Vehicle and its control method and autonomous driving system which uses the same

Abstract

Vehicle (100), exhibiting: a vehicle detector (150) which is designed to acquire driving environment information about the vehicle's surroundings (100), a control device (160) which is configured to generate a map showing at least one of a surrounding terrain, a lane and a route, based on the acquired driving environment information, and a memory (120) which is set up to store the map, wherein the control device (160) is configured to store the map generated each time the vehicle (100) is driven in the memory (120) as a temporary map, to compare the temporary map with an instantaneous map currently applied to the vehicle (100), wherein the control device (160) is configured to update the current map by using the temporary map as a new current map if there is a difference between the temporary map and the current map, wherein the control device (160) is configured, when the current card is updated by using the temporary card as the new current card, to assign an identification number to an existing current card and to save the existing current card in the memory (120), and wherein the control device (160) is configured to reset the current map to a most recent map from among the maps stored in the memory (120) when an area in which autonomous driving fails or a number of driver interventions is greater than or equal to a reference value is a map update area.

Description

Background of the invention; Field of the invention

[0001] The present invention relates to a vehicle, a control method thereof and an autonomous driving system using it. Description of the related technology

[0002] In general, there is a growing trend in the automotive industry to develop and install numerous additional vehicle service devices with regard to driver comfort and safety.

[0003] In particular, the vehicle auxiliary service device includes a safety assistance device, such as a lane departure warning device (e.g. lane keeping assist device) to prevent the driver from leaving a lane (also called a driving lane) while driving the vehicle by assisting with steering input from the driver, and a navigation device to provide a route to a destination and information about the surroundings along the route.

[0004] Furthermore, there is a technique of using a detector attached to a vehicle, which is designed to detect a terrain object (e.g. a landscape) or a driving lane that is stationary around the vehicle and to use the detected information in autonomous driving.

[0005] One method of creating a map for autonomous vehicle driving involves scanning (or sampling using a scanner) a surrounding terrain using a vehicle equipped with a mobile mapping system (MMS for short; e.g., a mobile surveying and mapping system) and processing three-dimensional data (3D data) of the scanned surrounding terrain to produce an accurate map.

[0006] However, the map generation method described above requires separate equipment for map creation, a long processing time, and exhibits low accuracy in position detection due to a difficulty in taking into account the specific detector characteristics of an autonomous vehicle to which the measured data are applied.

[0007] The above information disclosed in this background section is intended only to improve the understanding of the general background of the invention and should not be regarded as an admission or any indication that this information belongs to the prior art as already known to the person skilled in the art.

[0008] From WO 2017 / 029775 A1, a vehicle and an associated control procedure are known, wherein the vehicle comprises: a vehicle detector which is configured to acquire driving environment information about the vehicle's surroundings, and a control device which is configured to generate a map, which includes at least one of a surrounding area, a lane and a route, based on the acquired driving environment information, wherein WO 2017 / 029775 A1 further discloses generating a temporary map and comparing it with the current map, and using the temporary map based on a single comparison of differences. Explanation of the invention

[0009] The object of the present invention is to provide a vehicle, a control method thereof and an autonomous driving system which are designed to generate a map using data acquired by an autonomously driving vehicle and to automatically update the map according to a change in the map.

[0010] Further aspects of the present invention are partly set out in the following description and partly become apparent from the description or can be learned by working through the invention.

[0011] According to one aspect of the present invention, a vehicle according to claim 1 is provided. Advantageous embodiments are described in the dependent claims and below.

[0012] The control unit can generate the surrounding terrain by extracting (e.g., filtering out) effective (e.g., predetermined, especially valid) detector data from the detector data acquired by the vehicle detector among the driving environment information, by grouping (e.g., bundling, dividing into groups) the extracted effective detector data, and by extracting a line.

[0013] The control unit can extract a constant term of a quadratic equation (e.g., second-degree polynomial) or cubic equation (e.g., third-degree polynomial) captured from the driving environment information (e.g., as a general shape of the lane), can subdivide (e.g., divide, split) sections using a change in curvature based on a vehicle trajectory (e.g., trajectory of the moving vehicle) captured from the driving environment information, and extract a coefficient value of a linear term of a quadratic or cubic equation obtained by converting the vehicle trajectory of each section into a quadratic curve (or cubic curve, e.g., a second- or third-order function), and can generate a linear (driving) lane using the constant term and the coefficient value of the linear term.

[0014] The control unit can extract a driving trajectory by modifying (e.g., rearranging, relocating) the vehicle driving trajectory captured from the driving environment information at regular intervals (e.g., at regular times).

[0015] The control unit is designed, for example, to use, when the map is generated, those driving environment information which correspond to a predetermined distance and a predetermined range of angles with respect to a position of the vehicle among the driving environment information.

[0016] The control unit can update the current map by using the temporary map as the new current map if the number of times a main object of the temporary map is repeatedly detected is greater than or equal to a predetermined number and there is a difference between the temporary map and the current map, or if there is a difference between the temporary map and the current map in an area where autonomous driving fails or the number of driver interventions is greater than or equal to a reference value.

[0017] The vehicle detector includes, for example, a lidar detector (where "Lidar" is short for the English term "Light Detection and Ranging"), a camera and a global positioning system detector (GPS detector or GPS sensor).

[0018] According to a further aspect of the present invention, a control method for controlling a vehicle according to claim 8 is provided. Advantageous embodiments are described in the dependent claims and below.

[0019] The creation and storage of the map can include: extracting effective (e.g., predetermined, especially valid) detector data from the detector data acquired by the vehicle detector among the driving environment information, grouping (e.g., bundling, dividing into groups) the extracted effective detector data, extracting a straight main line (e.g., main straight line) from the grouped effective detector data, and generating the surrounding terrain by extracting an environment line adjacent to the straight main line.

[0020] The creation and storage of the map can involve: extracting a constant term of a quadratic or cubic equation, which is extracted from the driving environment information; subdividing (e.g., dividing, splitting) sections by means of a change in curvature based on a vehicle driving trajectory; extracting a coefficient value of a linear term of the quadratic or cubic equation, which is obtained by converting the vehicle driving trajectory of each section into a quadratic curve (or cubic curve, e.g., a second- or third-order function); and generating a linear (driving) track using the constant term and the coefficient value of the linear term.

[0021] The creation and storage of the map can involve: extracting a driving trajectory by modifying (e.g., rearranging, relocating) the vehicle driving trajectory captured from the driving environment information at regular intervals (e.g., at equally spaced times).

[0022] The map is generated, for example, by using the driving environment information which corresponds to a predetermined distance and a predetermined range of angles with respect to a position of the vehicle, under the driving environment information.

[0023] According to another aspect of the present invention, an autonomous driving system according to claim 13 is provided. Advantageous further developments are described in the dependent claims and below.

[0024] The vehicle is, for example, configured to use such driving environment information which corresponds to a predetermined distance and a predetermined range of angles with respect to a position of the vehicle, among the driving environment information.

[0025] The autonomous driving management server is configured, for example, to update the current map by using the temporary map as a new current map if the number of times a main object of the temporary map is repeatedly captured is greater than or equal to a predetermined number and there is a difference between the temporary map and the current map, or if there is a difference between the temporary map and the current map in an area where autonomous driving fails or the number of driver interventions is greater than or equal to a reference value.

[0026] The methods and devices of the present invention have other features and advantages, which will become clear from the accompanying drawings included herein and the following detailed description, which together serve to explain certain principles of the present invention. A track or lane as described herein may, for example, comprise: a carriageway, a lane, an auxiliary lane, a special lane (e.g., a bus and / or tram lane), an on-ramp or acceleration lane, an off-ramp or deceleration lane, a hard shoulder, etc. of a road, etc. Brief description of the drawings Fig. Figure 1 is a diagram depicting the exterior of a vehicle according to an exemplary embodiment of the present invention. Fig. Figure 2 is a diagram depicting the interior of a vehicle according to an exemplary embodiment of the present invention. Fig. Figure 3 is a control block diagram which shows details of the design of a vehicle according to an exemplary embodiment of the present invention. Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. Figure 8 are schematic diagrams illustrating a method of generating a map according to an exemplary embodiment of the present invention. Fig. 9, Fig. 10, Fig. 11, Fig. 12, Fig. 13, Fig. 14, Fig. 15, Fig. 16, Fig. 17 and Fig. Figure 18 are exemplary diagrams illustrating a method of generating surrounding terrain in a map according to an exemplary embodiment of the present invention. Fig. Figure 19 is an exemplary diagram illustrating a method of generating a lane in a map according to an exemplary embodiment of the present invention. Fig. Figure 20 is an exemplary diagram illustrating a method of generating a driving trajectory in a map according to an exemplary embodiment of the present invention. Fig. Figure 21 is a control block diagram which shows in detail the design of an autonomous driving system according to an exemplary embodiment of the present invention. Fig. Figure 22 is a flowchart which represents a vehicle control method according to an exemplary embodiment of the present invention, and Fig. 23, Fig. 24 and Fig. 25 are flowcharts, which are part of Fig. 22 in detail.

[0027] It should be understood that the attached drawings are not necessarily to scale and represent a somewhat simplified depiction of various properties in order to illustrate the basic principles of the invention. The specific design features of the present invention, including, for example, specific dimensions, orientations, positions, and shapes as disclosed herein, are (at least) partially determined by the respective intended application and usage environment.

[0028] In the figures, identical reference numerals refer to identical or equivalent components of the present invention. Detailed description

[0029] Various embodiments of the present invention will now be discussed in detail, examples of which are illustrated in the accompanying drawings and described below. Although the invention is described in connection with these exemplary embodiments, it is clear that the present description is not intended to limit the invention to these exemplary embodiments.

[0030] Not all elements of embodiments of the present invention are described, and a description of what is generally known in the art or what overlaps in the embodiments is omitted. Terms used throughout the description, such as "part", "module", "element", "block", etc., may be implemented in software and / or hardware, and a plurality of "parts", "modules", "elements", or "blocks" may be implemented in a single element, or a single "part", "module", "element", or "block" may comprise a plurality of elements.

[0031] It should also be understood that the term "connect" or its derivatives refers to both direct and indirect connection, and indirect connection includes, among other things, a connection via a wireless communication network.

[0032] The expression “include (or exhibiting)” or “comprise (or encompassing)” is inclusive or open-ended and does not exclude additional, unmentioned elements or procedural steps unless otherwise stated.

[0033] It should be understood that, although the terms first, second, third, etc. may be used herein to describe different elements, components, areas, layers, and / or sections, these elements, components, areas, layers, and / or sections are not intended to be restricted by these terms. These terms are used only to distinguish one element, component, area, or section from another.

[0034] It is understood that the singular forms “ein / eine” and “der / die / das” include plural references unless the context clearly indicates otherwise.

[0035] Reference symbols used for procedural steps are only for the sake of clarity and do not restrict the order of the steps. Therefore, unless the context clearly dictates otherwise, the written order may be followed differently.

[0036] The principle and embodiments of the present invention will now be described with reference to the accompanying drawings.

[0037] Fig. Figure 1 is a diagram that depicts the exterior of a vehicle.

[0038] With reference to Fig. In numerous exemplary embodiments, a vehicle 1 is provided on its exterior with: a main body (e.g., base body) 10, which forms the exterior of the vehicle 1, a windshield 11, which provides a driver with a view in front of the vehicle 1, side mirrors 12, which provide a driver with a view behind the vehicle 1, doors 13, which shield the interior of the vehicle from the outside, and wheels 21 and 22 moving the vehicle 1, comprising front wheels 21, which are arranged in the front section of the vehicle 1, and rear wheels 22, which are arranged in the rear section of the vehicle 1.

[0039] The windshield 11 is provided at the upper front of the main body 10, giving the driver a view in front of the vehicle 1. The side mirrors 12 comprise a left and a right side mirror, respectively, arranged on the left and right sides of the main body 10, giving the driver a view behind and to the sides of the vehicle 1.

[0040] The doors 13 are arranged to rotate on the left and right sides of the main body 10, whereby, when they are open, the driver and the passenger can enter and exit the vehicle 1, and, when they are closed, the interior of the vehicle 1 is shielded from the outside.

[0041] In numerous exemplary embodiments, the vehicle 1 has a power device (e.g. power generation unit) 16 which sets the wheels 21 and 22 into rotation, a steering device which changes a direction of movement of the vehicle 1, and a braking device which stops the movement of the wheels.

[0042] The power device 16 provides a rotational force (e.g., torque) to the front or rear wheels 21 or 22 to move the main body 10 forward or backward. The power device 16 can comprise an internal combustion engine, which generates a rotational force by burning fuel, or an electric motor, which generates a rotational force from electrical energy supplied by an energy storage device (e.g., a capacitor, an accumulator).

[0043] In numerous exemplary embodiments, the steering device has a steering wheel 42 (see Fig. 2), which is operated (by turning) the steering wheel by the driver to control the direction of travel, a steering gear which converts a rotary movement of the steering wheel 42 into a back-and-forth movement, and a steering rod which transmits the back-and-forth movement of the steering gear to the front wheels 21. The steering system changes the direction of travel of the vehicle 1 by changing the direction of rotation of the wheels.

[0044] In numerous exemplary embodiments, the braking device comprises a brake pedal, which is actuated by the driver to initiate braking, a brake drum connected to wheels 21 and 22, and a brake shoe, which slows the rotation of the brake drum by means of friction. The braking device slows the vehicle 1 by stopping the rotation of wheels 21 and 22.

[0045] Fig. Figure 2 is a diagram that depicts the interior of a vehicle 1.

[0046] In numerous exemplary embodiments, the vehicle 1 is provided with an interior comprising: a dashboard 14 on which numerous systems for the driver to operate the vehicle 1 are arranged, a driver's seat 15 on which the driver can sit, cluster indicators 51 and 52 which display information about the operation of the vehicle 1, and a navigation system 70 which provides route guidance and is configured to provide directions and audio and video functions in response to an operating command from the driver.

[0047] In numerous exemplary embodiments, the instrument panel 14 projects towards the driver at a lower section of the windscreen 11, allowing the driver to operate the numerous systems arranged on the instrument panel 14 while looking forward.

[0048] The driver's seat 15 is located on a rear side of the dashboard 14, which allows the driver to operate the vehicle 1 while maintaining a comfortable posture and keeping his or her eyes on the road in front of the vehicle 1 and on numerous systems on the dashboard.

[0049] In numerous exemplary embodiments, the group display devices 51 and 52 are arranged on the dashboard 14, facing the driver's seat 15, and the group display devices 51 and 52 can include a speedometer (or speed indicator) 51, which indicates the current driving speed of the vehicle 1, and a speed indicator 52, which indicates the speed (revolutions per minute) of the power device.

[0050] In numerous exemplary embodiments, the navigation system 70 includes a display that shows information about a road on which the vehicle 1 is traveling or about a route to a destination desired by the driver, and a loudspeaker 41 that generates tones according to an operating command from the driver. Recently, there has been a trend toward providing an audio, video, and navigation system (AVN system) in the vehicle, in which audio and video playback devices (e.g., audio players and video players) and a navigation system are integrated.

[0051] In numerous exemplary embodiments, the navigation system 70 is arranged on a central instrument panel (e.g., a section in the center of the dashboard). The central instrument panel refers to a control panel section located on the dashboard 14 between the driver's seat and the passenger's seat, where the dashboard 14 and a gearshift lever are vertically aligned (e.g., in a straight line), and in which the navigation system 70, an air conditioning system, a heating control, an air outlet, a cigarette lighter socket and ashtray, a cup holder, etc., are arranged. The central instrument panel is also configured, together with a center console, to create a (dividing) line between the driver's seat and the passenger's seat.

[0052] A rotary dial control element (e.g. jog wheel, English “Jog Dial”) 60 may also be provided for manipulating the operation of numerous systems, including the navigation system 70.

[0053] In an exemplary embodiment of the present invention, the rotary dial control element 60 can manipulate the operation by being turned or pressed, and can also include a touchpad (also called a keypad) which has a touch detection system configured to recognize handwriting made by the user's finger, or a touch detection tool for manipulating the operation.

[0054] The vehicle to be described below is an autonomously driving vehicle which has an autonomous driving function and is referred to below as a "vehicle" for the sake of clarity.

[0055] Fig. Figure 3 is a control block diagram, which shows details of the design of a vehicle.

[0056] Fig. 4, Fig. 5, Fig. 6, Fig. 7 and Fig. Figure 8 are exemplary schematic diagrams that illustrate a method for generating a map. Fig. 9, Fig. 10, Fig. 11, Fig. 12, Fig. 13, Fig. 14, Fig. 15, Fig. 16, Fig. 17 and Fig. Figure 18 are exemplary diagrams that illustrate a method of generating surrounding terrain on a map. Fig. Figure 19 is an exemplary diagram illustrating a method for generating a lane on a map, and Fig. Figure 20 is an exemplary diagram illustrating a method for generating a driving trajectory on a map.

[0057] The following is a description of the present invention with reference to Fig. 3, Fig. 4, Fig. 5, Fig. 6, Fig. 7, Fig. 8, Fig. 9, Fig. 10, Fig. 11, Fig. 12, Fig. 13, Fig. 14, Fig. 15, Fig. 16, Fig. 17, Fig. 18, Fig. 19 to Fig. 20 given.

[0058] Referring to Fig. 3 The vehicle 100 can have an input device 110, a (data) storage device 120, a display device 130, a communication device 140, a vehicle detector 150 and a control device 160.

[0059] In numerous exemplary embodiments, the input device 110 features hardware devices for user input, such as buttons or switches, a pedal, a keyboard, a mouse, a trackball, various levers, a handle and a stick (e.g. a stick-like input device).

[0060] In numerous exemplary embodiments, the input device 110 also features a graphical user interface (GUI), i.e., a software component such as a touchpad for user input. The touchpad is implemented with a touch-sensitive screen panel (or touchscreen panel, TSP), thereby forming an intermediate layer structure with the display device 130.

[0061] In numerous exemplary embodiments, the memory 120 stores a card. However, the memory 120 is not limited to this and, in another exemplary embodiment, stores various pieces of information relating to the vehicle 100.

[0062] In numerous exemplary embodiments, the memory 120 is implemented, for example, with at least one non-volatile memory element, e.g., a buffer (cache), a read-only memory (ROM), a programmable ROM (PROM), an erasable programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a volatile memory element, including random access memory (RAM), or a storage medium, including a hard disk drive (HDD) and a compact disc ROM (CD-ROM); however, the implementation of the memory 120 is not limited to these. For example, in another exemplary embodiment, the memory 120 is a data storage device implemented by a memory chip separate from the processor mentioned herein, which relates to the control unit 160, or in another exemplary embodiment, e.g.,Integrated with the processor in a single chip.

[0063] In numerous exemplary embodiments, the display device 130 comprises, for example, a cathode ray tube (CRT), a digital light processing panel (DLP panel), a plasma display panel (PDP), a liquid crystal display panel (LCD panel), an electroluminescence panel (EL panel), an electrophoretic display panel (EPD panel), an electrochromic display panel (ECD panel), a light-emitting diode display panel (LED panel), and an organic light-emitting diode display panel (OLED panel). panel“), etc., although the implementation of the display device is not limited to this.

[0064] In numerous exemplary embodiments, the communication device 140 comprises one or more components configured to enable communication with an external device. For example, the communication device 140 includes at least one short-range communication module (e.g., a near-field communication module for communication within a short range), one wired communication module, and one wireless communication module.

[0065] In numerous exemplary embodiments, the short-range communication module includes various short-range communication modules, including a Bluetooth module, an infrared communication module, a radio frequency identification (RFID) communication module, a wireless local area network (WLAN) communication module, a near field communication (NFC) module, a Zigbee communication module, and the like, which transmit and receive signals over short distances or in the near field using a wireless communication network.

[0066] In numerous exemplary embodiments, the wired communication module includes various wired communication modules, including a Universal Serial Bus (USB), a High Definition Multimedia Interface (HDMI), a Digital Visual Interface (DVI), a Recommended Standard 232 (RS-232), power line communication, a Plain Old Telephone Service (POTS), and the like, as well as various wired communication modules, including a CAN communication module (where CAN stands for Controller Area Network), a Local Area Network (LAN) module, a Wide Area Network (WAN) module, a Value-Added Network (VAN) module, and the like.

[0067] In numerous exemplary embodiments, the wireless communication module includes various wireless communication modules that support various wireless communication methods, including GSM (short for "Global System for Mobile Communications"), CDMA (short for "Code Division Multiple Access"), WCDMA (short for "Wideband Code Division Multiple Access"), UMTS (short for "Universal Mobile Telecommunications System"), TDMA (short for "Time Division Multiple Access"), LTE (short for "Long Term Evolution"), and the like, as well as a Radio Data System-Traffic Message Channel (RDS-TMC), a Digital Multimedia Broadcasting (DMB), and a Wi-Fi module (Wi-Fi being short for "Wireless Fidelity").and a wireless broadband module.

[0068] In numerous exemplary embodiments, the wireless communication module can include a wireless communication interface comprising an antenna and a receiver for receiving traffic information signals. In another exemplary embodiment, the wireless communication module includes a traffic information signal conversion module for demodulating an analog radio signal received via the wireless communication interface into a digital control signal.

[0069] In numerous exemplary embodiments, the vehicle detector 150 is configured to acquire driving environment information relating to the vehicle's surroundings. This means that the vehicle detector 150 acquires driving environment information relating to the area surrounding the vehicle 100.

[0070] In numerous exemplary embodiments, the vehicle detector 150 comprises a lidar detector, a camera, and a global positioning system detector (GPS detector or GPS sensor). However, the present invention is not limited to these, and in other embodiments, the vehicle detector 150 can comprise any detector capable of acquiring driving environment information from the surroundings of the vehicle 100.

[0071] In numerous exemplary embodiments, the control unit 160 generates a map that includes at least one representation of the surrounding terrain, a lane, and a route, based on the acquired driving environment information. That is, the control unit 160 obtains lidar data, image data, and GPS data via the vehicle detector 150 to generate a map.

[0072] The control unit 160, which displays the detector data, as in Fig. As shown in section 4, the obtained detector data automatically generates a map showing a surrounding obstacle, a lane, and a trajectory, as described in section 4. Fig. Figure 5 is shown. In numerous exemplary embodiments, the detector data include lidar data specifying a lane and a trajectory, as shown in Figure 5. Fig. 4 is shown, however the present invention is not limited thereto.

[0073] The control unit 160 extracts a surrounding terrain, a lane, and a route from the driving environment information, which includes a wall, a curb, a vehicle, a route, and a barrier (e.g., a guidepost (also called a road boundary pillar), a median, a guardrail, etc.) detected by the vehicle detector 150, as described in Fig. Figure 6 is shown to illustrate a map, as in Fig. 7 shown, to generate.

[0074] The control unit 160 uses reference to the following when generating the map: Fig. 8. Those driving environment information among the driving environment information which correspond to a predetermined distance and a predetermined range of angles with respect to a position of the vehicle.

[0075] The control unit 160 sets a limit on the predetermined distance because data from a great distance of the vehicle 100 would exhibit a large positional error due to a course error. The control unit 160 also sets a limit on the predetermined angles because only obstacles adjacent to the left and right sides of the vehicle 100 are used for an actual position determination.

[0076] The control unit 160 extracts effective (e.g., predetermined, in particular valid) detector data from the detector data acquired by the vehicle detector 150 from the driving environment information, applies grouping (e.g., clustering) to the extracted effective detector data to extract a line, and generates a surrounding terrain. In numerous exemplary embodiments, the vehicle detector 150 is a lidar detector, and the detector data are lidar data acquired by a lidar detector.

[0077] Referring to Fig. 9 to Fig. 11. The control unit 160 extracts the effective (e.g., predetermined, especially valid) lidar data (A in Fig. 10) from the in Fig. 9 lidar data shown and then groups the effective lidar data (B in Fig. 11).

[0078] Referring to Fig. 12, Fig. 13, Fig. 14 and Fig. 15. The control unit 160 extracts a straight-line component using the least-squares method (C in Fig. 12) and eliminates external points using the mean distance and the deviation with respect to the straight line (D in Fig. 13). The control unit 160 extracts a convex hull (E in Fig. 14) in the direction of the trajectory (e.g., a trajectory-side envelope without considering the eliminated points) and extracts a straight line by applying the least-squares method to the convex hull to find the straight principal line (e.g., principal line) (F in Fig. 15) to extract.

[0079] Referring to Fig. 16, Fig. 17 and Fig. 18 In numerous exemplary embodiments, the control device 160 extracts a supplementary straight line (e.g., a secondary straight line) which connects points adjacent to the main straight line.

[0080] The control unit 160 extracts a point which has an area smaller than a predetermined area (e.g., a point which has a small area which encompasses a barrier bar) (G in Fig. 16), performs grouping (e.g., bundling, dividing into groups; English "clustering") using the (intermediate) distance and inclination of the points (e.g., the distance and the different angular orientation of the points to each other) (H in Fig. 17) and then extracts the complementary straight line using the least squares method (I in Fig. 18).

[0081] The control unit 160 extracts a constant term of a quadratic or cubic equation (a distance value of a quadratic or cubic equation) which is captured from the driving environment information, divides sections using a change in curvature based on a vehicle trajectory which is captured from the driving environment information, and extracts a linear (driving) track using the constant term and a coefficient value of a linear term of the quadratic or cubic equation which is obtained by converting the vehicle trajectory of each section into a quadratic curve (or cubic curve, e.g. a second or third order function).In numerous exemplary embodiments, the constant term of the quadratic equation or the cubic equation, which is extracted from the driving environment information, refers to a distance value of a quadratic equation or a cubic equation, which is extracted from the driving environment information.

[0082] The control unit 160 uses only one constant term in a quadratic equation (a curvature, a slope, a distance) (Equation 1) or cubic equation, which is a general form of an extracted lane. Referring to Fig. 19. The constant term J can have a point form. y(lane)=ax2+bx+c

[0083] Here, (a) can refer to a curvature, (b) can refer to a gradient, and (c) can refer to a distance between the vehicle 100 and an obstacle. In the present embodiment, the control unit 160 uses only (c).

[0084] In numerous exemplary embodiments, the control device 160 subdivides the sections using a change in curvature based on the motion trajectory K and determines a coefficient value of a linear term (b in equation 2) by adjusting (e.g. approximation, in particular approximation using a least square calculation) the motion trajectory (equation 2) of each section as a quadratic curve. y(trajectory)=ax2+bx+c

[0085] In numerous exemplary embodiments, the control device 160 generates a lane in the form of a one-dimensional straight line, as shown in Equation 3, using the constant term and the coefficient value of the linear term (e.g., the constant term from Equation 1 is added to a linear term whose coefficient is the coefficient value of the linear term from Equation 2). y(lane)=bx+c

[0086] The control unit 160 restructures the vehicle trajectory detected from the driving environment information at regular intervals (e.g., regular time intervals) to extract a driving trajectory. Since the vehicle's speed at the time the driving environment information is detected is reflected in the vehicle trajectory, the vehicle trajectory is rearranged at the same intervals to incorporate a normal speed reference.

[0087] The control unit 160 generates a speed profile of a corresponding section using the current driving speed of the vehicle.

[0088] Referring to Fig. 20 GPS positions, which vary according to the vehicle speed, are rearranged (e.g. relocated) at equal intervals from the driving environment information.

[0089] The control unit 160 stores a map, which is generated each time a vehicle is driven, in the memory 120 as a temporary map, compares the temporary map with an instantaneous map currently applied to the vehicle, and updates the temporary map to a new instantaneous map (e.g., replaces the instantaneous map with the temporary map, which is used as the new instantaneous map) if there is a difference between the temporary map and the new instantaneous map.

[0090] In detail: The control unit 160 updates the current map by using the temporary map as the new current map if the number of times a main object of the temporary map is repeatedly detected is greater than or equal to a predetermined number and there is a difference between the temporary map and the current map, or if there is a difference between the temporary map and the current map in an area where autonomous driving fails or the number of interventions by a driver is greater than or equal to a reference value.

[0091] In numerous exemplary embodiments, when updating the current card by using the temporary card as a new current card, the control unit 160 assigns an identification number to the existing current card and saves (e.g., by creating a backup) the existing current card in the memory 120. This means that the control unit 160 assigns an identification number, which indicates a version, a backup date, a ranking, etc., to a card to be saved, thus simplifying the subsequent restoration and retrieval (e.g., finding and retrieving) of the card.

[0092] The control unit 160 resets the current map to the most recent map among the maps stored in the memory 120 if an area in which autonomous driving fails or a number of driver interventions is greater than or equal to a reference value is a map update area.

[0093] The control unit 160 determines that the current card is incorrect if autonomous driving fails or driver intervention occurs repeatedly, and reverts to the most recent card among the saved cards.

[0094] In numerous exemplary embodiments, the control unit 160 comprises a data memory for storing algorithms for controlling the operation of components of the vehicle 100 or data relating to programs for executing the algorithms, and a processor for performing the operation described above using the data stored in the data memory. In numerous exemplary embodiments, the data memory and the processor are implemented as separate chips, and in other embodiments, the data memory and the processor are implemented as a single chip.

[0095] Fig. Figure 21 is a control block diagram that shows in detail the design of an autonomous driving system.

[0096] The following description details elements that are identical to those in the previous description of Fig. 3 are omitted.

[0097] Referring to Fig. 21 features an Autonomous Driving System 300, a Vehicle 100, and an Autonomous Driving Management Server 200.

[0098] The vehicle 100 has an input device 110, a memory 120, a display device 130, a communication device 140, a vehicle detector 150, and a control device 160. The input device 110, the memory 120, the display device 130, the communication device 140, and the vehicle detector 150 are the same as those in Fig. 3, and a further description of the details is therefore omitted.

[0099] The control unit 160 acquires driving environment information relating to the vehicle's surroundings through the vehicle detector 150 and generates a map which includes at least one of a surrounding terrain, a lane and a route, based on the acquired driving environment information.

[0100] In numerous exemplary embodiments, the control unit 160 transmits the generated map to the autonomous driving management server 200.

[0101] In numerous exemplary embodiments, the control unit 160 uses, when generating the map, those driving environment information which correspond to a predetermined distance and a predetermined range of angles with respect to the position of the vehicle, among the driving environment information.

[0102] Referring to Fig. The Autonomous Driving Management Server 200 comprises: a communication unit 210, which is configured to communicate with the vehicle 100; a (data) storage device 220, which is configured to store various information (e.g., various information elements), including a map transmitted by the vehicle 100; an input unit 230, which is configured to support user input; a display unit 240, which is configured to display various information relating to the Autonomous Driving Management Server 200; and a control unit 250, which is configured to store and manage the map transmitted by the vehicle 100 in the storage device 220.

[0103] The Autonomous Driving Management Server 200 stores the map transmitted by the vehicle 100 as a temporary map, compares the map transmitted by the vehicle with the current map currently applied to the vehicle on each vehicle journey (e.g., at each predetermined time interval of the vehicle journey), and, if there is a difference between the temporary map and the current map, transmits the temporary map to the vehicle 100 to update the current map by using the temporary map as a new current map.

[0104] In numerous exemplary embodiments, the autonomous driving management server 200 stores the map transmitted by the vehicle 100 together with the identification information of the vehicle 100 (e.g. a unique identifier for the vehicle).

[0105] The Autonomous Driving Management Server 200 updates the current map by using the temporary map as the new current map if the number of times a main object of the temporary map is repeatedly detected is greater than or equal to a predetermined number and there is a difference between the temporary map and the current map, or if there is a difference between the temporary map and the current map in an area where autonomous driving fails or the number of driver interventions is greater than or equal to a reference value.

[0106] In numerous exemplary embodiments, the autonomous driving management server 200 transmits the most recent map from among the maps stored in the storage device 220 to the vehicle 100 (instead of, for example, the temporary map) when an area in which autonomous driving fails or a number of driver interventions is greater than or equal to a reference value is a map update area, so that the current map is reset to the most recent map. For this purpose, the vehicle 100 transmits a message about an autonomous driving failure (e.g., an autonomous driving failure message) and a message about a driver intervention (e.g., a driver intervention message) to the autonomous driving management server 200.

[0107] Fig. 22 is a flowchart representing a vehicle control procedure, and Fig. 23, Fig. 24 and Fig. 25 are flowcharts, which are part of Fig. 22 in detail.

[0108] Firstly, in numerous exemplary embodiments, the vehicle 100 acquires driving environment information from the vehicle's surroundings using the vehicle detector 150 (410).

[0109] In numerous exemplary embodiments, the vehicle detector 150 features a lidar detector, a camera and a global positioning system detector (GPS detector or GPS sensor).

[0110] In numerous exemplary embodiments, the vehicle 100 generates a map, which includes at least one map of surrounding terrain, a lane, and a route, based on the acquired driving environment information, and stores the generated map as a temporary map (420). When generating the map, the vehicle 100 uses the driving environment information, which corresponds to a predetermined distance and a predetermined range of angles relative to the position of the vehicle 100.

[0111] Reference is made below to the procedure of vehicle 100, which generates the surrounding terrain, the lane and the route.

[0112] With reference to Fig. 23 the vehicle extracts 100 effective (e.g. predetermined, in particular valid) detector data from the detector data acquired by the vehicle detector 150 from the driving environment information (510).

[0113] Vehicle 100 groups (e.g. bundles, subdivides into groups) the extracted effective detector data (520) and extracts a straight main line from the grouped effective detector data (530).

[0114] Vehicle 100 creates surrounding terrain by extracting a surrounding straight line adjacent to the main straight line (540).

[0115] With reference to Fig. 24 In numerous exemplary embodiments, the vehicle 100 extracts a constant term of a quadratic or cubic equation, which is obtained from the driving environment information (610). In numerous exemplary embodiments, the constant term of the quadratic or cubic equation obtained from the driving environment information relates to a distance value of the quadratic or cubic equation obtained from the driving environment information.

[0116] In numerous exemplary embodiments, the vehicle divides 100 sections using a change in curvature based on a vehicle trajectory and extracts a coefficient value of a linear term of each section by converting the vehicle trajectory into a quadratic curve (or cubic curve).

[0117] Vehicle 100 generates a linear line using the constant term and the coefficient value of a linear term of the quadratic equation or cubic equation (630).

[0118] With reference to Fig. 25 In numerous exemplary embodiments, the vehicle 100 extracts a driving trajectory by modifying (e.g. rearranging, relocating) the driving trajectory of the vehicle acquired from the driving environment information at regular intervals (710).

[0119] In numerous exemplary embodiments, the vehicle 100 generates a speed profile of a corresponding section using an instantaneous driving speed (720).

[0120] In numerous exemplary embodiments, the vehicle 100 compares a temporary map with an instantaneous map currently being applied to the vehicle 100 (430).

[0121] If it is determined that a difference exists between the temporary map and the current map as a result of the comparison, then vehicle 100 updates the current map by using the temporary map as a new current map (440).

[0122] The vehicle 100 updates the current map by using the temporary map as the new current map if the number of times a main object of the temporary map is repeatedly detected is greater than or equal to a predetermined number and there is a difference between the temporary map and the current map, or if there is a difference between the temporary map and the current map in an area where autonomous driving fails or the number of interventions by a driver is greater than or equal to a reference value.

[0123] In numerous exemplary embodiments, when updating the current map by using the temporary map as the new current map, the vehicle 100 assigns an identification number to the existing current map and saves the existing current map in the memory 120. Although not shown, in numerous exemplary embodiments, after operation 440, the vehicle 100 resets the current map to a most recent map among the saved maps if an area in which autonomous driving fails or a number of driver interventions is greater than or equal to a reference value is a map update area. The embodiments described above can be implemented in the form of a storage medium that stores instructions executable by a computer.In other implementation formats, the instructions can be stored in the form of program code, and when executed by a processor, the instructions can generate a program module to carry out the operations / sequences of the embodiments described above. In numerous exemplary embodiments, the storage medium is designed as a computer-readable storage medium.

[0124] Computer-readable storage media encompass all types of storage media that can store instructions interpretable by a computer. Numerous exemplary embodiments of computer-readable storage media include, for example, read-only memory (ROM), random access memory (RAM), magnetic tape, magnetic floppy disk, flash memory, or optical data storage devices.

[0125] As can be seen from the above, the autonomous vehicle automatically generates and updates map data for the section of road it is driving on, thus creating a map that takes into account the specific detector characteristics of the vehicle. Furthermore, the map generated during autonomous driving is used to improve the accuracy of detecting the vehicle's position and the surrounding traffic situation.

[0126] A map is generated by the autonomous vehicle, eliminating the need for additional equipment. The map is generated automatically, reducing the time required.

[0127] The map is kept up-to-date (e.g., current status) by taking into account the most recent driving environment through real-time map updates.

[0128] To facilitate explanation and precise definition in the accompanying claims, the terms "above...", "below...", "inside...", "outside...", "up", "down", "upwards", "downwards", "front...", "behind...", "front", "backwards", "inwards", "outwards", "within", "outside", "inside", "outside", "forwards", and "backwards" are used to describe features of exemplary embodiments with reference to their positions as shown in the drawings. The preceding descriptions of certain exemplary embodiments of the present invention served illustrative and descriptive purposes. They are not intended to be exhaustive or to limit the invention to precisely the disclosed forms, and obviously many modifications and variations are possible in light of the above teaching.The exemplary embodiments were selected and described to illustrate certain principles of the invention and its practical applicability, thereby enabling other skilled persons to manufacture and apply various exemplary embodiments of the present invention, as well as various alternatives and modifications thereof. It is intended that the scope of the invention is defined by the accompanying claims.

Claims

[1] Vehicle (100), comprising: a vehicle detector (150) which is designed to acquire driving environment information about the vehicle's surroundings (100), a control device (160) which is configured to generate a map showing at least one of a surrounding terrain, a lane and a route, based on the acquired driving environment information, and a memory (120) which is set up to store the map, wherein the control device (160) is configured to store the map generated each time the vehicle (100) is driven in the memory (120) as a temporary map, to compare the temporary map with an instantaneous map currently applied to the vehicle (100), wherein the control device (160) is configured to update the current map by using the temporary map as a new current map if there is a difference between the temporary map and the current map, wherein the control device (160) is configured, when the current card is updated by using the temporary card as the new current card, to assign an identification number to an existing current card and to save the existing current card in the memory (120), and wherein the control device (160) is configured to reset the current map to a most recent map from among the maps stored in the memory (120) when an area in which autonomous driving fails or a number of driver interventions is greater than or equal to a reference value is a map update area. [2] Vehicle (100) according to claim 1, wherein the control device (160) is configured to generate the surrounding terrain by extracting predetermined data from the data acquired by the vehicle detector (150) from the driving environment information, by grouping the extracted data and by extracting a line. [3] Vehicle (100) according to claim 1 or 2, wherein the control device (160) is configured to: to extract a constant term of a quadratic or cubic equation, which is captured from the driving environment information, to subdivide sections using a change in curvature based on a vehicle trajectory (K) obtained from the driving environment information and to extract a coefficient value (b) of a linear term of a quadratic or cubic equation obtained by converting the vehicle trajectory of each section into a quadratic or cubic curve, where said each section is a section between sections where the curvature changes, and to extract a linear trace using the constant term and the coefficient value (b) of the linear term. [4] Vehicle (100) according to any one of claims 1 to 3, wherein the control device (160) is configured to extract a driving trajectory by reshaping the vehicle driving trajectory detected from the driving environment information at regular intervals. [5] Vehicle (100) according to any one of claims 1 to 4, wherein the control device (160) is configured to use, when the map is generated, those driving environment information which correspond to a predetermined distance and a predetermined range of angles with respect to a position of the vehicle (100) among the driving environment information. [6] Vehicle (100) according to claim 1, wherein the control device (160) is configured to update the instantaneous map by using the temporary map as a new instantaneous map when the number of times a principal object of the temporary map is repeatedly detected is greater than or equal to a predetermined number and there is a difference between the temporary map and the instantaneous map, or when there is a difference between the temporary map and the instantaneous map in a predetermined range in which autonomous driving fails or the number of interventions by a driver is greater than or equal to a reference value. [7] Vehicle (100) according to any one of claims 1 to 6, wherein the vehicle detector comprises a lidar detector, a camera and a global positioning system (GPS) detector. [8] Control method for controlling a vehicle (100), wherein the method comprises: Acquisition (410) of driving environment information about a vehicle's surroundings (100) using a vehicle detector (150), Generating (420) a map which includes at least one of a surrounding terrain, a lane and a route, based on the captured driving environment information and storing the generated map as a temporary map, Comparing (430) the temporary map with an instantaneous map currently applied to the vehicle (100), Update (440) the current map by using the temporary map as a new current map if there is a difference between the temporary map and the current map Updating the current map by using the temporary map as a new current map if the number of times a main object of the temporary map is repeatedly detected is greater than or equal to a predetermined number and there is a difference between the temporary map and the current map, or if there is a difference between the temporary map and the current map in a predetermined range where autonomous driving fails or the number of driver interventions is greater than or equal to a reference value. Assigning an identification number to an existing instantaneous card and securing the existing instantaneous card, and after updating (440) the current map by using the temporary map as a new current map, resetting the current map to a most recent map among the secured maps, if a predetermined area in which autonomous driving fails or a number of driver interventions is greater than or equal to the reference value is a map update area. [9] Method according to claim 8, wherein the creation and storage of the card comprises: Extracting (510) predetermined data from the data acquired by the vehicle detector (150) from the driving environment information, Grouping (520) the extracted data, Extracting (530) a straight main line from the grouped data, and Generating (540) the surrounding terrain by extracting a surrounding line adjacent to the straight main line. [10] Method according to claim 8 or 9, wherein the creation and storage of the card comprises: Extracting (610) a constant term (c) of a quadratic or cubic equation obtained from the driving environment information, Subdividing (620) sections by means of a change in curvature based on a vehicle trajectory (K), and extracting a coefficient value of a linear term (b) of a quadratic or cubic equation obtained by converting the vehicle trajectory of each section into a quadratic or cubic curve, and Generating (630) a linear trace using the constant term (c) and the coefficient value (b) of the linear term, where said section is a section between sections where the curvature changes. [11] Method according to any one of claims 8 to 10, comprising generating and storing the card: Extracting a vehicle trajectory by reshaping (710) the vehicle trajectory obtained from the driving environment information at regular intervals. [12] Method according to any one of claims 8 to 11, wherein the map is generated by using the driving environment information which corresponds to a predetermined distance and a predetermined range of angles with respect to a position of the vehicle (100), among the driving environment information. [13] Autonomous driving system (300), comprising: a vehicle (100) equipped to acquire driving environment information about the surroundings of a vehicle by means of a vehicle detector (150) and to generate a map showing at least one of a surrounding terrain, a lane and a route, based on the acquired driving environment information, and an autonomous driving management server (200) configured to store the map transmitted by the vehicle (100) as a temporary map, to compare the temporary map transmitted by the vehicle with an instantaneous map currently applied to the vehicle at each time the vehicle travels, and, if there is a difference between the temporary map and the instantaneous map, to transmit the temporary map to the vehicle in order to update the instantaneous map by using the temporary map as a new instantaneous map, the vehicle is configured to update the current map by using the temporary map as a new current map if there is a difference between the temporary map and the current map, wherein, when the current map is updated by using the temporary map as the new current map, the vehicle is configured to assign an identification number to an existing current map and to store the existing current map in a memory (120), and wherein the vehicle is configured to reset the current map to a most recent map from among the maps stored in the memory (120) when an area in which autonomous driving fails or a number of driver interventions is greater than or equal to a reference value is a map update area. [14] Autonomous driving system (300) according to claim 13, wherein the autonomous driving management server (200) is configured to update the instantaneous map by using the temporary map as a new instantaneous map when the number of times a principal object of the temporary map is repeatedly detected is greater than or equal to a predetermined number and there is a difference between the temporary map and the instantaneous map, or when there is a difference between the temporary map and the instantaneous map in the area where autonomous driving fails or the number of driver interventions is greater than or equal to the reference value.

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