Autonomous driving system and autonomous driving procedure

Abstract

Autonomous driving system comprising an autonomous driving assistance device (200), the autonomous driving system comprising: an interface unit configured to perform wireless communication within a communication range with a router of a plurality of routers (100, 100a-g) installed on an autonomous roadway; a signal processing unit (220) configured to provide identification information of a vehicle at the time of establishing a wireless communication link with each router of the plurality of routers (100, 100a-g), and configured to provide travel path information of the vehicle to the router for (100, 100a-g) each specified cycle; a path tracking unit (230) configured to determine a speed, a direction of travel, and a steering angle of the vehicle included in the path information, so that the vehicle is driven based on the path information received from the router (100, 100a-g); a speed control unit (240) configured to control a speed of the vehicle based on the speed determined by the path tracking unit (230); and a steering angle control unit (250) configured to control a steering angle of the vehicle based on the traveling direction and the steering angle determined by the path tracking unit (230), wherein, when information of an abnormality of another vehicle or an abnormality of a router of the plurality of routers (100, 100a-g) is received, the signal processing unit (220) is configured to provide the received information to a control center (300).

Description

CROSS REFERENCE TO RELATED APPLICATION

[0001] This application claims priority to Korean Patent Application No. 10-2017-0002282, filed on January 6, 2017, the entire contents of which are incorporated herein by reference. AREA

[0002] The present disclosure relates to an autonomous driving system having an autonomous driving assistance device installed in a vehicle. BACKGROUND

[0003] The information in this section merely provides background information related to the present disclosure and may not be part of the prior art.

[0004] With the advancement of vehicle technology, we have entered the era of autonomous driving, in which a vehicle drives on a road by recognizing it. An autonomous vehicle is equipped with an autonomous driving system for autonomous driving and performs autonomous driving based on the autonomous driving system.

[0005] However, autonomous driving, which relies heavily on current road conditions, is quite challenging due to the numerous variables associated with the road. Furthermore, autonomous driving requires the autonomous driving system to be installed in every vehicle, which is costly and therefore inefficient.

[0006] KR 10 2012 0 072 043 A relates to a device, a method and a system for automatically guiding a vehicle, wherein an unmanned vehicle is controlled on the basis of driving information generated by a sensor unit in the vehicle and traffic information generated by a traffic information unit arranged around the road.

[0007] JP 2005-115 883 A relates to a method for autonomous driving of a vehicle on a road designated for that purpose.

[0008] KR 101 040 219 B1 relates to a device and a method for calculating a maximum speed of travel of an unmanned vehicle as a function of driving stability.

[0009] The above information disclosed in this Background section is merely intended to enhance the understanding of the background of the present disclosure, and thus may contain information that is not part of the prior art already known to those skilled in the art. SUMMARY

[0010] The present disclosure provides an autonomous driving system configured to be installed on a road, thereby making the corresponding road an autonomous roadway and enabling an autonomous vehicle and also a conventional vehicle to drive autonomously on the autonomous road.

[0011] The present disclosure also provides an autonomous driving system that can be implemented without a central server.

[0012] The exemplary forms of the present disclosure may be used to achieve other objects not specifically mentioned in detail, in addition to the objects mentioned.

[0013] The present invention is defined in claim 1, with preferred embodiments being given in the dependent claims.

[0014] Accordingly, an autonomous driving system is provided that includes an autonomous driving assistance device. The autonomous driving system includes: an interface unit configured to perform wireless communication with one router among a plurality of routers installed on an autonomous roadway within a communication range; a signal processing unit configured to provide identification information of a vehicle at the time of establishing a wireless communication link with each router and to provide the router with travel path information of the vehicle for each specified cycle; a path tracking unit configured to determine a speed, a progress direction, and a steering angle of the vehicle included in the travel path information, so that the vehicle is driven based on the travel path information received from the router;a speed control unit configured to control a speed of the vehicle based on the speed information obtained by the path tracking unit; and a steering angle control unit configured to control a steering angle of the vehicle based on the traveling direction and the steering angle obtained by the path tracking unit.

[0015] When information of an abnormality of another vehicle or an abnormality of at least one router of the plurality of routers is received, the signal processing unit provides the received information to a control center.

[0016] The signal processing unit may provide specification information of the vehicle to an input router when a request for the specification information of the vehicle is received from the input router installed on an access road of an autonomous driving lane, and wherein the interface unit may receive the travel path information from the input router when the specification information of the vehicle satisfies a set specification and receive a travel avoidance message related to the autonomous driving lane from the input router when the specification information does not satisfy the set specification.

[0017] The signal processing unit may notify a router currently in communication of the traveling direction at a road branch point or a departure intention at a departure point when a distance between a current location and the road branch point or the departure point is within a certain distance, in a case where a road ahead is the road branch point such as an intersection or the like or the departure point from the autonomous driving path is present and the vehicle turns at the road branch point or departs at the departure point.

[0018] The interface unit may receive the travel path information received from each router of the plurality of routers, and the travel path information may be travel path information for traveling the vehicle in a specified section.

[0019] The specified section may be a section of the maximum distance in which one of the plurality of routers is configured to perform wireless communication with the vehicle based on the autonomous driving path.

[0020] The interface unit may receive route information that needs to be provided by an abnormal router from a pre-router of the abnormal router, the route information being provided when the abnormal router is present.

[0021] The autonomous driving system may further include: an entrance router installed in each access road of the autonomous driving lane; an exit router installed in each exit road of the autonomous driving lane; and a plurality of routers installed on a road between each entrance router and each exit router, wherein each entrance router, each exit router, and each of the plurality of routers has unique identification information and is configured to perform the wireless communication connection with the vehicle within the communication range and provide the vehicle with the travel path information for the specified section to enable the vehicle to be driven on a specified movement path within the specified section based on the travel path information.

[0022] Each ingress router, each egress router, and each of the multiple routers can perform wireless communication with a neighboring router to determine whether the neighboring router is malfunctioning.

[0023] Each input router, each output router, and the router positioned among the multiple routers in a curve section may determine a vehicle kinetic modeling coefficient corresponding to a vehicle type and perform a vehicle kinetic interpretation based on the determined vehicle kinetic modeling coefficient to determine the travel path information and provide the determined travel path information to the vehicle.

[0024] Each input router, each output router, and each of the plurality of routers may compare the vehicle speed and steering angle received from the vehicle with the vehicle speed and steering angle included in the travel path information provided to a corresponding vehicle to determine whether the corresponding vehicle is behaving abnormally.

[0025] A current router and routers positioned behind the current router may be configured to provide the autonomous driving assistance device, through the wireless communication between neighboring routers, with the travel path information corresponding to a turn and a departure based on the traveling direction of the vehicle, to enable a corresponding vehicle to change a direction to a target direction or to guide the corresponding vehicle to a corresponding departure point at the road branching point, wherein the autonomous driving assistance device is configured to provide the departure intention in the traveling direction or the departure point at the road branching point.

[0026] According to the exemplary forms of the present disclosure, an autonomous vehicle and also a conventional vehicle are enabled to be driven autonomously at low cost. Furthermore, reliable autonomous driving is enabled through vehicle kinetic interpretation suitable for a characteristic of each type of conventional vehicle.

[0027] Furthermore, the present disclosure provides an autonomous driving system that can be implemented without using a central server and thus innovatively reduces system design costs.

[0028] Furthermore, the autonomous driving system can be used as a traffic accident avoidance system on both a conventional road and an autonomous roadway.

[0029] Further areas of applicability will become apparent from the description provided. The description and specific examples are intended for purposes of illustration only and are not intended to limit the scope of the present disclosure. DRAWINGS

[0030] For an understanding of the disclosure, various forms are set forth below by way of example with reference to the accompanying drawings. Fig. 1 is a schematic diagram of the structure of an autonomous driving system; Fig. 2 is a block diagram of a router and an autonomous driving assistance device; Fig. 3 is an exemplary schematic diagram illustrating an autonomous driving environment; Fig. 4 is a flowchart of the operation of an autonomous driving system; and Fig. Figure 5 is a diagram describing kinetic vehicle modeling.

[0031] The drawings provided herein are for illustration purposes only and are not intended to limit the subject matter of the present disclosure. DETAILED DESCRIPTION

[0032] The following description is merely exemplary and is not intended to limit the present disclosure, application, or uses. It should be understood that throughout the drawings, like reference characters designate like or corresponding parts and features.

[0033] It will be apparent to those skilled in the art that the described embodiments can be modified in various ways without departing from the spirit or scope of the present disclosure. In the drawings, parts not related to the description have been omitted in order to clearly describe the embodiments of the present disclosure. Furthermore, a detailed description of the widely known prior art is omitted.

[0034] Throughout the specification, unless otherwise stated, the word "comprise" and variations such as "comprises" or "comprising" are understood to imply the inclusion of the specified elements but not the exclusion of others. Furthermore, terms such as "unit," "module," and the like disclosed in the specification refer to a unit that performs at least one function or operation, which may be implemented by hardware or software, or a combination of hardware and software.

[0035] Hereinafter, an autonomous driving system according to an embodiment of the present disclosure will be described with reference to the accompanying drawings.

[0036] Fig. 1 is a schematic diagram of the structure of an autonomous driving system according to an embodiment of the present disclosure. With reference to Fig. 1, the autonomous driving system comprises a plurality of routers 100 installed on or at a road and an autonomous driving assistance device 200 installed in a vehicle.

[0037] Each of the plurality of routers 100 has unique identification information (identification code) and is installed on the side of the road, on a sidewalk, or on the road, so that a conventional road where the routers 100 are installed becomes an autonomous roadway. According to one form, the respective routers 100 may be installed at a certain distance while overlapping the communication areas, but the routers 100 may also be installed at a straight-line distance such that the communication areas do not overlap, or they may have a distance greater than a curved section.

[0038] Each router 100 performs wireless communication (e.g., short-range wireless communication, RF wireless communication, Bluetooth communication, and the like) with a vehicle located within the communication range, and provides the vehicle with information (hereinafter referred to as "travel path information") regarding a travel path of a set section through the wireless communication. The travel path information includes information about a travel direction, a travel speed (vehicle speed), a steering angle, and the like of the vehicle. The set section, as an autonomous travel section for which a router is responsible, is, for example, a section of the maximum distance within which a router can perform wireless communication with the vehicle based on the road.However, if the specified section is a straight section, the specified section may be longer than the section of the maximum distance at which a router can perform wireless communication with the vehicle.

[0039] Further, each router 100 performs wireless communication with the vehicle located within a specified area (i.e., the specified section) to receive the vehicle's speed and steering information from the vehicle. Each router 100 determines whether the vehicle is behaving abnormally based on the vehicle's speed and steering information received from the vehicle. For example, the router 100 determines that the vehicle is behaving abnormally based on the vehicle's speed when the vehicle is not traveling, and determines that the vehicle is behaving abnormally when the vehicle's speed and the speed of the traveling path information provided by the steering information differ from each other, or the traveling paths differ from each other.

[0040] Each router 100 also performs wireless communication with two neighboring routers (one router in the case of a router positioned at an end point, ie, entry or exit point), determines through wireless communication whether the neighboring router is behaving abnormally, and provides the neighboring router with the vehicle's speed and steering information received from the vehicle. Hereinafter, a router of the neighboring routers positioned in front of the router relative to the vehicle's traveling direction is referred to as a front-end router, and a router positioned behind the router is referred to as a back-end router.

[0041] Furthermore, each router 100 provides the vehicle with the path information that an abnormally behaving router would provide, instead of the abnormally behaving router, when the neighboring router is behaving abnormally. For example, each router may provide the path information instead of the downstream router if the downstream router is behaving abnormally, based on the vehicle's travel direction.

[0042] A conventional vehicle to be drivable on the autonomous lane must have cruise control, motor-driven power steering (MDPS), and automatic emergency braking (AEB) as required specifications. A conventional vehicle that does not meet the required specifications cannot be driven autonomously, and thus the conventional vehicle should not enter the autonomous lane. Therefore, the router (hereinafter referred to as an entrance router) 100, installed at an access road (entrance) of the autonomous lane, has a function of performing a specification check of the corresponding vehicle through wireless communication with an entering vehicle and causing only a vehicle meeting the required specifications to enter the autonomous lane.

[0043] On the other hand, the turning radius when a vehicle corners depends on the vehicle's weight, axial center (center of gravity), overall length, overall width, vehicle speed, and so on. This means that the turning radii of different vehicle types are not the same. If the same path information is provided to all vehicles in a curved section (a curve in the road), regardless of vehicle type, a problem arises that some vehicle types may leave the road or cause traffic congestion.To solve this problem, the router positioned in the curve section to provide the travel path of the curve has a function of identifying the vehicle type of the vehicle, storing a vehicle kinetic modeling coefficient (e.g., weight, axial center, overall length, overall width, traveling speed, and the like) for each vehicle type, performing vehicle kinetic interpretation using the modeling coefficient, and providing the traveling direction and steering angle of the vehicle to the vehicle at any time. Consequently, the vehicle kinetic interpretation can reliably increase an automatic traveling speed, thereby providing an autonomous driving service more efficiently.

[0044] Furthermore, the pre-router, like the corresponding router, has a function of identifying the vehicle type and determining the traveling direction and steering angle of the vehicle through the vehicle kinetic interpretation using the vehicle kinetic modeling coefficient for each vehicle type in the event that the router installed in the curve section behaves abnormally or malfunctions.

[0045] The autonomous driving assistance device 200 is connected to the driving control device, the MDPS system, and the AEB system installed in the vehicle, and performs wireless communication with the router 100 within the communication range to provide the router with vehicle identification information, traveling direction information, and steering angle information of the vehicle, and to receive the traveling path information and the like from the router 100. Furthermore, the autonomous driving assistance device 200 drives the vehicle by controlling the speed, traveling direction, and steering angle of the vehicle according to the traveling path information received from the router 100.

[0046] Furthermore, the autonomous driving system may include a control server 300. In this case, the control server 300 performs a function as a monitoring system that receives and acquires various information about autonomous driving through wireless communication with the autonomous driving assistance device 200. This may be, for example, a server of a telematics management system (TMS). The information provided by the autonomous driving assistance device 200 includes status information (including identification information of the abnormally behaving router when the router is not functioning normally) of each router and travel history information of the corresponding vehicle on the autonomous road.

[0047] For wireless communication between the vehicle and the control server 300, the autonomous driving assistance device 200 can be used, but a driver's mobile device (smartphone) can also be used. In this case, the autonomous driving assistance device 200 performs wireless communication with the mobile device and transmits various information to the control server 300 via the mobile device.

[0048] In the following, the router 100 and the autonomous driving assistance device 200 will be described in more detail with reference to Fig. 2 described. Fig. 2 is a block diagram of a router and an autonomous driving assistance device according to an embodiment of the present disclosure.

[0049] With reference to Fig. 2, the router 100 includes a vehicle communication unit 110, a router communication unit 120, a road information providing unit 130, and an abnormal state processing unit 140, and may further include a specification determining unit 150 or a kinetics interpreting unit 160.

[0050] The vehicle communication unit 110 identifies the vehicle within a short-range wireless communication area and performs wireless communication with the identified vehicle. The router communication unit 120 identifies the router within the short-range wireless communication area and performs wireless communication with the identified router.

[0051] The road information providing unit 130 provides, in the setting section, the travel path information for which the corresponding router is responsible with respect to the autonomous driving assistance device 200 of the vehicle. In this case, the provided travel path information is stored or acquired in advance by the kinetics interpretation unit 160. Furthermore, the road information providing unit 130 acquires vehicle information received from the upstream router and the downstream router to determine a distance between a current vehicle and a preceding vehicle and a distance between the current vehicle and a following vehicle, and provides the acquired distances to the current vehicle.

[0052] The abnormal state processing unit 140 compares the travel path information (vehicle speed, travel direction, steering angle information, and the like) of the vehicle received from the vehicle communication unit 110 with the travel path information provided to the corresponding vehicle to determine whether the corresponding vehicle deviates from the travel path information, and determines that the vehicle is behaving abnormally if the corresponding vehicle deviates from the travel path information. Furthermore, the abnormal state processing unit 140 determines the corresponding router as a faulty router through the router communication unit 120 if the neighboring router does not respond (that is, the neighboring router is malfunctioning).In the case where the vehicle behaves abnormally, the abnormal state processing unit 140 reports the case to the pre-router and post-router and further reports the case to the other vehicle, and in the case where the router behaves abnormally, the abnormal state processing unit 140 reports the case to the vehicle.

[0053] The specification determination unit 150 may be provided in the router installed in the input router, and determines the specification of the vehicle entering the communication range, decides whether the vehicle enters the autonomous driving lane according to the determined specification, and notifies the determination result to the vehicle.

[0054] The kinetic interpretation unit 160 determines the vehicle type of the vehicle entering the communication area, determines the prestored modeling coefficient corresponding to the vehicle type, and determines the traveling direction and steering angle of the vehicle through kinetic interpretation using the determined modeling coefficient. The kinetic interpretation unit 160 further includes information about the vehicle speed to provide the information to the vehicle.

[0055] An example of the operation of the kinetics interpretation unit 160 is described with reference to Fig. 5 described. Fig. 5 is a diagram for describing vehicle kinetic modeling according to an embodiment of the present disclosure.

[0056] With reference to Fig. 5, the modeling coefficient to be considered when interpreting the kinetics of the vehicle includes the center of gravity A of the vehicle, the traveling direction x of the vehicle, a horizontal direction (left / right direction) y, a vertical direction (up / down direction) z, a total length (1=11+12) which is a distance between the center of a front wheel and the center of a rear wheel, a traveling angle ψ, a slip angle β, a mass m, an angular velocity O, a steering angle d, a sliding angle a, and the like, and wherein the kinetics interpretation unit 160 employs equations (1) to (3) set forth below, using the modeling coefficient corresponding to the vehicle type of the corresponding vehicle, and calculates the traveling direction x'(t) of the vehicle, which is a value of the first derivative, and d(t), which is the steering angle of the vehicle, by means of the equations (1) to (3),to provide the vehicle with x'(t) and d (t)., m(v˙x−VyΩz)=Fxfcos(δf)+Fxr−Fyf sin(δf) m(v˙y+VxΩz)=Fyf cos(δf)+Fyr−Fxf sin(δf) lzΩz=l1Fyf cos(δf)−l2Fyr+l1Fxfsin(δf)

[0057] The vehicle driving assistance device 100 includes an interface unit 210, a signal processing unit 220, a path tracking unit 230, a speed control unit 250, and a steering angle control unit 250.

[0058] The interface unit 210 performs wireless communication with the router 100 within the communication range and performs wireless communication with the control server 300 or the driver's mobile device.

[0059] The signal processing unit 220 identifies the signal type received by the interface unit 210 and processes the signal to perform the function corresponding to the received signal.For example, the signal processing unit 220 provides the identification information of the vehicle or the specification information of the vehicle at the time of establishing a wireless communication link with the router 100, provides the travel path information (the speed, the direction, the steering angle, and the like) of the vehicle for each set cycle to the router 100 or the control server 300, provides the travel path information to the path tracking unit 230 when the travel path information is received from the router 100, and provides information about an abnormal behavior of the other vehicle or router to the control center 300 via the interface unit 210 at the time of receiving the information about the abnormal behavior.

[0060] The path tracking unit 230 determines the speed, traveling direction, steering angle information, and the like included in the traveling path information, so that the vehicle is driven according to the traveling path information received from the router 100. The speed control unit 250 controls the speed of the vehicle in conjunction with the cruise control and AEB systems according to the speed information received from the path tracking unit 230, and the steering angle control unit 250 controls the steering angle, that is, the traveling direction of the vehicle, in conjunction with the MDPS according to the traveling direction and steering angle information received from the path tracking unit 230.

[0061] In the following, the operation of the routers in an autonomous driving environment according to an embodiment of the present disclosure will be described with reference to Fig. 3 described. Fig. 3 is an example graphical representation illustrating an autonomous driving environment.

[0062] When the vehicle enters the autonomous driving lane, an entrance router 100a of the access road determines whether the vehicle can perform wireless communication and the specification of the vehicle, interrupts the entry of the vehicle if wireless communication cannot be performed and / or the specification of the vehicle does not meet a set condition (the cruise control, the MDPS and the AEB system are installed), and only allows a vehicle that can perform wireless communication and has the specification of the set condition to enter the access road.

[0063] The vehicle entering the access road receives travel path information Path1 from a first router 100b, which is the neighboring router of the input router 100a, to be driven according to the travel path information Path1. Here, the input router 100a can provide the travel path information Path1, and since the first router 100b is positioned in the curve section, the travel path information Path1 can be the travel path information obtained from the kinetic interpretation of the vehicle. However, since the vehicle entering the access road starts from a non-driving state, the speed is not high, so even if the first router 100b is positioned in the curve section, the first router 100b does not necessarily need to perform the kinetic interpretation of the vehicle.

[0064] When the vehicle driven according to the driving route information Way1 enters the communication range of a second router 100c, the vehicle performs wireless communication with the second router 100c to receive driving route information Way2 and to be driven according to the driving route information Way2.

[0065] Subsequently, when the vehicle enters the communication area of ​​a third router 100d, the vehicle performs wireless communication with the third router 100d to receive travel path information Path3 and is driven according to the travel path information Path3. When the vehicle successively enters the communication areas of a fourth and fifth router 100e and 100f, the vehicle receives the travel path information Path4 or Path5 and is driven according to the travel path information Path4 or Path5. In this case, since the third to fourth routers 100d, 100e, and 100f are positioned in the curved section, the travel path information Path3, Path4, or Path5 is travel path information obtained by the kinetic interpretation of the vehicle.

[0066] The signal processing unit 220 of the vehicle autonomous driving assistance device 200 further notifies the current router 100 of the traveling direction (a change in traveling direction such as a left turn or a right turn) at a road branch point or a departure intention at the corresponding departure point when a distance between a current position and the road branch point or the departure point is within a certain distance in the case where a road ahead is the road branch point such as an intersection or the like, or the departure point of the autonomous driving lane is present and the vehicle turns at the branch point or departs at the departure point.

[0067] Subsequently, the router 100 receiving the traveling direction or the departure intention reports this information to downstream routers to provide the vehicle, ie, the autonomous driving assistance device 200, with traveling path information consistent with the traveling direction or departure of the vehicle.

[0068] For example, if the vehicle reports the departure from the autonomous lane to the third router 100d, the third router 100d reports the departure of the corresponding vehicle to the fourth router 100e, the fourth router 100e reports the departure of the corresponding vehicle to the fifth router 100f, and the fifth router 100f reports the departure of the vehicle to the exit router 100g.

[0069] In the following, an autonomous driving procedure in the autonomous driving environment is presented in Fig. 3, with reference to Fig. 4 described. Fig.4 is a flowchart of the operation of an autonomous driving system according to an embodiment of the present disclosure.

[0070] The vehicle enters the entrance of the access road of the autonomous driving lane from the conventional road (S401). Subsequently, the autonomous driving assistance device 200 of the vehicle receives a request for providing usage information from the entrance router 100a installed on the access road and provides the vehicle specification information to the entrance router 100a in response to the request (S402).

[0071] The autonomous driving assistance device 200 receives a signal from the entry router 100a indicating whether entry is permitted (S403). If a signal prohibiting entry is received (S404), the autonomous driving assistance device 200 performs a function corresponding to prohibiting entry (S405). If a signal permitting entry is received (S404), the driver switches and changes from the manual driving mode to the autonomous driving mode (S406). In the case of autonomous driving of the vehicle, the process of S406 may be omitted.

[0072] The autonomous driving assistance device 200 of the vehicle entering the autonomous road receives the travel path information through wireless communication with the router 100 within the communication range (S407), and is driven along a path notified from the router 100 by controlling the traveling direction, speed, and steering angle according to the information included in the travel path information (S408).

[0073] The autonomous driving assistance device 200 determines the route from the current location to a set destination point while traveling on the autonomous road according to a command from the router 100 to determine a remaining distance from the exit point of the autonomous road to the current location (S409), and determines whether the remaining distance is equal to or less than a set value (S410). The processes S409 and S410 are also performed in a case where the vehicle changes direction to the left or right at a road branch point (intersection).

[0074] The autonomous driving assistance device 200 continuously operates according to the travel path information received from the router 100 when the remaining distance is equal to or greater than a certain value, and notifies the corresponding router 100, for example, the third router 100d, of the departure of the vehicle, including the departure location of the vehicle, when the remaining distance is equal to or less than the certain value (S411).

[0075] Subsequently, the third router 100d reports the departure of the vehicle, which includes the departure location of the corresponding vehicle, to the fourth router 100e, the fourth router 100e reports the departure of the vehicle to the fifth router 100f, and the exit router 100g, which is positioned at the departure location of the vehicle and in the vicinity thereof, finally learns the departure of the vehicle.

[0076] In this case, after receiving the vehicle's departure intention, the downstream routers 100d to 100f provide the autonomous driving assistance device 200 with the travel path information related to the vehicle's departure. The vehicle is driven according to the travel path information provided by the downstream routers 100d to 100f (S412) until reaching the downstream router 100g (S413).

[0077] When the vehicle reaches the exit router 100g, the autonomous driving assistance device 200 receives the departure path information from the exit router 100g (S414) and drives according to the received departure path information to move away from the autonomous driving lane (S415).

[0078] While the present disclosure has been described in connection with what is presently considered to be the most practical embodiments, it should be understood that the present disclosure is not limited to the disclosed embodiments, but rather is intended to cover various modifications and equivalent arrangements within the spirit and scope of the present disclosure. <Beschreibung der Bezugszeichen> 100, 100a, 100b, 100c, 100d, 100e, 100f, 100g routers 100a input router 100g output router 200 Autonomous driving assistance device 300 Control Center 110 Vehicle communication unit 120 routers 130 Road Information Provision Unit 140 Abnormal Condition Processing Unit 150 Specification Determination Unit 160 Kinetics Interpretation Unit 210 Interface unit 220 Signal processing unit 230 tracking unit 240 speed control unit 250 steering angle control unit

Claims

[1] Autonomous driving system comprising an autonomous driving assistance device (200), the autonomous driving system comprising: an interface unit configured to perform wireless communication within a communication range with a router of a plurality of routers (100, 100a-g) installed on an autonomous roadway; a signal processing unit (220) configured to provide identification information of a vehicle at the time of establishing a wireless communication link with each router of the plurality of routers (100, 100a-g), and configured to provide travel path information of the vehicle to the router for (100, 100a-g) each specified cycle; a path tracking unit (230) configured to determine a speed, a direction of travel, and a steering angle of the vehicle included in the path information, so that the vehicle is driven based on the path information received from the router (100, 100a-g); a speed control unit (240) configured to control a speed of the vehicle based on the speed determined by the path tracking unit (230); and a steering angle control unit (250) configured to control a steering angle of the vehicle based on the traveling direction and the steering angle determined by the path tracking unit (230), wherein, when information of an abnormality of another vehicle or an abnormality of a router of the plurality of routers (100, 100a-g) is received, the signal processing unit (220) is configured to provide the received information to a control center (300). [2] Autonomous driving system according to claim 1, wherein the signal processing unit (220) is configured to provide specification information of the vehicle to an input router (100a) when a request for the specification information of the vehicle is received from the input router (100a) installed on an access road of an autonomous roadway, and the interface unit (210) is configured to receive the route information from the input router (100a) when the specification information of the vehicle satisfies a predetermined specification, and to receive a travel avoidance message regarding the autonomous driving lane from the input router (100a) when the specification information does not satisfy the predetermined specification. [3] Autonomous driving system according to claim 1 or 2, wherein the signal processing unit (220) is configured to notify a router (100, 100a-g) currently in communication of the direction of travel at a road branching point or an intention to depart at a departure point when a distance between a current location and the road branching point or the departure point is within a certain distance, when a road ahead is the road branching point or the departure point of the autonomous driving path and the vehicle turns at the road branching point or departs at the departure point. [4] An autonomous driving system according to claim 3, wherein the road branching point is an intersection. [5] Autonomous driving system according to one of the preceding claims, wherein the interface unit (210) is arranged to receive the route information received from each router of the plurality of routers (100, 100a-g), and the route information is route information for driving the vehicle in a specified section. [6] The autonomous driving system according to claim 5, wherein the predetermined section is a section of the maximum distance in which one router of the plurality of routers (100, 100a-g) is arranged to perform the wireless communication with the vehicle on the autonomous road. [7] Autonomous driving system according to claim 5 or 6, wherein the interface unit (210) is arranged to receive the route information provided by an abnormal router from a pre-router of the abnormal router, and the route information is provided when the abnormal router is present. [8] Autonomous driving system according to one of the preceding claims, further comprising: an entrance router (100a) installed in each access road of the autonomous roadway; an exit router (100g) installed in each exit lane of the autonomous roadway; and several routers (100b-f) installed on a road between each input router and each output router, where each input router (100a), each output router (100g) and each router of the plurality of routers (100b-f) has unique identification information and each router (100, 100a-g) is configured to perform wireless communication with the vehicle within the communication range and to provide the vehicle with the travel path information for a specified section to enable the vehicle to be driven on a specified movement path within the specified section based on the travel path information. [9] The autonomous driving system according to claim 8, wherein each input router (100a), each output router (100g), and each router of the plurality of routers (100b-f) is configured to perform wireless communication with a neighboring router to determine whether the neighboring router is malfunctioning. [10] Autonomous driving system according to claim 8 or 9, wherein each input router (100a), each output router (100g) and a router of the plurality of routers (100b-f) positioned in a curve section is configured to determine a kinetic vehicle modeling coefficient corresponding to a vehicle type and to perform a kinetic vehicle interpretation based on the kinetic vehicle modeling coefficient to determine the travel path information and to provide the determined travel path information to the vehicle. [11] Autonomous driving system according to one of claims 8 to 10, wherein each input router (100a), each output router (100g) and each of the plurality of routers (100b-f) is arranged to compare the vehicle speed and the steering angle received from the vehicle with the vehicle speed and the steering angle included in the travel path information provided to a corresponding vehicle to determine whether the corresponding vehicle is behaving abnormally. [12] An autonomous driving system according to any one of the preceding claims, wherein a current router and routers positioned behind the current router are configured to provide the autonomous driving assistance device, through the wireless communication between adjacent routers, with the travel path information corresponding to a change of direction and a departure based on the traveling direction of the vehicle, to enable a corresponding vehicle to change direction to a target direction or to guide the corresponding vehicle to a corresponding departure point at a road branching point, and wherein the autonomous driving assistance device (200) is configured to provide the departure intention in the traveling direction or the departure point at the road branching point.

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