KR20160127996A

KR20160127996A - Apparatus for recognization and controlling system a speed bump of Autonomous Driving Vehicle

Info

Publication number: KR20160127996A
Application number: KR1020150059652A
Authority: KR
Inventors: 박용완; 허수정; 정현교
Original assignee: 영남대학교 산학협력단
Priority date: 2015-04-28
Filing date: 2015-04-28
Publication date: 2016-11-07

Abstract

BACKGROUND OF THE INVENTION 1. Field of the Invention [0002] The present invention relates to an overspeed recognition recognition and control system apparatus for an autonomous vehicle. The present invention relates to a vehicular automatic transmission comprising a vision sensor mounted on an autonomous vehicle, a classification section for classifying the overspeed protection taps in the road image information acquired by the vision sensor, a distance between the speed limiting threshold classified by the classification section, And a short range communication module for transmitting the distance value calculated by the calculation unit according to the traveling mode of the autonomous vehicle to an electronic control unit (ECU) of the user terminal or the vehicle. According to the present invention as described above, there is an advantage that it is possible to recognize the overspeed preventing jaw and to control the running speed even during autonomous driving, thereby preventing damage to the vehicle body and discomfort of the driver.

Description

TECHNICAL FIELD [0001] The present invention relates to an autonomous driving vehicle,

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an autonomous vehicle, and more particularly, to a system device for recognizing an overspeed restriction bum mounted on a road using a vision sensor mounted on an autonomous vehicle, and controlling a running speed.

Recently, the technology for autonomous vehicles aiming at autonomous driving due to the development of intelligent automobiles has been developed. The autonomous driving vehicle aims at driving the driver conveniently and safely to a destination. That is, the vehicle means a vehicle that can recognize the driving environment by itself and travel to the destination point without operating the steering wheel, the accelerator pedal, or the brake.

However, in the case of the above-mentioned autonomous driving vehicle, there may be many differences as compared with when the driver directly drives the vehicle.

That is, there is a difference in recognition and judgment of various obstacles located in front of the vehicle when driving. For example, when the driver directly drives the vehicle, the driver directly recognizes / determines the speed braking force to control the vehicle speed to be reduced. However, in the case of an autonomous vehicle, it has not yet been able to efficiently recognize a speed braking tread installed on the road, and to control it. This causes damage to the body and serious discomfort to passengers.

Korean Registered Patent No. 10-1491622 (Feb. 02, 2013) Driving Control Apparatus and Method for Autonomous Travel-

SUMMARY OF THE INVENTION Accordingly, the present invention has been made keeping in mind the above problems occurring in the prior art, and an object of the present invention is to provide a speed sensor for detecting an overspeed braking obstacle on a road using a vision sensor mounted on an autonomous vehicle.

Another object of the present invention is to control the speed of an autonomous vehicle to be decelerated when a speed limit bust is detected.

According to an aspect of the present invention, there is provided a vehicle including: a vision sensor mounted on an autonomous vehicle; A classification unit for classifying the overspeed protection tiles in the road image information acquired by the vision sensor; A calculating unit for calculating a distance between the speed limiting member and the autonomous driving vehicle classified by the classifying unit; And a short range communication module for transmitting a distance value calculated by the calculation section according to the traveling mode of the autonomous vehicle to an electronic control unit (ECU) of the user terminal or the vehicle do.

The vision sensor is mounted at the center of the upper end of the front glass of the autonomous vehicle.

The vision sensor operates only when the autonomous vehicle travels at a predetermined speed or more.

The driving mode is a driver driving mode and an autonomous driving mode, and the autonomous driving vehicle is set before driving.

If the driving mode is set to the driver driving mode, the short distance communication module transmits the distance value to the user terminal.

When the running mode is set to the autonomous running mode, the short distance communication module transmits the distance value to the ECU, and the ECU decelerates the running speed of the autonomous driving vehicle.

The overspeed protection tip recognition and control system of the autonomous vehicle according to the present invention has the following effects.

The present invention recognizes a speed bump installed on a road through a vision sensor when the autonomous vehicle is running, and particularly controls the speed of the vehicle to decelerate when the vehicle is traveling in an autonomous mode.

Therefore, it is possible to pass the speed braking chuck without a large impact, thereby reducing the damage to the vehicle body and preventing the occurrence of secondary braking.

1 is a block diagram of an overspeed inhibition threshold recognition and control system apparatus for an autonomous vehicle according to a preferred embodiment of the present invention.
Figs. 2 and 3 show an example in which a vision sensor is mounted on a vehicle
4 is a flowchart illustrating a process of recognizing the overspeed preventing tip and controlling the process after recognition according to the preferred embodiment of the present invention.
5 is an exemplary view for explaining a vision sensor mounting position and a distance calculation method of a vehicle

The present invention is based on the technical idea that an autonomous vehicle equipped with a vision sensor is allowed to pass through a speed restricting jaw while decelerating the driving speed at a speed lower than a predetermined speed at the time of traveling in an autonomous running mode.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, a preferred embodiment of an overspeed inhibition threshold recognition and control system apparatus for an autonomous vehicle according to the present invention will be described in detail with reference to the accompanying drawings.

FIG. 1 is a block diagram of an overspeed inhibition threshold recognition and processing system apparatus for an autonomous vehicle according to a preferred embodiment of the present invention, and FIGS. 2 and 3 are views showing examples in which a vision sensor is mounted on a vehicle.

As shown, the vision sensor 110 is configured in the autonomous vehicle. The vision sensor 110 serves to shoot a speed bouncing object located in a traveling direction of the object, that is, the object requiring distance measurement. Of course, not all of the speed bouncing chin is photographed, but all of the road information in which the speed bouncing chute is present is photographed.

On the other hand, the vision sensor 110 is mounted on an autonomous vehicle, and its mounting example is shown in FIGS. 2 and 3. FIG. It is mounted on the top center of the windshield.

The classification unit 120 is configured to classify the overspeed prevention tiles from the road image information acquired by the vision sensor 110. [ Since the overspeed preventing jaw has a width and a height determined according to a certain regulation and is painted with a yellow line, the classifying unit 120 can easily classify the overspeed preventing jaw from the road image information. For another example, you may want to refer to the speeding alert notice. That is, since the warning sign indicating the speed limit bust in the Road Traffic Act is installed on the right side of the road of 30 to 200 meters ahead of the speed limit bust, the notice sign can be acquired and processed as image information. As another example, a navigation device may be used. Since the coordinates of the overspeed braking taps are stored in the navigation, the position of the overspeed braking taps may be known using the GPS value received by the navigation. In this case, a vision sensor is not necessary.

And a calculation unit 130 for calculating the distance to the autonomous vehicle and the overspeed inhibition jaw.

A short distance communication module 150 for transmitting the distance value calculated by the calculation unit 130 to the user terminal 150 or the electronic control unit 160 of the autonomous vehicle . Here, the guide message is used for different purposes according to the traveling mode. That is, the autonomous driving vehicle can be classified into the driver driving mode and the autonomous driving mode. Therefore, in the case of the driver driving mode, the driver directly drives the guidance message, so that the guidance message is displayed / output through the user terminal, and is used merely for the driver to recognize the driver. On the other hand, since the self-running mode is a mode in which the driver rides but travels to the destination by himself or herself, in this case, in order to control the running speed of the autonomous driving vehicle to be substantially decelerated in cooperation with the ECU (Electronic Control Unit) .

Next, the operation of the overspeed inhibition threshold recognition and processing system apparatus of the autonomous vehicle as described above will be described. See also FIG. 4 together. FIG. 4 is a flowchart illustrating a process of recognizing the excessive speed braking tip and processing after recognition according to the preferred embodiment of the present invention.

2 and 3, the autonomous vehicle of the present invention is mounted with the vision sensor 110 at the upper center of the front glass of the autonomous vehicle. Since the mounted vision sensor 110 is in a fixed state, the mounting height of the vision sensor 110 in the autonomous vehicle can be determined. In addition, the vision sensor 110 always photographs a point at a certain distance from the front portion of the autonomous vehicle among the front road area in the driving direction.

When the autonomous vehicle travels (S100), the vision sensor 110 acquires the road image information in front of the autonomous vehicle in operation (S102). In this case, the on / off operation of the vision sensor 110 may be designed to be interlocked with the start of the autonomous traveling vehicle, or may be designed to operate in conjunction with the speed sensor (not shown) so that the automatic ON / . In the case of interlocking with the speed sensor, when the running speed of the autonomous vehicle is slow (for example, 10 to 20 km / h), the vehicle can pass without impact even without acquiring the image of the speed limiter.

The classifying unit 120 classifies the overspeed inhibition tiles from the road image information acquired by the vision sensor 110 (S104). That is, it is analyzed whether there is a speed bump in the road image information. In this case, a warning sign or navigation information may be used instead of the road image information to notify the speed limiter as described above.

When the classifying unit 120 classifies the overspeed preventing jaw, the calculating unit 130 may calculate the distance to the vehicle and the overspeed preventing jaw (S106). That is, referring to FIG. 5, when the vision sensor 110 is mounted on the P point of the vehicle, the height information (b) from the ground to the vision sensor 110 can be known. In addition, The sensor 110 always photographs a constant road area in front of the vehicle like a. Therefore, the calculation unit 130 can calculate the distance between the vehicle and the speed limiting bust when the classifying unit 120 classifies the over-speed bust.

The distance value between the autonomous vehicle and the overspeed inhibition threshold calculated by the calculation unit 130 is processed differently according to the driving mode. That is, the autonomous vehicle can be divided into a driver driving mode and an autonomous driving mode. The driver's driving mode is an autonomous driving vehicle, but the driver operates the driver's own driving mode. The autonomous driving mode is a mode in which the driver drives himself / herself without operating the steering wheel, the accelerator pedal, or the brake. The driver driving mode or the autonomous driving mode described above is a state in which the autonomous driving vehicle is set before traveling. Therefore, the ECU 160 can know the running mode of the autonomous vehicle. Therefore, the ECU 160 sets the transmission path for transmitting the distance value calculated by the calculation unit 130 differently according to the traveling mode.

When the autonomous vehicle is set to the driver driving mode by the ECU 160 (YES in S108), the short-range communication module 140 causes the distance calculated by the calculation unit 130 to be transmitted to the user terminal 150 (S110). Then, the user terminal 150 outputs a guidance message such as 'several meters ahead of the vehicle' to warn / inform the driver (S112).

In contrast, when the autonomous vehicle is set to the autonomous mode (S120), the calculation unit 130 transmits the distance value to the ECU 160 (S122). Based on the distance value, the ECU 160 controls the driving speed to decelerate before the autonomous vehicle reaches the overspeed inhibition threshold (S124). Therefore, the autonomous vehicle can pass the overspeed preventing jaw without impact in a state where the running speed is decelerated (S126). Also in this case, the ECU 160 may output a guidance message such as 'several meters ahead of the vehicle' when the running speed of the autonomous vehicle is controlled to be reduced. Of course, when the autonomous vehicle passes through the overspeed inhibition threshold, it is controlled so as to run at the first speed again (S128). This process is repeated until the autonomous vehicle reaches its destination.

As described above, in the present invention, the distance value between the autonomous vehicle and the overspeed inhibition threshold is used to notify the driver of the presence of the speed limit inhibitor when the driver is in the driver's driving mode. However, It can be seen that it is used for the purpose of

As described above, according to the present invention, the autobahn driving vehicle checks in advance the speed braking tile installed on the road using the image information acquired by the vision sensor while the autonomous vehicle is traveling in the autonomous running mode, It can be seen that the vehicle is configured to run at a reduced speed.

While the present invention has been particularly shown and described with reference to exemplary embodiments thereof, it is to be understood that the invention is not limited to the disclosed exemplary embodiments, It will be apparent that modifications, variations and equivalents of other embodiments are possible. Therefore, the true scope of the present invention should be determined by the technical idea of the appended claims.

110: vision sensor 120:
130: Calculator 140: Local area communication module
150: user terminal 160: ECU

Claims

A vision sensor mounted on an autonomous vehicle;
A classification unit for classifying the overspeed protection tiles in the road image information acquired by the vision sensor;
A calculating unit for calculating a distance between the speed limiting member and the autonomous driving vehicle classified by the classifying unit; And
And a short range communication module for transmitting the distance value calculated by the calculation unit according to the traveling mode of the autonomous vehicle to a user terminal or an electronic control unit (ECU) of the vehicle.

The method according to claim 1,
And the vision sensor is mounted at the center of the upper end of the front glass of the autonomous driving vehicle.

The method according to claim 1,
And the vision sensor operates on only when the autonomous vehicle travels at a predetermined speed or more.

The method according to claim 1,
Wherein the running mode is a driver running mode and an autonomous running mode,
Wherein the self-running vehicle is set in any one of the running modes before driving.

5. The method of claim 4,
When the driving mode is set to the driver driving mode,
And the short range communication module transmits the distance value to the user terminal.

5. The method of claim 4,
When the running mode is set to the autonomous running mode,
The short distance communication module transmits the distance value to the ECU, and the ECU decelerates the traveling speed of the autonomous vehicle.