Methods for vehicle driving assistance used to define areas

Abstract

This disclosure relates to a method for vehicle driving assistance within a defined area. The computer-implemented method for vehicle driving assistance within a defined area (100) includes the following steps performed by a central data processing system (200): [The method involves] transmitting data from multiple vehicles (V) located within the defined area (100) via a wireless local area network (300) covering the defined area (100). i (i = 1, 2, 3...) Receives data from vehicle (V) i The sensing data from the vehicle's onboard sensors, thus from each vehicle (V) i The sensing data of the vehicle (V) and the vehicle (V) i Related to the surrounding environment; centralized processing and fusion of data from multiple vehicles (V) i The sensing data; based on the results of centralized processing and fusion steps, transmitted via wireless local area network (300) to at least one target vehicle (V) i Send information for vehicle driving assistance.

Description

Technical Field

[0001] This disclosure relates to the field of vehicle driver assistance and / or autonomous driving within a defined area, such as an indoor space. Background Technology

[0002] Autonomous vehicles or automated vehicles must be able to perform different tasks in any environment, including self-localization, environment modeling, mapping and tracking of external objects (such as pedestrians, other vehicles, bicycles).

[0003] Self-localization is perhaps the most important task for autonomous vehicles. The more accurate the self-localization of an autonomous vehicle, the more accurate the localization and tracking of external objects. Autonomous vehicle self-localization can be performed based on data collected by various onboard sensing systems, such as cameras, LiDAR, and radar.

[0004] In addition, autonomous vehicles must generate an environment model to identify static objects (such as walls) in the vehicle's surrounding environment, avoid collisions with static objects, and plan the optimal path from point A to point B.

[0005] Known methods of self-localization use satellite navigation systems such as GNSS (Global Navigation Satellite System). This allows vehicles equipped with receivers to receive GNSS signals to determine their position (longitude, latitude, and altitude / elevation) with high accuracy (within centimeters to meters) using time signals transmitted along the line of sight via radio from satellites. However, in indoor environments, such as tunnels or parking garages, signals from satellite navigation systems are often unavailable, and self-localization needs to be performed in a different manner.

[0006] Different methods for self-localization of autonomous vehicles in indoor environments are known.

[0007] First known methods include using mechanical motion sensors and motion models, such as accelerometers and gyroscopes, to track the vehicle's position and orientation.

[0008] In a second known method, continuous observations are collected and registered by one or more onboard sensors, such as LiDAR or cameras, and the motion of the vehicle is derived from these continuous observations.

[0009] Document KR20190121275A discloses an indoor positioning method for locating vehicles in indoor spaces based on machine learning and / or artificial intelligence algorithms. The vehicle uses a sensing system to acquire image information of the indoor space and matches the acquired information with a pre-generated indoor map to locate the vehicle within the indoor space based on the matching results.

[0010] The drawback of the first and second methods is that they perform relative positioning, which requires knowledge of the vehicle's initial position and orientation. The method in KR20190121275A is limited to locating a vehicle in an indoor space based on a pre-generated indoor map.

[0011] Known methods are limited to self-localization of a vehicle in indoor environments. Therefore, there is a need to improve autonomous driving and / or driver assistance systems for vehicles in indoor environments accessible to other participants (such as other vehicles and / or pedestrians). Summary of the Invention

[0012] This disclosure relates to a computer-based method for vehicle driving assistance within a defined area, the method comprising the following steps performed by a central data processing system:

[0013] - Sensing data from onboard sensors of multiple vehicles located within a defined area are received via a wireless local area network, whereby the sensing data from each vehicle is correlated with the environment surrounding the vehicle.

[0014] - Centralized processing and fusion of sensor data from multiple vehicles;

[0015] - Based on the results of centralized processing and fusion steps, information for vehicle driving assistance is sent to at least one target vehicle among multiple vehicles via a wireless local area network.

[0016] This method originates from the need to improve autonomous driving and / or driver assistance in indoor environments. However, it is more generally applied to defined areas, which may include tunnels, parking lots, warehouses, bridges, or any other type of area where improved driver assistance is required, for example, for safety reasons. This method allows for centralized perception of the defined area by sharing the sensing systems or sensors of all vehicles located within it, as if a central data processing system were equipped with all the vehicles' sensors. Furthermore, the processing of the sensing data collected by the sensors is performed by the central data processing system, which allows for basic and low-cost sensors without processing units in the vehicles. Therefore, the implementation is simple and low-cost.

[0017] In one embodiment, the centralized processing and fusion steps may include generating a fused map of a defined area based on sensing data received from multiple vehicles, and the step of sending information for vehicle driving assistance includes sending the generated map.

[0018] Fusion maps can aggregate environmental information perceived by the sensing systems of all vehicles and can be shared with all vehicles in real time. In this way, each vehicle can map the environment within a defined area to what is perceived by the sensors of all vehicles. Attached Figure Description

[0019] Other features, objects, and advantages of this disclosure will become more apparent from the detailed description of the non-limiting embodiments with reference to the accompanying drawings.

[0020] Figure 1 An example is illustrated of a distributed system for vehicle driving assistance in defining a region, according to an embodiment.

[0021] Figures 2A to 2B A flowchart illustrating a computer-based method for vehicle driving assistance used to define a target vehicle within a defined area is provided.

[0022] Figure 3 A schematic block diagram of a central data processing system according to an embodiment is shown. Detailed Implementation

[0023] This disclosure relates to a computer implementation method for vehicle driving assistance within a defined area 100.

[0024] For example, defining area 100 may include indoor spaces, such as Figure 1 The examples shown include road tunnels, parking lots, or warehouses where autonomous vehicles travel to perform logistical tasks. Defined areas may include any other areas where vehicle driving assistance needs improvement, particularly for safety reasons. For example, defined areas may include roads and bridges. These examples are illustrative only and not limiting.

[0025] Represented as V i Multiple vehicles (where i = 1, 2, 3, ...) can enter and move within the defined area 100. Other participants in the pedestrian activity can also enter and move within the defined area 100.

[0026] The defined area 100 is equipped with a central data processing system 200 and is covered by a wireless local area network 300, and vehicle V i It can connect to a wireless LAN 300.

[0027] The defined area 100 can be referred to as the sensing area because it is the area in which the vehicle sends or uploads data captured by the vehicle's onboard sensors to the central data processing system 200 via the wireless local area network 300, as will be described in more detail later.

[0028] In one embodiment, the wireless local area network 300 may be a 5G-based network using 5G technology. 5G technology provides extremely low latency rates, which are the delays between sending and receiving information. Alternatively, the wireless local area network 300 may be based on any other technology used to provide low-latency wireless communication, such as 6G and any future generation of communication systems. The local area network 300 has a network identifier or network ID, which may be broadcast by one or more base stations within the coverage area of ​​the defined area 100. The coverage area 301 of the base stations may extend beyond the defined area 100 to allow vehicles moving outside the defined area 100 and toward the entrance of the defined area 100 to connect to the wireless local area network 300 before entering the defined area 100. The wireless local area network 300 may be part of a mobile telecommunications network, such as one or more cells within a mobile telecommunications network.

[0029] Vehicle V i (Where i = 1, 2, 3...) can be an automated vehicle or vehicle that includes one or more ADAS (Advanced Driver Assistance Systems). Each vehicle V i It has one or more onboard sensors or sensing systems (such as radar, LiDAR, and / or cameras) for collecting sensing data related to its own vehicle environment. Furthermore, each vehicle V i Includes a radio communication module for connecting to and communicating with a wireless local area network 300. The radio communication module may include a radio transmitter and a radio receiver. The radio communication module may include hardware and / or software devices. The radio communication module allows vehicle V i Connecting to wireless LAN 300 will be controlled by vehicle V i The sensors collect sensing data and send it to the central data processing system 200, and receive information for vehicle driving assistance from the central data processing system 200. Each vehicle may also include a registration module for registering with the central data processing system 200 when it detects and / or connects to the wireless local area network 300.

[0030] Figure 2A An example is illustrated of a computer implementation method for vehicle driving assistance within a defined area 100, according to an embodiment.

[0031] At the first time point, denoted as t0, multiple vehicles V i (Where i = 1, 2, 3...) is located within the defined area 100 and connected to the wireless local area network 300. Vehicle V i It can be a started vehicle or a stopped vehicle, such as a parked vehicle or a temporarily stopped vehicle. In any case, vehicle V iIt includes one or more active sensors operable to capture sensing data and a radio communication module operable to transmit the sensing data captured by the sensors. In one embodiment, vehicle V i Each vehicle in the system may have previously registered with the central data processing system 200 via the wireless local area network 300, for example, when entering the defined area 100 or shortly before entering the defined area 100. The registration step S0 can be performed by each vehicle V entering the defined area 100. i Execution, for example, when detecting and connecting to the wireless LAN 300. The central data processing system 200 can provide information about the registered vehicle V. i Information (where i = 1, 2, 3...) is stored in and managed in a database. For example, when vehicle V... i When the vehicle is no longer connected to Wi-Fi 300, it can be deleted from the database. i .

[0032] In step S1, each vehicle V i Sensors in the vehicle collect or capture sensing data in real time via a wireless local area network (WLAN) from the vehicle V. i Continuously transmitted to the central data processing system 200. This is handled by each vehicle V. i The transmission of data collected by the vehicle's onboard sensors can be performed automatically without any user intervention. Once the sensing data is collected, it can be transmitted to the central data processing system in real time. The sensing data can be raw, unprocessed data from the sensors. Therefore, the central data processing system 200 transmits data from multiple vehicles V located within a defined area 100 and connected to a wireless local area network 300. i Receive and connect with each vehicle V i Sensor data related to the surrounding environment. Each vehicle V i It uses its own onboard sensors to perceive its surroundings. The output of these sensors, known as sensing data, can be obtained from the vehicle's V... i The vehicle's onboard radio transmitter transmits data to the central data processing system 200 via a wireless local area network 300. For example, the sensed data may include point clouds from radar and LiDAR, as well as image frames from cameras. Vehicle V i Sensing systems (which may include cameras, radar, LiDAR) do not require additional devices for processing the sensed data. They can be basic and low-cost sensing systems that only have the function of sensing and transmitting data.

[0033] In step S2, the central data processing system 200 transmits data via wireless network 300 to each vehicle V located within the defined area 100. i Receive sensor data. Once the sensor data is collected, it can be received in real time from the vehicle V. iThe sensing data.

[0034] In step S3, the central data processing system 200 centrally processes and merges or aggregates data from multiple vehicles V. i The received sensing data is used to determine fused or aggregated environmental information about the environment within the defined area or sensing area 100. Therefore, information from all vehicles V located within the defined area 100... i The sensor information is fused or aggregated by the central processing system 200. It appears that the central processing system 200 is equipped with sensors for all vehicles located within the defined area 100. i Similar to onboard sensors, fused or aggregated environmental information can be communicated via wireless network 300 with all vehicles within a defined area 100. i Sharing. In this way, each vehicle V i Virtually equipped with all vehicles V located in the defined area 100 i The sensor.

[0035] Figure 2B Step S3 according to the implementation method is illustrated.

[0036] In one embodiment, data from multiple vehicles V are centrally processed and fused or aggregated. i Step S3, which involves sensing data from multiple vehicles, may include data from multiple vehicles. i Step S30: Receive the sensing data to generate a fused or aggregated map of the defined area 100.

[0037] The central data processing system 200 can access a predefined map of the defined area 100. This predefined map can be stored in the memory of the central processing system 200 and / or obtained from a service provider (such as...). or The data is obtained from an online database. In step S30, the central data processing system 200 can process and analyze the data from all vehicles V. i The received sensor data is used to obtain additional information related to the environment within the defined area 100, and this additional information is used to update the predefined map. Updating the predefined map may allow the addition or removal of objects or participants from the predefined map, and / or the addition of information that can be used for vehicle driving assistance within the defined area 100. For example, one or more pedestrians, objects that have fallen to the ground, traffic congestion, dangerous events such as stopping vehicles or collisions, etc., can be added to the predefined map.

[0038] In a variant, in step S30, the central processing system 200 can use data from vehicle V... i Sensor data for each vehicle V i Generate a representation of the vehicle V iA separate map of the surrounding area, and then merged or aggregated for multiple vehicles V. i Multiple separate maps are generated to create a merged map that defines a region of 100.

[0039] In one embodiment, in step S31, data from multiple vehicles V are processed and fused. i Based on the sensor data, the central data processing system 200 can determine or identify hazardous situations within the defined area 100. For example, an accident may occur within the defined area 100, such as a vehicle stopping in a road lane within a tunnel, or an object falling over within the defined area 100. This can be achieved by processing and analyzing data from vehicle V... i The received sensor data is used to identify hazardous situations. For example, this can be achieved by analyzing data from vehicle V. i Speed ​​data can be used to detect stationary traffic, which can be achieved by analyzing the speed of vehicles (V). i The system analyzes images captured by sensors to detect objects or pedestrians on the ground, and can detect collisions by analyzing images captured by vehicles, etc. In this case, in step S32, the central data processing system 200 generates a warning message or warning information to notify the vehicle V in the defined area 100. i .

[0040] In one embodiment, in step S33, the central data processing system 200 can centrally process and merge all vehicle V data. i The results of sensor data are used to generate commands to control one or more target vehicles V within a defined area of ​​100. i The command can control the driving or parking functions of a target vehicle. For example, it can control the target vehicle to adjust its speed in a tunnel, or take over the driving of the target vehicle to a selected parking area in a parking lot. In the case of a warehouse that includes automated vehicles such as forklifts, the command can control the movement of the automated vehicles in the warehouse.

[0041] In step S4, the central data processing system 200 centrally processes and merges data from vehicle V. i The result of step S3, which involves sensing data, will be used to send fused information for vehicle driving assistance to vehicle V connected to the wireless local area network 300. i (where i = 1, 2, 3...) one or more target vehicles V t The target vehicle may include one or more vehicles located within the defined area 100 and / or one or more vehicles located outside the defined area 100 but within the coverage area 301 of the wireless local area network 300. For example, one or more target vehicles may be vehicles located outside the defined area 100 that are moving toward the entrance of the defined area 100 to enter the defined area 100.

[0042] Step S4 may include the following actions performed by the central data processing system 200:

[0043] - In step S40, a message is sent to the target vehicle using multiple vehicles V. i The received sensing data is used to generate the fused map in step S30; and / or

[0044] - In step S41, a warning message related to the dangerous situation generated in step S32 is sent to the target vehicle; and / or

[0045] - In step S42, one or more commands generated in step S33 are sent to the target vehicle to control the driving of the target vehicle.

[0046] The central data processing system 200 continuously receives data from all vehicles V located within the defined area 100. i The sensor data collected by the sensors (where i = 1, 2, 3, ...) is processed and fused to update the vehicle driving assistance information sent to the target vehicle.

[0047] Furthermore, when a new vehicle enters the defined area 100 and registers with the central data processing system 200, the central data processing system 200 can send current information for vehicle driving assistance to the newly registered vehicle, such as the current fused map, and / or current warning messages, and / or commands for driving or parking.

[0048] Based on the sensing data received over time by the central data processing system 200, information for vehicle driving assistance is continuously updated in real time.

[0049] Optionally, in step S5, the central data processing system 200 processes data from vehicle V i The sensors collect and transmit the sensing data via wireless network 300 to the central data processing system 200 to target each vehicle V located within the defined area 100. i (Where i = 1, 2, 3...) Perform one or more driving assistance or autonomous driving tasks, including vehicle V i Self-positioning, vehicle V i Surrounding mapping, tracking vehicle V i Surrounding external objects, vehicles V i Path planning and vehicle V i For example, driving and / or parking. The central data processing system 200 can also use data from all vehicles, processed centrally and fused together. i The steps of fusion of sensor data and environmental information are used to perform the considered vehicle V iThe task involves driving assistance or autonomous driving. In step S6, the result of each driving assistance or autonomous driving task is transmitted from the central data processing system 200 to the vehicle V via the wireless network 300. i In this way, each vehicle V located within the defined area 100 i (Where i = 1, 2, 3...) The collected sensing data, processed to perform driving assistance and / or autonomous driving tasks, is deported to the central data processing system 200. The low latency of the network 300 allows the deportation to be performed by each vehicle V located within the defined area 100. i The processing of the collected sensor data allows the vehicle to V i Use the results of the processing in real time or almost in real time.

[0050] For vehicle V i For the self-localization task, the central data processing system 200 can be based on the data from the vehicle V i Received sensing data and a predefined map including landmarks of the defined area 100 are matched to the vehicle V i Landmark information detected in the surrounding environment. For example, the defined area 100 may include reflective elements at predetermined locations, and a predefined map may include reflective elements. Therefore, the central data processing system can match the landmark information obtained by processing the collected sensing data with the landmarks included in the predefined map to accurately locate the vehicle.

[0051] The central data processing system 200 includes means for performing the steps of the aforementioned method. It is configured to transmit data via a wireless local area network 300 from a vehicle V located within the defined area 100. i (Where i = 1, 2, 3...) Receive sensing data, centrally process and fuse the received sensor data, and send information for vehicle driving assistance to the target vehicle based on the results of the processing and fusion of the received sensing data.

[0052] In one embodiment, the central data processing system 200 may include a network interface 210 for connecting to a wireless local area network 300, a receiving module 220, a data processing module 230, and a transmitting module 240.

[0053] Receiver module 220 is configured to receive data from each vehicle V via network 300. i (Where i = 1, 2, 3...) Receiver and vehicle V i Environmentally relevant sensor data.

[0054] Data processing module 230 is responsible for centrally processing, fusing, or aggregating data from multiple vehicles. iThe data processing module 230 is responsible for processing and fusing the sensing data (where i = 1, 2, 3...) to generate fused information for vehicle driving assistance. Optionally, the data processing module 230 can be configured to process the sensing data for each vehicle V located within the defined area 100. i (where i = 1, 2, 3...) Perform driving assistance and / or autonomous driving tasks, such as vehicle V i Self-positioning, vehicle V i Surrounding mapping, tracking vehicle V i Surrounding external objects and through processing by vehicle V i The sensors collect sensing data to control the vehicle's V i .

[0055] The transmitting module 240 is configured to transmit data from multiple vehicles via the wireless network 300 based on processing and fusion of V signals. i Information for vehicle driving assistance generated from sensing data (where i = 1, 2, 3...) is sent to the target vehicle in the defined area 100. The sent information may include fused environmental information and / or information generated based on the fused environmental information, such as information for controlling the target vehicle V. t One or more commands or warning messages for autonomous driving.

[0056] Optionally, as previously explained, the sending module 240 is configured to send to vehicle V i Transmission via processing from the vehicle V i The result of one or more tasks of driving assistance and / or autonomous driving performed based on the sensor data.

[0057] The central data processing system 200 may further include: a vehicle database 250 for storing information about vehicles located within the defined area that have been registered with the central data processing system 200; a registration module 260 configured to perform registration tasks for vehicles located within the defined area 100; and a database management module 270 responsible for storing, retrieving, and updating information in the database 250. The registration module 230 is responsible for registration in the database 260.

[0058] Database 260 stores information about each registered vehicle located within the defined area 100. Central data processing system 200 may have a database management module 270 for storing, retrieving, and updating information in database 260.

Claims

1. A computer-implemented method for vehicle driving assistance within a delimited area (100), the computer-implemented method comprising the following steps performed by a central data processing system (200): - receiving (S2) in real time, from a plurality of vehicles (V i , i = 1, 2, 3,...) located within the delimited area (100), sensing data from on-board sensors of the vehicles (V i ) by means of a wireless local area network (300) covering the delimited area (100), whereby the sensing data from each vehicle (V i ) is related to the environment surrounding the vehicle (V i ); - centrally processing and fusing (S3) the sensing data from the plurality of vehicles (V i , i = 1, 2, 3,...) by generating (S30) a real-time fusion map of the delimited area (100) based on the sensing data received from the plurality of vehicles (V i ); - transmitting information for vehicle driving assistance to at least one target vehicle (V i ) via the wireless local area network (300), the information comprising the real-time fusion map.

2. The computer-implemented method of claim 1, wherein, generating the fused map by updating a predefined map with the sensing data received from the plurality of vehicles.

3. The computer-implemented method of claim 2, wherein, The fused map is generated by fusion of a plurality of individual maps, each individual map covering an area around a vehicle corresponding to a portion of the delimited area and being generated based on the sensing data received from the vehicle.

4. The computer-implemented method according to any one of claims 1 to 3, further comprising the step (SO) of registering the vehicle (V i ) with the central data processing system (200) via the wireless local area network (300) upon detection of the wireless local area network (300). 5 i ) 5. The computer-implemented method of claim 1, wherein, The step of transmitting information for vehicle driving assistance comprises transmitting (S42) one or more commands to control a driving or parking function of the at least one target vehicle (V i ).

6. The computer-implemented method of claim 1, wherein, The step of transmitting information for vehicle driving assistance comprises transmitting (S41) a warning message related to a hazardous situation determined by processing and fusing the sensing data from the plurality of vehicles.

7. The computer-implemented method of claim 1, wherein, The central data processing system (200) performs, based on the sensing data from the vehicles, for each vehicle of the plurality of vehicles at least one task among: self-localization of the vehicle, mapping of the area around the vehicle, tracking of external objects around the vehicle, path planning for the vehicle, and controlling the vehicle.

8. The computer-implemented method of claim 7, wherein, The task of self-localization of the vehicle comprises matching landmark information detected in the environment around the vehicle based on the sensing data received from the vehicle and a map of the delimited area.

9. The computer-implemented method of claim 1, wherein, The wireless local area network (300) is a network based on a 5G communication system or a next generation communication system.

10. The computer-implemented method of claim 1, wherein, The delimited area (100) is one among: an environment comprising a tunnel, a parking garage, a warehouse, a bridge.

11. The computer-implemented method of claim 1, wherein, The central data processing system (200) transmits the information for vehicle driving assistance to one or more target vehicles located within the delimited area (100) and / or to one or more target vehicles located outside the delimited area (100) but within a coverage area (301) of the wireless local area network (300).

12. A central data processing system (200) for vehicle driving assistance within a delimited area (100), the central data processing system comprising means for performing the steps of the method according to any one of claims 1 to 11.

13. A system comprising a central data processing system according to claim 12 for vehicle driving assistance within a defined area (100) covered by a wireless local area network (300), the system further comprising: a plurality of vehicles (V i , i = 1, 2, 3,...), each vehicle having one or more sensors for collecting sensing data related to the environment surrounding the vehicle; and a communication module for transmitting the collected sensing data to the central data processing system through the wireless local area network.

14. A computer program product comprising instructions which, when executed by a computer, cause the computer to carry out the steps of the method according to claim 1.

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