receiving sensor 101 may measure the power of the laser diode LD sensitive to temperature change for each unit time, and the light source driver 100 may maintain the optical power constant.

The monitor receiving sensor 101 is structurally located in the light emitting unit 102 and physically separated from the first receiving sensor 105 .

The laser beam L0 emitted from the light emitting unit 102 may include a first laser beam L21 and a second laser beam L1 .

Meanwhile, the light L22 in which the incident first laser beam L21 is dispersed by the scanner SC may be incident to the contaminated object OB2 . The light L23 reflected from the contaminated object OB2 may be incident on the monitor reception sensor 101 . The second laser beam L1 may be incident on the monitor reception sensor 101 .

A signal electrically converted by the sum of the laser beam L23 reflected from the contaminated object OB2 and the second laser beam L1 received by the monitor reception sensor may be set as the first signal. A difference between the first signal and the second laser beam L1 incident on the monitor receiving sensor 101 may be electrically converted to a second signal.

This can be expressed as an expression as follows.

(First laser beam (L23) + Second laser beam (L1)) Signal-(Second laser beam (L1)) Signal = Contamination object detection

Looking at the above expression, the value obtained by converting the first laser beam received by the first receiving sensor into an electrical signal is the same as the electrical signal of the first laser beam reflected from the contaminated object. That is, when the secondary signal is 0, since the value of the first laser beam L21 and the signal value of contamination are the same, it means that contamination is not detected without the first laser beam L21 reflected from the contamination. can When the second signal has a positive value other than 0, the first laser beam L21 reflected by the contamination is present, and it can be determined as noise.

The noise removing unit 330 of the signal processing unit 108 removes noise by detecting a waveform of the input signal and analyzing waveform characteristics.

Hereinafter, embodiments applied in the present specification are as follows.

The lidar system according to the first embodiment of the present specification includes a light source for generating a laser beam, a light emitting unit for scanning a contaminated object or object with the laser beam, including a scanner for moving the laser beam from the light source, the laser A receiving sensor that converts a beam into an electrical signal, the light receiving unit, a first receiving sensor that converts light reflected from the object into an electrical signal, and converts the light reflected and received from the contaminated object into an electrical signal and a second receiving sensor, connected to the second receiving sensor, and a visor having a structure for receiving light reflected from the contaminated object.

Second embodiment: In the first embodiment, the first receiving sensor may include a lidar system, which is physically separated from the light emitting unit.

Third embodiment: In the first embodiment, the second receiving sensor may include a lidar system, which is physically separated from the first receiving sensor and the light emitting unit.

Fourth Embodiment: In the first embodiment, the visor may include a lidar system, characterized in that it has a C shape.

Fifth embodiment: The lidar system according to the fourth embodiment, wherein the upper side of the c of the visor has a preset first critical angle for receiving the first light reflected and received from the contaminated object. may include.

Sixth embodiment: The lidar system according to the fourth embodiment, wherein the lower side of the c-shape of the visor has a preset second critical angle for blocking the laser beam moved by the scanner. may include

Seventh embodiment: In the first embodiment, the light emitting unit and the first receiving sensor may include a lidar system, characterized in that arranged on the same line in a plan view.

Seventh embodiment: The 8th embodiment, wherein the contaminated object of the lidar sensor includes:

It may include a lidar system, characterized in that it includes at least one of contamination inside the lidar sensor or snow, rain, and fog outside the lidar sensor.

The lidar system according to the ninth embodiment of the present specification includes a light source for generating a laser beam, a scanner for moving a laser beam from the light source, and a light emitting unit for scanning an object or a contaminated object with the laser beam, the contamination A first reception sensor that converts a first laser beam reflected from an object into an electrical signal, a monitor reception sensor that receives a second laser beam that is a part of the laser beam and measures the power of the light source, and an output signal of the reception sensor A preamplifier for amplifying a signal, an integrator for integrating the output signal of the preamplifier, and an analog-to-digital converter for converting a digital signal, wherein the monitor receiving sensor includes the first laser beam and the second It includes a lidar system that converts the sum of the laser beams into an electrical signal.

10th embodiment: according to the ninth embodiment, the monitor receiving sensor is physically partitioned from the first receiving sensor of the lidar sensor, and is connected to a light emitting unit that generates a laser beam in the form of the two or more light sources Features may include a lidar system.

Eleventh embodiment: In the ninth embodiment, the monitor receiving sensor may include a lidar system characterized in that it periodically measures the second laser beam signal for every preset threshold time.

Twelfth embodiment: the ninth embodiment, wherein the signal processing unit sets the sum of the first laser beam signal and the second laser beam signal as a primary signal, and the first signal and the second laser signal It may include a lidar system that sets the difference between the beam signals as the secondary signal.

Thirteenth embodiment: In the twelfth embodiment, the signal processing unit may include a lidar system characterized in that when the second signal is 0, a state in which there is no contamination object is defined.

14th embodiment: The 12th embodiment, wherein the signal processing unit may include a lidar system characterized in that when the second signal is a positive value, the contaminated object is determined as noise.

Fifteenth embodiment: The 14th embodiment, wherein the signal processing unit may include a lidar system configured to generate the noise removal signal.

16th embodiment: The contamination object of the LiDAR sensor according to the ninth embodiment,

It may include a lidar system, characterized in that it includes at least one of a pollution object inside the lidar sensor or snow, rain, and fog outside the lidar sensor.

A system for performing autonomous driving by detecting a contamination object near a lidar sensor according to a seventeenth embodiment of the present specification includes an autonomous driving system that detects an object or contamination by irradiating a laser beam to the outside of a vehicle, and the autonomous driving system and an autonomous driving device that inputs sensor data received from the and reflects the information of the object or the polluted object to motion control of a vehicle, wherein the autonomous driving system includes a light source that generates a laser beam, and the laser beam from the light source. A light emitting unit that scans a contaminated object or object with the laser beam, including a scanner that moves a beam, a light receiving unit that converts the laser beam into an electrical signal, and the light receiving unit, the first light reflected from the object and received by electricity A first receiving sensor for converting a signal into a negative signal, and a second receiving sensor for converting a second light received by being reflected from the contaminated object into an electrical signal, connected to the second receiving sensor, and reflected from the contaminated object and a visor having a structure for receiving received light.

Eighteenth embodiment: In the seventeenth embodiment, the first reception sensor may be physically separated from the light emitting unit.

19th embodiment: In the 17th embodiment, the second reception sensor may be physically separated from the first reception sensor and the light emitting unit.

20th Embodiment: In the 17th embodiment, the visor may be characterized in that it has a C shape.

21st embodiment: The 20th embodiment, wherein the upper side of the c of the visor may have a preset first critical angle for receiving the first light reflected and received from the contaminated object.

22nd Embodiment: The 20th embodiment, wherein the lower side of the c of the visor may have a preset second critical angle for blocking the upper laser beam moved by the scanner.

23rd Embodiment: In the 17th embodiment, the light emitting unit and the first receiving sensor may be arranged on the same line in a plan view.

24th embodiment: The 17th embodiment, wherein the contaminated object of the lidar sensor may include at least one of contamination inside the lidar sensor or snow, rain, and fog outside the lidar sensor.

According to a twenty-fifth embodiment of the present specification, a system for performing autonomous driving by detecting a contaminated object near a lidar sensor for detecting a contaminated object includes: and an autonomous driving device for inputting sensor data received from the autonomous driving system and reflecting the information of the object or the polluted object to motion control of a vehicle, wherein the autonomous driving system includes a light source for generating a laser beam, the light source A light emitting unit that scans an object or a contaminated object with the laser beam, including a scanner that moves a laser beam from the laser beam, a first receiving sensor that converts a first laser beam reflected and received from the contaminated object into an electrical signal, the A monitor receiving sensor that receives the second laser beam that is a part of the laser beam and measures the power of the light source, a preamplifier that amplifies the output signal of the receiving sensor, an integrator that integrates the output signal of the preamplifier, and an analog that converts to a digital signal - A signal processing unit including a digital converter, wherein the monitor receiving sensor converts the sum of the first laser beam and the second laser beam into an electrical signal.

26th embodiment: In the 25th embodiment, the monitor reception sensor may be physically partitioned from the first reception sensor of the lidar sensor, and may be connected to a light emitting unit that generates a laser beam in the form of the two or more light sources. .

27th embodiment: The 25th embodiment, wherein the monitor receiving sensor may periodically measure the second laser beam signal at every preset threshold time.

28th embodiment: the 25th embodiment, wherein the signal processing unit sets the sum of the first laser beam signal and the second laser beam signal as a primary signal, and the first signal and the second laser signal The difference between the beam signals may be set as the second order signal.

29th Embodiment: The 28th embodiment, wherein the signal processing unit is defined as a state in which there is no contamination object when the second signal is 0.

Thirtyth embodiment: The 28th embodiment, wherein the signal processing unit may determine the contaminated object as noise when the second signal is a positive value.

31st embodiment: The 30th embodiment, wherein the signal processing unit may generate the noise removal signal.

Thirty-twoth embodiment: The 17th embodiment, wherein the polluted object of the lidar sensor may include at least one of a polluted object inside the lidar sensor and snow, rain, and fog outside the lidar sensor. .

The above-described specification can be implemented as computer-readable code on a medium in which a program is recorded. The computer-readable medium includes all types of recording devices in which data readable by a computer system is stored. Examples of computer-readable media include Hard Disk Drive (HDD), Solid State Disk (SSD), Silicon Disk Drive (SDD), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. There is also a carrier wave (eg, transmission over the Internet) that is implemented in the form of. Accordingly, the above detailed description should not be construed as restrictive in all respects but as exemplary. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention.

100: light source driver 102: light emitting unit
104: diffraction unit 106: light receiving unit
105: first receiving sensor 107: second receiving sensor
109: monitor sensor 108: sensor signal processing unit
LS: Light source SC: Scanner

Claims (16)

a light source for generating a laser beam;
a light emitting unit including a scanner for moving the laser beam from the light source to scan a contaminated object or object with the laser beam;
a light receiving unit converting the laser beam into an electrical signal;
The light receiving unit,
a first reception sensor that converts the first light reflected from the object into an electrical signal, and a second reception sensor that converts the second light reflected from the contaminated object and received into an electrical signal;
a visor connected to the second receiving sensor and having a structure for receiving light reflected from the contaminated object;
Lidar system comprising a. The method of claim 1,
The first receiving sensor,
A lidar system, characterized in that it is physically separated from the light emitting unit. The method of claim 1,
The second receiving sensor,
LiDAR system, characterized in that it exists physically separated from the first receiving sensor and the light emitting unit. The method of claim 1,
The visor is
A lidar system, characterized in that it has a c shape. 5. The method of claim 4,
The upper side of the c of the visor is,
LiDAR system, characterized in that it has a preset first critical angle for receiving the first light reflected from the contaminated object. 5. The method of claim 4,
The lower side of the c of the visor is,
LiDAR system, characterized in that it has a preset second critical angle for blocking the upper laser beam moved by the scanner. The method of claim 1,
The light emitting unit and the first receiving sensor is a lidar system, characterized in that it is arranged on the same line in a plan view. The method of claim 1,
The contaminated object is
The lidar system, characterized in that it includes at least one of a polluted object inside the lidar sensor or snow, rain, and fog outside the lidar sensor. a light emitting unit including a light source for generating a laser beam and a scanner for moving the laser beam from the light source to scan an object or a contaminated object with the laser beam;
a monitor receiving sensor for receiving a first laser beam reflected from the contaminated object and receiving a second laser beam that is a part of the laser beam to measure the power of the light source;
A preamplifier for amplifying the output signal of the receiving sensor, an integrator for integrating the output signal of the preamplifier, and an analog-to-digital converter for converting into a digital signal,
The monitor receiving sensor,
A lidar system for converting the sum of the first laser beam and the second laser beam into an electrical signal. 10. The method of claim 9,
The monitor receiving sensor,
Physically partitioned from the first receiving sensor of the lidar sensor,
Lidar system, characterized in that connected to the light emitting unit for generating a laser beam in the form of the two or more light sources. 10. The method of claim 9,
The monitor receiving sensor,
LiDAR system, characterized in that the second laser beam is periodically measured every preset threshold time. 10. The method of claim 9,
The signal processing unit,
Electrically converting the sum of the first laser beam signal and the second laser beam to set it as a primary signal,
A lidar system for setting a difference between the first signal and a signal obtained by electrically converting the second laser beam as a second signal. 13. The method of claim 12,
The signal processing unit,
When the second signal is 0, the lidar system, characterized in that it is defined as a state in which there is no contamination object. 13. The method of claim 12,
The signal processing unit,
When the second signal is a positive value, the lidar system, characterized in that the contamination object is determined as noise. 15. The method of claim 14,
The signal processing unit,
LiDAR system, characterized in that for generating the noise cancellation signal. 10. The method of claim 9,
The contaminated object of the lidar sensor is,
The lidar system, characterized in that it includes at least one of a polluted object inside the lidar sensor or snow, rain, and fog outside the lidar sensor.

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