KR20130085235A - System for driving manless of car - Google Patents

Abstract

The present invention relates to an unmanned driving system of a vehicle, and more particularly, by using a radar, a radio detector, a camera, and a driving operation information extractor to automatically recognize a surrounding state of a vehicle, and a steering device, a throttle device, Unmanned operation is possible by controlling the brake device and indicator device, and by communicating with the surrounding vehicles to exchange the driving status and driving status information of the vehicle and use them as mutual automatic unmanned driving information so that accurate and safe unmanned driving is possible. It is to.

Description

System for driving manless of car}

The present invention relates to an unmanned driving of a vehicle, and more particularly, to install a sensor and a recognition device to automatically and safely drive to a destination without human intervention, so that the driver can recognize the road and surrounding vehicles and objects smoothly and perform unmanned driving. It relates to an unmanned driving system of a car.

Recently, autonomous driving devices of automobiles have been researched and developed due to the development of sensor technology and control technology.

In the prior art, the unmanned driving apparatus of a vehicle includes a loop on which RF transmitters are installed at both sides of the road at regular intervals, and an RF transmitter installed on a vehicle that can exchange RF signals with the RF transmitters. Recognize and receive the RF signal transmitted from the front and rear vehicle RF transceiver and adjust the speed by the CPU of the driven vehicle to drive the vehicle unattended, and install the CCTV on both sides of the driven vehicle to the front of the CCTV camera There is a method of detecting unmanned driving of a vehicle by detecting a traveling vehicle of the vehicle and calculating a distance from the vehicle in front of the vehicle by triangulation using a triangulation method, and detecting and calculating a relative speed of the vehicle in front of the vehicle at each time using a vehicle speed sensor.

However, the unmanned driving device of the vehicle according to the conventional method is expensive to install and manage sensors on the road in the former case and to install and manage additional facilities, and to carry errors in distance detection. In the latter case, the vehicle speed is slow. It is difficult to determine the exact distance and ground condition on hillsides or downhill roads, and it is difficult to monitor the direction of the car's rotation at intersections or turning roads. There was a back.

In the unmanned driving vehicle, a radar, a radio detector, a driving information extractor, a camera, and the like are installed to accurately recognize the ground condition, the driving direction, and the surroundings of the vehicle. The present invention provides an unmanned driving system of a vehicle that enables unmanned driving.

Unmanned driving system of a vehicle according to the present invention,

In an unmanned driving vehicle which automatically controls the steering system, the throttle system and the brake system of the vehicle by the control computer of the vehicle to enable automatic driving,

A radar device configured to be multi-stage and installed at an upper center of the vehicle so as to be able to rotate 360 degrees to recognize a surrounding ground state of the vehicle, road boundaries, and surrounding objects;

 A radio wave detection device for recognizing the presence or absence of a surrounding object and a distance to the object by radio wave detection in the directions of the front, both sides, and the rear of the vehicle;

A driving information extraction device for monitoring driving operation information of the vehicle controlled by the control computer and driving state of the driving wheel driven by engine power of the vehicle and extracting driving information;

A camera device which photographs indoor and outdoor image information and automatically analyzes and determines a state of a lane, a traffic light, and a display state of lighting of nearby vehicles by image analysis;

A navigation device for extracting location information of the vehicle using GPS and displaying a driving location on map information;

The radar device, the radio wave detection device, the driving information extraction device, the camera device, and the navigation device are controlled to collect and analyze information necessary for unmanned driving of the vehicle, and to automatically analyze the information based on the collected and analyzed information. It is characterized in that it comprises a vehicle unattended driving computer for performing an automatic unattended driving control command to the control computer.

The present invention further includes an automatic unmanned driving mode controlled by the vehicle unmanned driving computer and an automatic / manual driving selecting device for selecting a manual driving mode for allowing a driver to operate manually.

In addition, the present invention communicates with the surrounding vehicle having an unmanned driving system to receive driving operation information of the surrounding vehicle such as driving speed, driving lane, brake control information, acceleration information, lane change information, direction change information, etc. of the surrounding vehicle. It is characterized in that it further comprises a peripheral vehicle information analysis device for controlling the unmanned operation of the vehicle.

As described above, the present invention has an effect of automatically driving unattended by acquiring road information, surrounding vehicles, object recognition, traffic light recognition, and driving information of surrounding vehicles using a radar, a radio detector, a video camera, and a communication device. In addition, the present invention has the effect of accurately recognizing the ground state and distance from the uphill, downhill of the ground by installing a three-stage radar. In addition, it is possible to perform safe driving control by exchanging driving information through communication with surrounding vehicles.

1 is a configuration diagram of an unmanned driving system of a vehicle according to the present invention.
Figure 2 is a front view illustrating the installation of the sensor device of the unmanned vehicle driving system according to the present invention.
Figure 3 is a rear view illustrating a sensor device installation of the unmanned vehicle driving system according to the present invention.
Figure 4 is a side view illustrating a sensor device installation of the unmanned vehicle driving system according to the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a configuration diagram of an unmanned driving system of a vehicle according to the present invention. As shown therein,

In the unmanned driving device of a vehicle, which is capable of automatic driving by controlling the steering system 10, the throttle system 20 and the brake system 30 of the vehicle by the vehicle control computer 40,

A multi-stage radar device (110) installed in the upper center of the vehicle to enable 360-degree rotation to recognize the surrounding ground conditions, road boundaries, and surrounding objects of the vehicle;

A radio wave detection device 120 for recognizing the presence or absence of a surrounding object and a distance to the object by radio wave detection with respect to the directions of the front, both sides, and the rear of the vehicle;

A driving information extraction device 150 for monitoring driving state information of the vehicle and the movement state of the driving wheel driven by the engine power of the vehicle and extracting driving information by the control computer 40;

A camera device 130 which photographs indoor and outdoor images of a vehicle and automatically analyzes and determines a change state of a lane, a traffic signal, and a lighting display state of a surrounding vehicle by image analysis;

A navigation device 140 for extracting location information of the vehicle using GPS and displaying a driving location on map information;

By controlling the radar device 110, the radio wave detection device 120, the driving information extraction device 150, the camera device 130 and the navigation device 140 to collect information necessary for unmanned driving of the vehicle It is characterized in that it comprises a driverless driving computer 100 for analyzing and automatically giving an unmanned driving control command to the control computer 40 of the vehicle based on the collected and analyzed information.

The steering system 10 means that the steering device is driven through a driving device by a control command of the control computer 40 and detects a driving state by a sensor so that automatic control is possible. Likewise, the throttle system 20 ) And the brake system 30 are also made to enable automatic control by the control computer 40.

In addition, the present invention further includes an automatic unmanned operation mode controlled by the unmanned operation computer 100 and an automatic / manual operation selection device 170 for selecting a manual operation mode for allowing a driver to operate manually. . The automatic / manual operation selection device 170 controls the unmanned driving computer through simple button manipulation when driving is desired in a vehicle emergency or at the driver's will, so that manual driving is possible.

In addition, the present invention communicates with the surrounding vehicle having an unmanned driving system to receive driving operation information of the surrounding vehicle such as driving speed, driving lane, brake control information, acceleration information, lane change information, direction change information, etc. of the surrounding vehicle. It is characterized in that it further comprises a peripheral vehicle information analysis device 160 for controlling the unmanned operation of the vehicle.

2 to 4 is a front view, a rear view and a side view illustrating the sensor device installation of the unmanned vehicle driving system according to the present invention, the radar device 110 is installed in a three-stage configuration on the top of the vehicle, The 360-degree rotation allows the vehicle to accurately detect distance-travel. Radar is used to monitor the surroundings to detect ground conditions, surrounding objects and road boundaries.

The radio wave detection device 120 is provided with one at the center of the front bumper, two at each of the side mirrors, and one at the center of the rear bumper, so that the front and rear sides of the vehicle are separated from the object. It is to accurately detect the movement of obstacles.

The camera device 130 uses a plurality of cameras installed so as to photograph both front and rear sides of the vehicle interior, and captures the state of change of lanes, traffic signals, etc. by analyzing the images taken by photographing the external state of the vehicle. Perceives the movement of surrounding vehicles. It can also analyze the driving conditions of the surrounding vehicles such as changing lanes into the lane in which the neighboring vehicle is traveling, or moving the front vehicle to another lane during automatic driving, and the signal status of the surrounding vehicle, for example, the brake of the front vehicle. Lights on, left and right blinks, emergency flashing lights, etc .. The vehicle's driving information can be judged by automatically analyzing the lighting status of the surrounding vehicles. Of course, the image analysis of the camera device 130 does not determine the driving state of the surrounding vehicle, but analyzes and determines the analyzed information of other devices such as the radio detector 120, the radar device 110, and the like.

The navigation device 140 has the same function as a general navigation device and the location information and the road information (for example, the entire lane of the driving position, the currently driving lane information, etc.) by the unmanned driving computer 100. It is inputted as information for unmanned driving control.

 The driving information extracting device 150 is not shown in the driving operation state of the vehicle grasped by the control computer 40 of the vehicle, that is, the steering system 10, the throttle system 20, the brake system 30, and the drawings. It extracts the status information of various indicators (emergency lights, left and right flashing lights, window brush operation, headlight operation. The state of all the wheels) is measured using a sensor, and the state of motion is detected using the sensor to compare and analyze the information controlled by the control computer 40 to extract accurate state information.

As described above, the unmanned driving computer 100 collects each piece of information from the radar device 110, the radio wave detection device 120, the camera device 130, the navigation device 140, and the driving information extraction device 150. By generating the information and transmitting the operation control command to the control computer 40, it is possible to automatically control the unattended operation while receiving the feedback of the controlled state.

On the other hand, the present invention may further comprise a peripheral vehicle information analysis device 160 for analyzing the driving state information of the surrounding vehicle with a communication device to exchange the driving state information with the surrounding vehicle. The surrounding vehicle information analyzing apparatus 160 receives the driving operation information of the surrounding vehicle such as driving speed, driving lane, brake control information, acceleration information, lane change information, direction change information, etc. of the surrounding vehicle by communicating with the surrounding vehicle. Unattended operation can be controlled.

10: steering system 20: throttle system
30: brake system 40: control computer
100: unattended driving computer 110: radar device
120: radio wave detection device 130: camera device
140: navigation device 150: driving information extraction device
160: surrounding vehicle information analysis device 170: automatic / manual operation selection device

Claims (4)

In the unmanned driving device of a vehicle, which is capable of automatic driving by controlling the steering system 10, the throttle system 20 and the brake system 30 of the vehicle by the vehicle control computer 40,
A multi-stage radar device (110) installed in the upper center of the vehicle to enable 360-degree rotation to recognize the surrounding ground conditions, road boundaries, and surrounding objects of the vehicle;
A radio wave detection device 120 for recognizing the presence or absence of a surrounding object and a distance to the object by radio wave detection with respect to the directions of the front, both sides, and the rear of the vehicle;
A driving information extraction device 150 for monitoring driving state information of the vehicle and the movement state of the driving wheel driven by the engine power of the vehicle and extracting driving information by the control computer 40;
A camera device 130 which photographs indoor and outdoor images of a vehicle and automatically analyzes and determines a change state of a lane, a traffic signal, and a lighting display state of a surrounding vehicle by image analysis;
A navigation device 140 for extracting location information of the vehicle using GPS and displaying a driving location on map information;
By controlling the radar device 110, the radio wave detection device 120, the driving information extraction device 150, the camera device 130 and the navigation device 140 to collect information necessary for unmanned driving of the vehicle And an unmanned driving computer (100) for analyzing and automatically giving an unmanned driving control command to the control computer (40) of the vehicle based on the collected and analyzed information.
The unmanned driving system of claim 1, wherein
The unmanned vehicle of the differential vehicle further comprises an automatic unmanned operation mode controlled by the unmanned operation computer 100 and an automatic / manual operation selection device 170 for selecting a manual operation mode for the driver to operate manually. Driving system.
The unmanned driving system of claim 1, wherein
Communicate with surrounding vehicles equipped with unmanned driving system and receive driving operation information of neighboring vehicles such as driving speed, driving lane, brake control information, acceleration information, lane change information, direction change information, etc. Unattended driving system for a differential vehicle, characterized in that further comprises a peripheral vehicle information analysis device for controlling the 160.
The method of claim 1, wherein the camera device 130,
A plurality of cameras are installed to photograph both front and rear sides of the vehicle, and the unmanned driving computer 100 that receives the image information of the camera device 130 detects a change state of a lane and a traffic signal by analyzing the captured images. It recognizes the movement of surrounding vehicles and automatically analyzes the status of brake lights, left and right blinks, emergency flashers, and judges the driving information of the surrounding vehicles to perform unmanned driving control. system.

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