Safe and autonomous driving operation method based on lidar measurement information and physical detection data from driving, and system therefor

Abstract

The present invention relates to a safe and autonomous driving operation method reflecting LiDAR measurement information and physical detection data from driving, and a system therefor, which precisely measure surrounding driving environment information from autonomous driving by using a high-resolution LiDAR system, and accurately detect and analyze physical driving environment data from autonomous driving to precisely analyze and compare physical information detected by using an inertial navigation system and data obtained by measuring, as a three-dimensional image by using LiDAR, a change in a driving environment including a sudden change in a driving environment, a sharp curve, and steep uphill and downhill slopes, so as to enable a passenger to have a comfortable ride without feeling inconvenience.

Description

A safe driving autonomous driving operation method and system based on lidar measurement information and driving-related physical detection data

[0001] The present invention relates to a method and system for operating autonomous driving safely based on lidar measurement information and physical detection data obtained by driving. More specifically, the present invention relates to a method and system for operating autonomous driving safely based on lidar measurement information and physical detection data obtained by driving, which directly and precisely measures (detects) surrounding driving environment information obtained by autonomous driving using a high-resolution lidar system, and further, to detect and analyze physical driving environment data obtained by autonomous driving very precisely, thereby enabling a passenger to enjoy a comfortable ride without discomfort by precisely analyzing and comparing data measured in three dimensions using high-resolution lidar and physical detection data obtained by driving, such as curvature information regarding sharp curves and steep uphill and downhill slopes, with physical information obtained by detecting the data using an inertial navigation system.

[0002] An autonomous vehicle is a vehicle that automatically determines its driving path by recognizing the surrounding traffic environment without the driver manually operating the vehicle. In order to achieve stable autonomous driving, it is essential to have technologies such as measuring the road traffic environment, controlling the vehicle's driving according to the measured driving environment, and preventing collisions or rear-end collisions.

[0003] In order for autonomous vehicles to recognize the surrounding traffic environment, various precision sensors and vehicle driver assistance systems (ADAS; Advanced Driver Assistance System) are being equipped, and the technology for autonomous driving systems (Autonomous Driving Systems) that automatically drive to a given destination based on the recognized surrounding traffic environment information is being actively developed. The autonomous driving system means performing distance, positioning, recognition, prediction, planning, and control for autonomous driving of vehicles.

[0004] The autonomous driving system processes point cloud data acquired through various sensors (LiDAR, acceleration sensor, angular velocity sensor, etc.), detects and determines objects located around the autonomous vehicle, and receives location information, attitude information, and speed information to establish a driving plan that includes the autonomous vehicle's movement path and speed.

[0005] Therefore, there is a need to develop technology for autonomous driving systems, and a prior art that partially addresses this need is 'Collision avoidance system and collision avoidance method for autonomous vehicles', registered in the Republic of Korea as Patent No. 10-2184929 (November 25, 2020).

[0006] Figure 1 is a functional configuration diagram of an autonomous driving system using lidar measurement information according to an embodiment of the prior art.

[0007] Hereinafter, referring to the attached drawings, the prior art will be described in detail. The autonomous driving system includes a sensor unit (110), a control unit (120), and a driving unit (130).

[0008] The sensor unit (110) is for measuring the driving environment and includes a camera sensor (111) that obtains images of the surrounding driving environment; a radar sensor (112) and a lidar sensor (113) that detect other vehicles or obstacles in the surroundings; and a GPS (Global Positioning System) (114) that confirms the current location of the autonomous vehicle in real time.

[0009] The control unit (120) is composed of a general driving algorithm (210) that controls general driving; a collision avoidance algorithm (220) that avoids collisions; and the collision avoidance algorithm (220) includes a collision avoidance algorithm (221) that controls to avoid a primary collision and an algorithm (222) that prevents a secondary accident.

[0010] The driving unit (130) includes a steering actuator (131) that controls the driving direction and an acceleration / deceleration actuator (132) that controls the driving speed of the autonomous vehicle.

[0011] The conventional technology has the advantage of separating the driving algorithm and the collision avoidance algorithm and operating them in parallel, so that it can respond appropriately to various situations, and the collision avoidance algorithm is applied first in emergency situations, thereby increasing safety.

[0012] However, conventional technologies still have the problem of not being able to minimize the transmission of relative gravity, centrifugal force, and acceleration force to passengers while responding to changes in the driving environment, including sharp curves, increased driving acceleration, and upward and downward slopes, that autonomous vehicles encounter while driving, and thus provide a sense of safety and comfort.

[0013] Therefore, there is a need to develop technology that minimizes the relative sensations of gravity, centrifugal force, and acceleration to passengers while responding to changes in the driving environment such as sharp curves, increased driving acceleration, and upward and downward slopes on the autonomous vehicle driving path, thereby enabling safe driving while feeling comfortable.

[0014] [Prior Art Literature]

[0015] [Patent Document]

[0016] Republic of Korea Patent Registration No. 10-2184929 (November 25, 2020) 'Collision Avoidance System and Collision Avoidance Method for Autonomous Vehicles'

[0017] Republic of Korea Patent Registration No. 10-2643539 (February 28, 2024) 'Collision Avoidance System and Collision Avoidance Method for Autonomous Vehicles'

[0018] In order to solve the problems and needs of the above-mentioned conventional technology, the purpose of the present invention is to provide a safe driving autonomous driving operation method and system based on high-resolution lidar measurement information and physical detection data during driving, which quickly respond to changes in the driving environment due to sharp curves, increased driving acceleration, and upward and downward slopes located on the driving path of an autonomous vehicle, thereby preventing gravity, centrifugal force, and acceleration force from being transmitted to passengers, thereby quickly controlling the driving of the vehicle and enabling smooth and safe driving.

[0019] In order to achieve the above purpose, the safe driving autonomous driving system based on high-resolution lidar measurement information and physical detection data during driving of the present invention comprises: a circuit shield housing (95) which is fixedly installed on a part of a body frame of an autonomous vehicle and blocks the inflow of electromagnetic waves, foreign substances, and moisture from the outside, and has a box shape; an autonomous vehicle central control unit (100) which is built-in into a part of the circuit shield housing (95) and is connected to each driving unit provided in the autonomous vehicle and outputs a corresponding control signal for autonomous driving according to the built-in parameters and program operation; a speed-distance average detection unit (200) which is built-in into a part of the circuit shield housing (95) and detects an angular velocity, a moving velocity, a moving direction, and a moving distance during driving according to the corresponding control signal of the autonomous vehicle central control unit (100), and calculates and outputs an average value; It may include a slope detection unit (300) that is built-in to a part of the circuit shield housing (95) and inputs and analyzes an elevation value applied from the speed and distance average detection unit (200) by a corresponding control signal of the autonomous vehicle central control unit (100) to detect a slope; an object distance detection unit (400) that is built-in to a part of the circuit shield housing (95) and detects a distance to an object located in front by a corresponding control signal of the autonomous vehicle central control unit (100) and calculates and outputs an average value; and an image outline detection unit (500) that is built-in to a part of the circuit shield housing (95) and extracts an outline of a front image secured with visible light and infrared rays by digital image processing by a corresponding control signal of the autonomous vehicle central control unit (100).

[0020] It may further include a brake system unit (600) that is built-in to a part of the circuit shield housing unit (95) and stops the driving of the autonomous vehicle by a corresponding control signal of the autonomous vehicle central control unit (100); a driving force output engine unit (700) that is built-in to a part of the circuit shield housing unit (95) and outputs power for driving the autonomous vehicle by a corresponding control signal of the autonomous vehicle central control unit (100); a touch display unit (800) that is built-in to a part of the circuit shield housing unit (95) and outputs operating status information as multimedia by a corresponding control signal of the autonomous vehicle central control unit (100) and inputs a command signal by touch; and a steering system unit (900) that is built-in to a part of the circuit shield housing unit (95) and steers the driving direction by a corresponding control signal of the autonomous vehicle central control unit (100).

[0021] The above speed-distance average detection unit (200) includes an IMU unit (210) that outputs physical inertial information in response to a corresponding control signal of the autonomous vehicle central control unit (100); a GPS unit (220) that receives and outputs a GPS signal broadcast by a GPS satellite in response to a corresponding control signal of the autonomous vehicle central control unit (100); an inertial information output unit (230) that inputs a physical inertial signal output from the IMU unit (210) in response to a corresponding control signal of the autonomous vehicle central control unit (100) and analyzes and outputs information on rotational speed, movement speed, movement direction, and movement distance, respectively; a GPS information output unit (240) that inputs GPS signal information output from the GPS unit (220) in response to a corresponding control signal of the autonomous vehicle central control unit (100) and analyzes and outputs information on rotational speed, movement speed, movement direction, movement distance, time, and elevation, respectively. It may include an arithmetic mean calculation unit (250) that inputs rotation speed, movement speed, movement direction, and movement distance information from the inertial information output unit (230) and the GPS information output unit (240) according to the corresponding control signal of the autonomous vehicle central control unit (100), calculates an arithmetic mean for each, and outputs each.

[0022] The above object distance detection unit (400) includes a lidar sensor unit (410) that senses the distance to an object located in front as a lidar signal by a corresponding control signal of the autonomous vehicle central control unit (100); an ultrasonic sensor unit (420) that senses the distance to an object located in front as an ultrasonic signal by a corresponding control signal of the autonomous vehicle central control unit (100); a lidar distance calculation unit (430) that analyzes the signal sensed by the lidar sensor unit (410) by a corresponding control signal of the autonomous vehicle central control unit (100) and calculates a distance value to the object; and an ultrasonic distance calculation unit (440) that analyzes the signal sensed by the ultrasonic sensor unit (420) by a corresponding control signal of the autonomous vehicle central control unit (100) and calculates a distance value to the object. It may include an arithmetic mean distance calculation unit (450) that inputs distance values ​​from the lidar distance calculation unit (430) and the ultrasonic distance calculation unit (440) to the target object according to the corresponding control signal of the autonomous vehicle central control unit (100), calculates an arithmetic mean, and outputs the result.

[0023] The image outline detection unit (500) includes a visible light image acquisition unit (510) that acquires a front image in visible light by a corresponding control signal of the autonomous vehicle central control unit (100); an infrared image acquisition unit (520) that acquires a front image in infrared light by a corresponding control signal of the autonomous vehicle central control unit (100); a light illumination unit (530) that selectively outputs visible light illumination and infrared illumination toward the front by a corresponding control signal of the autonomous vehicle central control unit (100); a visible light outline extraction unit (540) that extracts outline information of each object for the front image by digital image processing of the visible light image acquired from the visible light image acquisition unit (510) by a corresponding control signal of the autonomous vehicle central control unit (100); It may include an infrared contour extraction unit (550) that extracts contour information of each object for the front image by digital image processing of an infrared image acquired from the infrared image acquisition unit (520) by a corresponding control signal of the autonomous vehicle central control unit (100); and an arithmetic mean contour operation unit (560) that inputs contour information extracted from the visible light contour extraction unit (540) and contour information extracted from the infrared contour extraction unit (550) by a corresponding control signal of the autonomous vehicle central control unit (100), respectively, and outputs contour information obtained by calculating an arithmetic mean.

[0024] The circuit shield housing portion (95) above is coated with a functional blocking coating agent to provide waterproofing, anti-fouling, durability, erosion resistance, and electromagnetic wave inflow blocking, and the functional blocking coating agent can be manufactured by mixing 10 parts by weight of digalloyl trioleate, 4.5 parts by weight of disodium EDTA, 5.5 parts by weight of polyoxyethylene alkyl ether, 7.5 parts by weight of cristobalite powder, 3.5 parts by weight of methylsulfonylmethane, 4.5 parts by weight of bismuth carbonate, 2.5 parts by weight of titanium dioxide powder, 2.5 parts by weight of copper powder, 2.5 parts by weight of aluminum powder, and 1 part by weight of ferrite powder with respect to 100 parts by weight of polycarbonate resin.

[0025] The circuit shield housing (95) may further include a shock and vibration damping unit (960) on the lower outer surface to block or alleviate shock and vibration generated by the driving of the autonomous vehicle, and the shock and vibration damping unit (960) may include: a box body (962) having an upper end and a lower end that are open and forming an installation space (961) therein; an upper cap (963) that is installed in a non-separable and movable state at the upper end of the box body (962) to close the upper end of the installation space (961); a lower cap (964) that is installed in a non-separable and movable state at the lower end of the box body (962) to close the lower end of the installation space (961); and a double spring (965) that is installed between the upper cap (963) and the lower cap (964) of the installation space (961) to prevent separation and absorb shock and vibration.

[0026] The above double spring (965) may include a first spring (966) of a wide upper and lower opening having a wide portion in contact with the upper cap (963) and a narrow portion in contact with the lower cap (964); and a second spring (967) of a narrow upper and lower opening having a narrow portion in contact with the upper cap (963) and a wide portion in contact with the lower cap (964).

[0027] In order to achieve the above object, the present invention provides a method for operating a safe autonomous driving system based on high-resolution lidar measurement information and physical detection data by driving, the method comprising: an autonomous vehicle central control unit, a speed-distance average detection unit, a gradient detection unit, an object distance detection unit, an image contour detection unit, a brake unit, a driving force output engine unit, a touch display unit, and a steering system drive unit; wherein, when it is determined by the autonomous vehicle central control unit that an autonomous driving command signal is input, the method comprises: a moving speed and distance detection process for controlling the speed and distance average detection unit to detect rotational speed, moving speed, moving direction, and moving distance values ​​by analyzing inertial information and signal information, and calculating an arithmetic average; a moving speed and distance analysis process for comparing each value detected in the moving speed and distance detection process with a corresponding reference value recorded and managed in a table to determine whether any one or more of the values ​​exceed the reference value; In the above movement speed distance analysis process, if it is determined that one or more values ​​exceed the reference value, the braking system is driven so that all of the exceeded reference values ​​are satisfied, and the slope detection unit is controlled to compare and analyze whether the detected slope value exceeds the slope value recorded and managed in a table. In the above movement speed control process, if it is determined that the detected slope value exceeds the slope value recorded and managed, the braking system is driven so that the exceeded slope value satisfies the reference value, and the object distance detection unit is driven to detect distance information to the object, and the slope response process is performed to compare and analyze whether the value exceeds the reference distance value recorded and managed in a table.

[0028] If it is determined that the distance value to the target detected in the above slope response process exceeds the reference distance value, a safe distance maintenance process in which the braking system unit is driven to satisfy the reference distance value and the image outline detection unit is driven to analyze whether the vehicle is driving within the safe zone value; If it is determined that the vehicle is driving outside the safe zone value detected in the above safe distance maintenance process, a safe zone driving process in which the steering system unit is driven to drive without leaving the safe zone by controlling the steering system drive unit;

[0029] The above safety zone driving process may further include a repetition judgment process for determining whether an autonomous driving command signal is repeatedly input and, if it is determined that it is repeatedly input, feeding it back to the movement speed and distance detection process.

[0030] The present invention, having the above configuration, has the advantage of ensuring that even when an autonomous vehicle encounters situations such as a sharp curve, increased driving acceleration, and an upward or downward slope while driving, the corresponding gravity, centrifugal force, and acceleration force are not transmitted to the passengers, thereby enabling smooth control of the vehicle and safe driving.

[0031] Figure 1 is a functional configuration diagram of an autonomous driving system using lidar measurement information according to an embodiment of the prior art.

[0032] Figure 2 is a functional configuration diagram of a safe driving autonomous driving system based on lidar measurement information and physical detection data from driving according to an embodiment of the present invention.

[0033] Figure 3 is a detailed functional configuration diagram of a speed-distance average detection unit according to one embodiment of the present invention.

[0034] Figure 4 is a detailed functional configuration diagram of a target distance detection unit according to one embodiment of the present invention.

[0035] Figure 5 is a detailed functional configuration diagram of an image contour detection unit according to one embodiment of the present invention.

[0036] Figure 6 is a detailed functional configuration diagram of a shock vibration damping unit according to one embodiment of the present invention.

[0037] FIG. 7 is a signal flow diagram illustrating a method for operating a safe driving autonomous driving system based on high-resolution lidar measurement information and physical detection data from driving according to an embodiment of the present invention.

[0038] Figure 8 is a diagram illustrating the operation of a lidar scanner according to an embodiment of the present invention.

[0039] Figure 9 is a conceptual diagram illustrating how high-resolution lidar measurement information and physical detection data from driving are reflected in safe autonomous driving according to one embodiment of the present invention.

[0040] The present invention is susceptible to various modifications and embodiments. Specific embodiments are illustrated in the drawings and described in detail in the detailed description. However, this is not intended to limit the present invention to specific embodiments, but rather to encompass all modifications, equivalents, and alternatives falling within the spirit and technical scope of the present invention. In describing the present invention, detailed descriptions of related known technologies will be omitted if they are deemed to obscure the gist of the present invention.

[0041] FIG. 2 is a functional configuration diagram of a safe driving autonomous driving system based on lidar measurement information and physical detection data during driving according to an embodiment of the present invention, FIG. 3 is a detailed functional configuration diagram of a speed-distance average detection unit according to an embodiment of the present invention, FIG. 4 is a detailed functional configuration diagram of a target distance detection unit according to an embodiment of the present invention, FIG. 5 is a detailed functional configuration diagram of an image contour detection unit according to an embodiment of the present invention, and FIG. 6 is a detailed functional configuration diagram of a shock vibration damping unit according to an embodiment of the present invention.

[0042] Hereinafter, referring to the attached drawings, a safe driving autonomous driving system (90) based on high-resolution lidar measurement information and physical detection data by driving according to an embodiment of the present invention may include a circuit shield housing unit (95), an autonomous vehicle central control unit (100), a speed and distance average detection unit (200), a slope detection unit (300), an object distance detection unit (400), an image outline detection unit (500), a brake system unit (600), a driving force output engine unit (700), a touch display unit (800), and a steering system unit (900).

[0043] The circuit shield housing (95) is fixedly installed on a part of the body frame of the autonomous vehicle and blocks the inflow of electromagnetic waves, foreign substances, and moisture from the outside, and may be box-shaped.

[0044] Autonomous vehicles drive on both paved and unpaved roads, generating significant amounts of dust and potentially navigating through dust and water. Therefore, regardless of where they are installed within the vehicle frame, they are exposed to a wide range of foreign substances, dust, and moisture (water), as well as vibration and shock.

[0045] Meanwhile, electrical and electronic circuits, when exposed to dust and moisture, have a shortened lifespan, deteriorate in function, and malfunction. This can pose significant challenges to safe driving, particularly in autonomous vehicles, which rely heavily on electrical and electronic circuits. Therefore, electrical and electronic circuits must be waterproof, dirt-resistant, durable, corrosion-resistant, and resistant to electromagnetic interference.

[0046] Therefore, the circuit shield housing (95) can be coated on the inner and outer surfaces with a functional blocking agent to provide waterproofing, anti-fouling, durability, corrosion resistance, and electromagnetic wave inflow blocking. The average thickness of the functional blocking agent coating is 100 micrometers (μm), and it is necessary not to exceed 1000 micrometers as it may peel off if it is too thick.

[0047] The functional barrier coating agent can be manufactured by mixing 10 parts by weight of digalloyl trioleate, 4.5 parts by weight of disodium EDTA, 5.5 parts by weight of polyoxyethylene alkyl ether, 7.5 parts by weight of cristobalite powder, 3.5 parts by weight of methylsulfonylmethane, 4.5 parts by weight of bismuth carbonate, 2.5 parts by weight of titanium dioxide powder, 2.5 parts by weight of copper powder, 2.5 parts by weight of aluminum powder, and 1 part by weight of ferrite powder for 100 parts by weight of polycarbonate resin.

[0048] Digalloyl Trioleate refers to C68H106O12, and it can eliminate stickiness, make the surface smooth, prevent oxidation, and increase acid resistance, erosion resistance, and corrosion resistance.

[0049] Disodium EDTA may be added to prevent surface oxidation.

[0050] Polyoxyethylene alkyl ether is a type of nonionic surfactant that can be added to increase emulsification and dispersibility, thereby improving mixing and miscibility.

[0051] Cristobalite is added in powder form and contains quartz components, which increases durability. By penetrating the base resin between the pores of the cristobalite powder and binding them, it can satisfy both the function of increasing heat resistance and maintaining elasticity.

[0052] Methylsulfonylmethane can increase the waterproofness and water pressure resistance of a molded product by filling the gaps between organic and inorganic components and thereby achieving pore density.

[0053] Bismuth carbonate is a substance with CAS number 5892-10-4 that can reduce the moisture content of materials, thereby reducing pores and increasing waterproofing, moisture resistance, and corrosion resistance.

[0054] Titanium dioxide (TiO2) exhibits a photocatalytic effect in the visible light range, which increases the ability to decompose and remove organic matter and odors. Copper has high electrical conductivity, which blocks the inflow of electromagnetic (EMI) waves and sterilizes bacteria by destroying their cells when they come into contact with it. Aluminum (Al) is lightweight and has high electrical conductivity, which blocks the inflow of electromagnetic waves. Ferrite can be added to increase the efficiency of blocking high-frequency electromagnetic waves.

[0055] The autonomous vehicle central control unit (100) is installed in a part of the circuit shield housing unit (95) and is connected to each driving unit provided in the autonomous vehicle, and can output the corresponding control signals for autonomous driving by operating the built-in parameters and programs.

[0056] The speed-distance average detection unit (200) is installed in a part of the circuit shield housing unit (95) and can detect the angular velocity, movement speed, movement direction, and movement distance due to driving using physical inertial information and GPS signal information in response to a corresponding control signal from the autonomous vehicle central control unit (100), and calculate and output an average value.

[0057] The speed-distance average detection unit (200) may include an IMU unit (210), a GPS unit (220), an inertial information output unit (230), a GPS information output unit (240), and an arithmetic average operation unit (250).

[0058] The IAMBU (210) can output physical inertial information by the corresponding control signal of the autonomous vehicle central control unit (100).

[0059] An IMU (inertial measurement unit), also known as a gyroscope or inertial measurement unit, can measure direction of movement, speed, angular velocity, acceleration, and inclination using physical forces.

[0060] The GPS unit (220) can receive and output GPS signals broadcast by GPS satellites according to the corresponding control signal of the autonomous vehicle central control unit (100). It is well known that analyzing the GPS signal can confirm a total of 16 types of information including direction of movement, movement speed, angular velocity, acceleration, inclination, time, and altitude. Since more than 24 satellites in the low Earth orbit fly in a set orbit and broadcast GPS (Global Positioning System) signals, the GPS signals can be received, analyzed, and used without restriction.

[0061] The inertial information output unit (230) inputs a physical inertial signal output from the IMU unit (210) in response to a corresponding control signal from the autonomous vehicle central control unit (100), and can analyze and output information on rotational speed, movement speed, movement direction, and movement distance, respectively.

[0062] The GPS information output unit (240) inputs GPS signal information output from the GPS unit (220) by the corresponding control signal of the autonomous vehicle central control unit (100), and can analyze and output information on rotation speed, movement speed, movement direction, movement distance, time, and elevation, respectively.

[0063] The arithmetic mean operation unit (250) inputs rotational speed, movement speed, movement direction, and movement distance information from the inertial information output unit (230) and the GPS information output unit (240) according to the corresponding control signal of the autonomous vehicle central control unit (100), calculates the arithmetic mean for each, and outputs each.

[0064] The slope detection unit (300) is installed in a part of the circuit shield housing unit (95) and can detect the slope by inputting and analyzing the elevation value applied from the speed and distance average detection unit (200) by the corresponding control signal of the autonomous vehicle central control unit (100).

[0065] The target distance detection unit (400) is installed in a part of the circuit shield housing unit (95) and can detect the distance to the target located in front by the corresponding control signal of the autonomous vehicle central control unit (100) and calculate and output the average value.

[0066] The target distance detection unit (400) may include a lidar sensor unit (410), an ultrasonic sensor unit (420), a lidar distance calculation unit (430), an ultrasonic distance calculation unit (440), and an arithmetic average distance calculation unit (450).

[0067] The lidar sensor unit (410) can sense the distance to an object located in front as a lidar signal by a corresponding control signal from the autonomous vehicle central control unit (100).

[0068] The ultrasonic sensor unit (420) can sense the distance to an object located in front using an ultrasonic signal by a corresponding control signal from the autonomous vehicle central control unit (100).

[0069] The lidar distance calculation unit (430) can calculate the distance value to the target object by analyzing the signal sensed by the lidar sensor unit (410) according to the corresponding control signal of the autonomous vehicle central control unit (100).

[0070] The ultrasonic distance calculation unit (440) can analyze the signal sensed by the ultrasonic sensor unit (420) according to the corresponding control signal of the autonomous vehicle central control unit (100) and calculate the distance value to the target object.

[0071] The arithmetic mean distance calculation unit (450) can input distance values ​​from the lidar distance calculation unit (430) and the ultrasonic distance calculation unit (440) to the target object by the corresponding control signal of the autonomous vehicle central control unit (100), calculate the arithmetic mean, and output the values.

[0072] The image outline detection unit (500) is installed in a part of the circuit shield housing unit (95) and can extract boundary or outline information that visually distinguishes a specific object from another specific object by performing digital image processing (DIP) on the front image obtained with visible light and infrared rays in response to a corresponding control signal from the autonomous vehicle central control unit (100).

[0073] The image contour detection unit (500) may include a visible light image acquisition unit (510), an infrared image acquisition unit (520), a light illumination unit (530), a visible light contour extraction unit (540), an infrared contour extraction unit (550), and an arithmetic mean contour operation unit (560).

[0074] In the following description, shooting and capturing have the same meaning and can be optionally described as appropriate to the context.

[0075] The visible light image acquisition unit (510) can acquire (capture) an image of the front in visible light by a corresponding control signal from the autonomous vehicle central control unit (100).

[0076] The infrared image acquisition unit (520) can acquire (capture) an image of the front using infrared rays by a corresponding control signal from the autonomous vehicle central control unit (100).

[0077] The light illuminating unit (530) can selectively output visible light illumination and infrared illumination to the front according to the corresponding control signal of the autonomous vehicle central control unit (100).

[0078] The visible light contour extraction unit (540) can extract contour information of each object for the front image by digital image processing the visible light image obtained from the visible light image acquisition unit (510) in response to a corresponding control signal of the autonomous vehicle central control unit (100).

[0079] The infrared contour extraction unit (550) can extract contour information of each object for the front image by digital image processing of the infrared image acquired from the infrared image acquisition unit (520) in response to a corresponding control signal of the autonomous vehicle central control unit (100).

[0080] The arithmetic mean contour operation unit (560) can input contour information extracted from the visible light contour extraction unit (540) and contour information extracted from the infrared contour extraction unit (550) by the corresponding control signal of the autonomous vehicle central control unit (100), and output contour information obtained by calculating the arithmetic mean.

[0081] The shock and vibration damping unit (960) can be installed on the lower outer surface of the circuit shield housing unit (95) to block or alleviate shock and vibration generated by driving of an autonomous vehicle.

[0082] The shock-vibration damping unit (960) may include a box body (962) having an upper portion and a lower portion that are open respectively and form an installation space (961) therein; an upper cap (963) that is installed in a non-separable and movable state at the upper portion of the box body (962) to close the upper portion of the installation space (961); a lower cap (964) that is installed in a non-separable and movable state at the lower portion of the box body (962) to close the lower portion of the installation space (961); and a double spring (965) that is installed between the upper cap (963) and the lower cap (964) of the installation space (961) to prevent them from coming off and that absorbs shock and vibration.

[0083] The double spring (965) may include a first spring (966) having a wide width in the part that contacts the upper cap (963) and a narrow width in the part that contacts the lower cap (964), and a second spring (967) having a narrow width in the part that contacts the upper cap (963) and a wide width in the part that contacts the lower cap (964). Due to the structural characteristics of the double spring (965), shocks, vibrations, etc. generated from driving can be buffered or alleviated so that they are not transmitted to the electric and electronic circuit.

[0084] The brake system unit (600) is installed in a part of the circuit shield housing unit (95) and can stop the autonomous vehicle from driving by a corresponding control signal from the autonomous vehicle central control unit (100). The brake system unit (600) is driven by either hydraulic pressure or air pressure, and the use of air pressure is highly preferable because it operates well with less force.

[0085] The driving force output engine unit (700) is installed in a part of the circuit shield housing unit (95) and can output power for driving the autonomous vehicle according to the corresponding control signal of the autonomous vehicle central control unit (100). It is preferable that the driving force output engine unit (700) be composed of an internal combustion engine.

[0086] The touch display unit (800) is built into a part of the circuit shield housing unit (95) and outputs operating status information as multimedia according to the corresponding control signal of the autonomous vehicle central control unit (100) and can input a command signal by touch.

[0087] The steering system unit (900) is installed in a part of the circuit shield housing unit (95) and can steer the driving direction by a corresponding control signal from the autonomous vehicle central control unit (100).

[0088] FIG. 7 is a signal flow diagram illustrating a method for operating a safe driving autonomous driving system based on high-resolution lidar measurement information and physical detection data from driving according to an embodiment of the present invention, FIG. 8 is a diagram illustrating the operation of a lidar scanner according to an embodiment of the present invention, and FIG. 9 is a conceptual diagram illustrating how high-resolution lidar measurement information and physical detection data from driving are reflected in safe driving autonomous driving according to an embodiment of the present invention.

[0089] Hereinafter, with reference to the attached drawings, a method for operating a safe driving autonomous driving system based on high-resolution lidar measurement information and physical detection data by driving according to an embodiment of the present invention includes an autonomous vehicle central control unit, a speed-distance average detection unit, a gradient detection unit, an object distance detection unit, an image outline detection unit, a brake unit, a driving force output engine unit, a touch display unit, and a steering system driving unit, and may include a moving speed-distance detection process, a moving speed-distance analysis process, a moving speed control process, a gradient response process, a safe distance maintenance process, a safe zone driving process, and a repeat judgment process.

[0090] The moving speed and distance detection process determines whether an autonomous driving command signal is input by the autonomous vehicle central control unit (S110), and if it is determined that a command signal is input, the speed and distance average detection unit is controlled to receive and analyze physical inertial information and GPS signals, thereby detecting each rotation speed, moving speed, moving direction, and moving distance value through signal information analysis, and outputting the arithmetic mean of each detected value (S120).

[0091] Since each of the values ​​is calculated as an arithmetic mean, it has the advantage of increasing accuracy and reliability.

[0092] The movement speed and distance analysis process can compare each value detected in the movement speed and distance detection process with the corresponding reference value recorded and managed in a table format (S130) to determine whether one or more of the values ​​exceeds the range specified by the reference value (S140).

[0093] In the moving speed control process, if it is determined that one or more values ​​exceed the reference value in the moving speed distance analysis process (S140), the braking system is operated so that each exceeded reference value is satisfied (S150), thereby reducing the driving speed of the autonomous vehicle, and the slope detection unit is controlled to compare and analyze whether the detected slope value exceeds the slope value recorded in the table (S160).

[0094] In the slope response process, if it is determined that the slope value detected in the movement speed control process exceeds the slope value recorded and managed in a table format (S170), the brake system unit is driven so that the exceeded slope value satisfies the reference value (S180), and the target distance detection unit is driven to detect distance information to the target, and the value can be analyzed to see if it exceeds the reference distance value recorded and managed in a table (S190).

[0095] In the safe distance maintenance process, if the distance value to the object detected in the slope response process is judged to exceed the reference distance value (S200), the braking system unit is driven to satisfy the reference distance value (S210), and the image outline detection unit is driven to analyze whether driving is within the safe zone value (S220).

[0096] If the safe zone driving process determines that the vehicle is driving outside the safe zone value detected during the safe distance maintenance process (S230), the steering system drive unit can be controlled to drive the vehicle without leaving the safe zone (S240).

[0097] If the repetitive judgment process determines that a command signal to continuously repeat autonomous driving is input by the autonomous vehicle central control unit (S250), the entire process can be repeatedly performed or processed by feeding it back to the moving speed and distance detection process (S110).

[0098] As described in detail in Fig. 8, the signal (incident ray) incident on the high-resolution lidar can be expanded to a scan range of 2*β1 by the first moving mirror (mirror1) that moves by an angle of β1 and reflected by the fixed mirror (mirror2) to be incident on the second moving mirror (mirror3).

[0099] The second moving mirror (mirror3) can be set to move at the same angle as the first moving mirror (mirror1) or can be set to move at an angle of β2.

[0100] The second moving mirror (mirror3) can extend the scan range of the lidar signal incident at an angle of 2*β1 by an angle of β2.

[0101] If the fixed mirrors (mirror2) are arranged so that they do not interfere with each other and the reflected light signals from multiple moving mirrors (n) do not interfere with each other, the value of the total angle that can be scanned by the lidar signal incident on a single beam (scan angle β) total ) shows that the value is 2(β1 + β2 + .... + βn).

[0102] It is relatively important to calculate the length of the fixed mirror (mirror2) here, so that a wide area can be scanned with high resolution.

[0103] Referring to Fig. 9, a detailed description is given of a self-driving vehicle driving at a speed determined by V1, that is, using a safe driving autonomous driving system (hereinafter referred to as the autonomous driving system) based on high-resolution lidar measurement information and physical detection data from driving, the current surrounding environment during driving is measured (detected, scanned) using various sensors including high-resolution lidar, such as position, speed, gradient, centrifugal force, road surface condition (roughness or friction) of the area ahead, and physical distance from an object or obstacle ahead, and by using physical sensors and electronic sensors to measure each and calculate an average value, reliable data is secured and can be converted and generated into a three-dimensional image.

[0104] At this time, by using the high-resolution lidar sensor described in Fig. 8, more accurate information can be obtained than with a conventional lidar sensor.

[0105] The autonomous driving system analyzes the measured (detected) information and automatically calculates an appropriate driving speed corresponding to the current surrounding environment, quickly responds to various surrounding environments in the front area and calculates an appropriate corresponding driving speed in the front area, avoids objects or obstacles in the front area or brakes, and drives safely on uphill, downhill, and sharp curves, and can be applied to control driving speed to prevent passengers from being harmed by gravity, inertial force, etc. while maintaining a comfortable state.

[0106] This configuration has the advantage of ensuring smooth control of the vehicle and safe driving without transmitting the corresponding gravity, centrifugal force, and acceleration force to the passengers even when the autonomous vehicle encounters situations such as sharp curves, increased driving acceleration, and upward and downward slopes while driving.

[0107] Although the present invention has been described in detail with respect to the described specific examples, it will be apparent to those skilled in the art that various modifications and variations are possible within the technical scope of the present invention, and it is natural that such modifications and variations fall within the scope of the appended patent claims.

[0108] [Explanation of symbols]

[0109] 90: A safe autonomous driving system based on lidar measurement information and driving-related physical detection data.

[0110] 95: Circuit shield housing 100: Autonomous vehicle central control unit

[0111] 200: Speed-distance average detection unit 210: IAM unit

[0112] 220: GPS unit 230: Inertial information output unit

[0113] 240: GPS information output section 250: Arithmetic mean calculation section

[0114] 300: Slope detection unit 400: Object distance detection unit

[0115] 410: Lidar sensor unit 420: Ultrasonic sensor unit

[0116] 430: Lidar distance calculation unit 440: Ultrasonic distance calculation unit

[0117] 450: Arithmetic mean distance calculation unit 500: Image contour detection unit

[0118] 510: Visible light image acquisition unit 520: Infrared image acquisition unit

[0119] 530: Light illumination unit 540: Visible light contour extraction unit

[0120] 550: Infrared contour extraction unit 560: Arithmetic mean contour calculation unit

[0121] 600: Brake system section 700: Driving power output engine section

[0122] 800: Touch display unit 900: Steering system unit

[0123] 960: Shock and vibration damping unit 961: Installation space

[0124] 962: Box body 963: Top cap

[0125] 964: Bottom stopper 965: Double spring

[0126] 966: First spring 967: Second spring

Claims

1. As a safe driving autonomous driving system based on lidar measurement information and physical detection data from driving, A circuit shield housing (95) that is fixedly installed on a part of the body frame of an autonomous vehicle and has a box shape to block the inflow of electromagnetic waves, foreign substances, and moisture from the outside; An autonomous vehicle central control unit (100) that is installed in a part of the circuit shield housing (95) and is connected to each driving unit provided in the autonomous vehicle and outputs a corresponding control signal for autonomous driving through the built-in parameters and program operation; A speed and distance average detection unit (200) that is installed in a part of the circuit shield housing unit (95) and detects the angular velocity, movement speed, movement direction, and movement distance by driving using physical inertial information and GPS signal information in response to the corresponding control signal of the autonomous vehicle central control unit (100), calculates the average value, and outputs it; A slope detection unit (300) that is installed in a part of the circuit shield housing unit (95) and inputs and analyzes the elevation value applied from the speed and distance average detection unit (200) by the corresponding control signal of the autonomous vehicle central control unit (100) to detect the slope; An object distance detection unit (400) that is installed in a part of the circuit shield housing unit (95) and detects the distance to an object located in front by a corresponding control signal of the autonomous vehicle central control unit (100) and calculates and outputs an average value; An image contour detection unit (500) is installed in a part of the circuit shield housing unit (95) and extracts the contour of the front image obtained by visible light and infrared rays through digital image processing by the corresponding control signal of the autonomous vehicle central control unit (100). A safe driving autonomous driving system based on lidar measurement information and physical detection data from driving.

2. In paragraph 1, A brake system unit (600) that is built into a part of the circuit shield housing unit (95) and stops the autonomous vehicle from driving by a corresponding control signal from the autonomous vehicle central control unit (100); A driving force output engine unit (700) that is installed in a part of the circuit shield housing unit (95) and outputs power for driving the autonomous vehicle in response to a corresponding control signal from the autonomous vehicle central control unit (100); A touch display unit (800) that is installed in a part of the circuit shield housing unit (95) and outputs operating status information as multimedia by the corresponding control signal of the autonomous vehicle central control unit (100) and inputs a command signal by touch; Further comprising a steering system unit (900) that is built into a part of the circuit shield housing unit (95) and steers the driving direction by the corresponding control signal of the autonomous vehicle central control unit (100); A safe driving autonomous driving system based on lidar measurement information and physical detection data from driving.

3. In paragraph 2, The above speed distance average detection unit (200) An IMU unit (210) that outputs physical inertial information by the corresponding control signal of the autonomous vehicle central control unit (100); A GPS unit (220) that receives and outputs a GPS signal broadcast by a GPS satellite according to the corresponding control signal of the autonomous vehicle central control unit (100); An inertial information output unit (230) that inputs a physical inertial signal output from the IMU unit (210) by the corresponding control signal of the autonomous vehicle central control unit (100) and analyzes and outputs information on rotation speed, movement speed, movement direction, and movement distance, respectively; A GPS information output unit (240) that inputs GPS signal information output from the GPS unit (220) by the corresponding control signal of the autonomous vehicle central control unit (100) and analyzes and outputs information on rotation speed, movement speed, movement direction, movement distance, time, and elevation, respectively; An arithmetic mean calculation unit (250) that inputs rotation speed, movement speed, movement direction, and movement distance information from the inertial information output unit (230) and the GPS information output unit (240) according to the corresponding control signal of the autonomous vehicle central control unit (100), calculates an arithmetic mean for each, and outputs each; A safe driving autonomous driving system based on lidar measurement information and physical detection data from driving.

4. In paragraph 3, The above target distance detection unit (400) A lidar sensor unit (410) that senses the distance to an object located in front as a lidar signal by the corresponding control signal of the autonomous vehicle central control unit (100); An ultrasonic sensor unit (420) that senses the distance to an object located in front as an ultrasonic signal by the corresponding control signal of the autonomous vehicle central control unit (100); A lidar distance calculation unit (430) that analyzes the signal sensed by the lidar sensor unit (410) by the corresponding control signal of the autonomous vehicle central control unit (100) and calculates the distance value to the target object; An ultrasonic distance calculation unit (440) that analyzes the signal sensed by the ultrasonic sensor unit (420) by the corresponding control signal of the autonomous vehicle central control unit (100) and calculates the distance value to the target object; An arithmetic mean distance calculation unit (450) that inputs distance values ​​from the lidar distance calculation unit (430) and the ultrasonic distance calculation unit (440) to the target object according to the corresponding control signal of the autonomous vehicle central control unit (100), calculates the arithmetic mean, and outputs the result; A safe driving autonomous driving system based on lidar measurement information and physical detection data from driving.

5. In paragraph 4, The above image outline detection unit (500) A visible light image acquisition unit (510) that acquires a front image in visible light by the corresponding control signal of the autonomous vehicle central control unit (100); An infrared image acquisition unit (520) that acquires an image of the front using infrared rays by the corresponding control signal of the autonomous vehicle central control unit (100); A light illuminating unit (530) that selectively outputs visible light illumination and infrared illumination to the front according to the corresponding control signal of the autonomous vehicle central control unit (100); A visible light outline extraction unit (540) that extracts outline information of each object for the front image by digital image processing of the visible light image acquired from the visible light image acquisition unit (510) by the corresponding control signal of the autonomous vehicle central control unit (100); An infrared contour extraction unit (550) that extracts contour information of each object for the front image by digital image processing of an infrared image obtained from the infrared image acquisition unit (520) by the corresponding control signal of the autonomous vehicle central control unit (100); An arithmetic mean contour operation unit (560) that inputs contour information extracted from the visible light contour extraction unit (540) and contour information extracted from the infrared contour extraction unit (550) by the corresponding control signal of the autonomous vehicle central control unit (100) and outputs contour information obtained by calculating the arithmetic mean; A safe driving autonomous driving system based on lidar measurement information and physical detection data from driving.

6. In a method for operating a safe driving autonomous driving system based on lidar measurement information and physical detection data by driving, including an autonomous vehicle central control unit, a speed and distance average detection unit, a slope detection unit, a target distance detection unit, an image contour detection unit, a brake unit, a driving force output engine unit, a touch display unit, and a steering system driving unit, When it is determined that an autonomous driving command signal is input by the autonomous vehicle central control unit, the speed and distance average detection unit is controlled to detect each rotation speed, movement speed, movement direction, and movement distance value by analyzing inertial information and signal information, and a movement speed and distance detection process of calculating an arithmetic average; A movement speed distance analysis process that compares each value detected in the above movement speed distance detection process with the corresponding reference value recorded and managed in a table to determine whether one or more values ​​exceed the reference value; In the above movement speed distance analysis process, if it is determined that one or more values ​​exceed the reference value, the braking system is operated so that each exceeded reference value is satisfied, and the slope detection unit is controlled to perform a movement speed control process of analyzing whether the detected slope value exceeds the slope value recorded in the table; Including a slope response process in which, if it is determined that the slope value detected in the above movement speed control process exceeds the slope value recorded and managed, the brake system unit is driven so that the exceeded slope value satisfies the reference value, the object distance detection unit is driven to detect the distance information to the object, and whether the value exceeds the reference distance value recorded and managed in the table is compared and analyzed. A method for operating a safe driving autonomous driving system based on lidar measurement information and physical detection data from driving.

7. In paragraph 6, If the distance value to the object detected in the above slope response process is judged to exceed the reference distance value, a safety distance maintenance process is performed to operate the braking system unit to satisfy the reference distance value and to operate the image outline detection unit to analyze whether the vehicle is driving within the safety zone value; Including a safe zone driving process in which, if it is determined that the vehicle is driving outside the safe zone value detected in the above safe distance maintenance process, the steering system drive unit is controlled to drive without leaving the safe zone; A method for operating a safe driving autonomous driving system based on lidar measurement information and physical detection data from driving.

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