Autonomous driving system using traffic signal controllers

Abstract

The present invention relates to an autonomous driving system using traffic signal controllers and, more specifically, to an autonomous driving system using traffic signal controllers, wherein route guidance for an autonomous vehicle is achieved using location information of traffic signal controllers installed at each of traffic signals of a road, thereby enabling accurate driving along a set route even when the accuracy of sensors installed in the autonomous vehicle is poor due to bad weather or the like, and traffic signal information received from the traffic signal controllers is used to adjust the speed of the autonomous vehicle according to the possibility of proceeding through the traffic signals, thereby enabling efficient operation of the vehicle.

Description

Autonomous driving system using traffic signal controller

[0001] The present invention relates to an autonomous driving system utilizing a traffic signal controller, and more particularly, to an autonomous driving system utilizing a traffic signal controller that provides route guidance to an autonomous vehicle using location information of a traffic signal controller installed at each traffic signal on a road, thereby enabling accurate driving along a set route even when the accuracy of sensors installed in an autonomous vehicle is reduced due to bad weather, etc., and that adjusts the speed of the autonomous vehicle according to the possibility of passing a traffic signal using traffic signal information received from the traffic signal controller, thereby enabling efficient vehicle operation.

[0002] An autonomous vehicle is a vehicle that operates on its own without driver intervention, and an autonomous driving system is a system that monitors and controls such autonomous vehicles so that they can operate on their own.

[0003] In order for autonomous vehicles to operate smoothly, sensors such as Lidar, Radar, and GPS are used along with image information captured by cameras, as shown in the patent document below. However, there is a problem in that the sensors do not operate properly in bad weather conditions such as rain or guidance, which can cause accidents.

[0004] Additionally, there is a problem that optimal operation cannot be achieved because it is difficult to reflect signal information when driving an autonomous vehicle.

[0005] (Patent Document) Patent Publication No. 10-2023-0054022 (registered on April 24, 2023) "Sensor Fusion System for Object Recognition in Autonomous Driving Systems"

[0006] The present invention has been devised to solve the above problems.

[0007] The purpose of the present invention is to provide an autonomous driving system utilizing a traffic signal controller that enables accurate driving along a set route even when the accuracy of sensors installed in an autonomous vehicle is reduced due to bad weather or the like, by providing route guidance to an autonomous vehicle using the location information of a traffic signal controller installed at each traffic signal on a road.

[0008] The purpose of the present invention is to provide an autonomous driving system utilizing a traffic signal controller that enables efficient vehicle operation by adjusting the speed of an autonomous vehicle according to the possibility of passing a traffic signal using traffic signal information received from the traffic signal controller.

[0009] The purpose of the present invention is to provide an autonomous driving system utilizing a traffic signal controller that improves the accuracy of driving time prediction and enables quick route guidance by reflecting traffic signal information in vehicle route guidance to provide an alternative route.

[0010] In order to achieve the above-mentioned purpose, the present invention is implemented by an embodiment having the following configuration.

[0011] According to one embodiment of the present invention, an autonomous driving system utilizing a traffic signal controller according to the present invention includes a traffic signal controller installed at an intersection where a vehicle is driving and controls a traffic signal, a vehicle terminal installed in an autonomous driving vehicle that is controlled and drives by itself and controls the autonomous driving vehicle, and a management server that communicates with the traffic signal controller and the vehicle terminal to manage the system, wherein the vehicle terminal is characterized in that it provides guidance on a driving route using the location of the traffic signal controller.

[0012] According to another embodiment of the present invention, in the autonomous driving system utilizing the traffic signal controller according to the present invention, the vehicle terminal includes a route guidance unit that guides a driving route using the location of the traffic signal controller, and the route guidance unit includes a controller location storage module that stores location information of the traffic signal controller on a map, a controller location detection module that detects the actual location of the traffic signal controller in a state in proximity to the traffic signal controller, a vehicle location identification module that identifies the location of a vehicle based on the detected location of the traffic signal controller, a map mapping module that maps the identified location of the vehicle on a stored map, and a guidance information modification module that modifies and guides a route stored in the vehicle terminal based on the location of the vehicle identified from the traffic signal controller.

[0013] According to another embodiment of the present invention, in the autonomous driving system utilizing the traffic signal controller according to the present invention, the vehicle terminal includes a sensing optimization unit that optimizes sensing information for detecting the location of the vehicle, and the sensing optimization unit is characterized in that it includes a location information receiving module that receives location information of the vehicle identified by the vehicle location identification module, a sensing information comparison module that compares the received location information with location information identified by sensors mounted on the vehicle, and a location information correction module that corrects location information by sensors mounted on the vehicle according to a result of the comparison of location information.

[0014] According to another embodiment of the present invention, in an autonomous driving system utilizing a traffic signal controller according to the present invention, the vehicle terminal is characterized in that it includes a mode setting unit that selects whether to modify a route according to a signal of the traffic signal controller.

[0015] According to another embodiment of the present invention, in the autonomous driving system utilizing the traffic signal controller according to the present invention, the mode setting unit includes an automatic mode application module that automatically sets whether to reflect a traffic signal controller signal according to weather conditions, and the automatic mode application module includes a weather information collection module that collects weather information around the vehicle, an application standard setting module that sets a standard for weather conditions in which the traffic signal controller signal is reflected, a comparison information receiving module that receives information on a difference in position according to application of the traffic signal controller signal, an error rate calculation module that calculates a position error rate according to a position comparison result, an error standard setting module that sets a standard for the error rate, and an application standard adjustment module that changes the standard for weather conditions set by the application standard setting module according to the error rate.

[0016] According to another embodiment of the present invention, in the autonomous driving system utilizing the traffic signal controller according to the present invention, the vehicle terminal includes a signal reflection unit that adjusts the speed of the vehicle according to signal information received from the traffic signal controller, and the signal reflection unit is characterized in that it includes a signal information receiving module that receives traffic signal information from a traffic signal controller within a certain distance, a route information loading module that retrieves route information of the vehicle, a remaining distance calculation module that calculates the remaining distance of the vehicle reaching the traffic signal, a speed information detection module that detects the speed of the vehicle, a speed range setting module that sets an appropriate speed range of the vehicle, an reachability determination module that determines whether it is possible to reach a passing signal of a traffic signal according to the route of the vehicle within the set speed range, and a vehicle speed adjustment module that adjusts the speed according to whether the vehicle is able to reach it.

[0017] According to another embodiment of the present invention, in a self-driving system utilizing a traffic signal controller according to the present invention, the vehicle terminal includes a route optimization unit that optimizes a route of a vehicle according to a traffic signal, and the route optimization unit is characterized by including a signal information collection module that collects traffic signal information on a vehicle route, a traffic information collection module that collects traffic information on the vehicle route, a speed limit collection module that collects speed limit information on the vehicle route, a driving speed calculation module that calculates a drivable speed of the vehicle using traffic information and speed limit information on the vehicle route, a driving time prediction module that predicts a driving time to a destination based on the calculated drivable speed and change information in traffic signals, an alternative route search module that searches for an alternative route when the predicted driving time is longer than the average driving time of the route, a driving time comparison module that predicts a driving time using traffic signal information and drivable speed of the alternative route and compares it with the driving time of an existing route, and a vehicle route modification module that modifies a route to an alternative route when the driving time of the alternative route is shorter.

[0018] According to another embodiment of the present invention, in an autonomous driving system utilizing a traffic signal controller according to the present invention, the traffic signal controller includes a risk control unit that controls a traffic signal according to a location of a vehicle within an intersection when a traffic signal changes, and the risk control unit includes a conversion information receiving module that receives conversion information of a traffic signal, a vehicle location detection module that detects a location of a vehicle within an intersection when the conversion information is received, a risk judgment module that determines whether there is a risk according to the location of the vehicle and a vehicle path according to a next signal, and a signal lighting adjustment module that delays the lighting time of a next passing signal when it is determined that there is a risk to the vehicle.

[0019] According to another embodiment of the present invention, in the autonomous driving system utilizing the traffic signal controller according to the present invention, the management server includes a traffic information optimization unit that optimizes traffic information according to the actual moving speed of the autonomous vehicle, and the traffic information optimization unit is characterized by including a speed information collection module that collects speed information of the vehicle, a speed information refinement module that deletes speed information having a deviation of a certain degree or more, an average speed calculation module that calculates an average speed of vehicles in a corresponding section using the refined speed information, a traffic information loading module that loads traffic information for the corresponding section, a traffic information comparison module that compares the average speed calculated by the average speed calculation module with the loaded traffic information, an error index calculation module that calculates an error index for an error in speed according to a comparison result, and a traffic information correction module that corrects the traffic information to match the calculated average speed when the error index exceeds a set value.

[0020] According to another embodiment of the present invention, in the autonomous driving system utilizing the traffic signal controller according to the present invention, the management server includes a signal monitoring unit that monitors the status of a signal transmitted from the traffic signal controller, and the signal monitoring unit includes a fault diagnosis unit that diagnoses a fault condition for signal transmission of the traffic signal controller, and an abnormality diagnosis unit that diagnoses an abnormality condition prior to occurrence of a fault, and the fault diagnosis unit includes an arrival information receiving module that receives information about approaching the traffic signal controller from a vehicle terminal according to the location of the vehicle, a confirmation information receiving module that receives information about receiving a signal transmitted from the traffic signal controller when arrival of the vehicle is received, a non-reception detection module that detects that the vehicle has arrived near the traffic signal controller but the transmission signal has not been received, a non-reception ratio calculation module that calculates the ratio of the number of times the transmission signal has not been received to the number of vehicles arriving near the traffic signal controller in a predetermined time unit, a reference value comparison module that compares the calculated non-reception ratio with a set reference value, and a reference value comparison module that compares the non-reception ratio with the reference value. In case of exceeding, it includes a failure notification module that determines that the traffic signal controller is in a fault state and notifies this, and the abnormality diagnosis unit includes a non-reception ratio storage module that accumulates and stores the non-reception ratio calculated by the non-reception ratio calculation module, an abnormality range setting module that sets a certain range below a reference value set by the reference value comparison module that can determine that the traffic signal controller is not in a fault state but is in a stage just before a fault occurs, an abnormality frequency calculation module that calculates the frequency at which the non-reception ratio of the transmission signal reaches the abnormal range for a set unit time, and an inspection instruction module that orders inspection of the traffic signal controller when the calculated abnormality frequency exceeds the set frequency.

[0021] The present invention can obtain the following effects through the combination and use of the configuration described above and the following examples.

[0022] The present invention has the effect of enabling accurate driving along a set route even when the accuracy of sensors installed in autonomous vehicles is reduced due to bad weather or the like, by providing route guidance to autonomous vehicles using the location information of traffic signal controllers installed at each traffic signal on a road.

[0023] The present invention has the effect of enabling efficient vehicle operation by adjusting the speed of an autonomous vehicle according to the possibility of passing a traffic signal using traffic signal information received from a traffic signal controller.

[0024] The present invention has the effect of improving the accuracy of travel time prediction and enabling quick route guidance by reflecting traffic signal information in vehicle route guidance to provide an alternative route.

[0025] Figure 1 is a configuration diagram of an autonomous driving system using a traffic signal controller.

[0026] Figure 2 is a block diagram showing the configuration of the vehicle terminal of Figure 1.

[0027] Figure 3 is a block diagram showing the configuration of the path guidance unit of Figure 2.

[0028] Figure 4 is a block diagram showing the configuration of the sensing optimization unit of Figure 2.

[0029] Figure 5 is a block diagram showing the configuration of the mode setting unit of Figure 2.

[0030] Fig. 6 is a block diagram showing the configuration of the signal reflection unit of Fig. 2.

[0031] Figure 7 is a block diagram showing the configuration of the traffic information optimization unit of Figure 2.

[0032] Figure 8 is a block diagram showing the configuration of the risk control unit.

[0033] Figure 9 is a block diagram showing the configuration of the management server of Figure 1.

[0034] Figure 10 is a block diagram showing the configuration of the traffic information optimization unit of Figure 9.

[0035] Figure 11 is a block diagram showing the configuration of the fault diagnosis unit of Figure 9.

[0036] Figure 12 is a block diagram showing the configuration of the abnormal diagnosis unit of Figure 9.

[0037] *Explanation of symbols used in drawings

[0038] 1: Vehicle terminal 11: Route guidance unit

[0039] 12: Sensing Optimization Section 13: Mode Setting Section

[0040] 14: Signal reflection section 15: Route optimization section

[0041] 3: Traffic signal controller 31: Hazard control unit

[0042] 5: Management Server 51: Traffic Information Optimization Department

[0043] 52: Signal monitoring section 521: Fault diagnosis section

[0044] 522: Abnormal Diagnosis Department

[0045] Hereinafter, preferred embodiments of an autonomous driving system utilizing a traffic signal controller according to the present invention will be described in detail with reference to the attached drawings. In the following description of the present invention, if a detailed description of a known function or configuration is determined to unnecessarily obscure the gist of the present invention, the detailed description will be omitted. Throughout the specification, when a part is said to "include" a certain component, this does not mean that other components are excluded, but rather that other components can be further included, unless specifically stated otherwise. In addition, terms such as "... part" and "... module" described in the specification mean a unit that processes at least one function or operation, and this can be implemented by hardware, software, or a combination of hardware and software.

[0046]

[0047] An autonomous driving system utilizing a traffic signal controller according to one embodiment of the present invention will be described with reference to FIGS. 1 to 12. The autonomous driving system utilizing the traffic signal controller includes a traffic signal controller (3) installed at an intersection where a vehicle is driving to control traffic signals, a vehicle terminal (1) mounted on an autonomous driving vehicle that is controlled and operates by itself to control the autonomous driving vehicle, and a management server (5) that communicates with the traffic signal controller (3) and the vehicle terminal (1) to manage the system.

[0048] The autonomous driving system according to the present invention relates to a system that improves the accuracy of autonomous driving of an autonomous vehicle (hereinafter referred to as “vehicle”) by utilizing the location of a traffic signal controller (3). In particular, when the accuracy of sensors mounted on a vehicle is low due to bad weather, etc., the system detects the exact location of the vehicle by utilizing the location information of the traffic signal controller (3) actually identified in a state close to the traffic signal controller (3), and provides guidance on the driving route accordingly, thereby improving the accuracy of route guidance even in bad weather.

[0049] In addition, the system receives information about traffic signals from a traffic signal controller (3) and enables vehicle driving according to traffic signals, thereby enabling more efficient operation of autonomous vehicles.

[0050] The above vehicle terminal (1) is a component mounted on an autonomous vehicle to control the operation of the vehicle, and can identify the location of the traffic signal controller (3) through a wireless signal received from the traffic signal controller (3), and provide route guidance according to the location of the traffic signal controller (3), and can be connected to a management server (5) via wireless communication to transmit and receive various types of information. In addition, the vehicle terminal (1) can correct information from sensors mounted on the vehicle, etc. according to the location of the traffic signal controller (3), and can determine whether to apply route guidance according to the location of the traffic signal controller (3), and can adjust the speed of each vehicle using the signal information received from the traffic signal controller (3), thereby enabling efficient operation. In addition, the vehicle terminal (1) can collect traffic signal information on a stored route, and can optimize the route according to the traffic signal. To this end, the vehicle terminal (1) may include a route guidance unit (11), a sensing optimization unit (12), a mode setting unit (13), a signal reflection unit (14), and a route optimization unit (15).

[0051] The above-described route guidance unit (11) is configured to guide the route of a vehicle by utilizing the location of a traffic signal controller (3), and compares the location of a traffic signal controller (3) stored in advance with the location of a traffic signal controller (3) actually identified in a state of proximity to the traffic signal controller (3) to identify the location of the vehicle and modify the existing route accordingly, thereby improving the driving accuracy of an autonomous vehicle even when the accuracy of sensors such as lidar is low due to bad weather, etc. To this end, the route guidance unit (11) may include a controller location storage module (111), a controller location detection module (112), a vehicle location identification module (113), a map mapping module (114), and a guidance information modification module (115).

[0052] The above controller location storage module (111) is configured to store location information of a traffic signal controller (3), and can store location information of a traffic signal controller (3) together with corresponding identification information in advance on a map.

[0053] The above controller location detection module (112) is configured to detect the actual location of the traffic signal controller (3) when approaching the traffic signal controller (3) according to the location on the map, and can detect the actual location of the traffic signal controller (3) by transmitting and receiving a wireless signal or through image analysis, etc. For example, the controller location detection module (112) can detect the traffic signal controller (3) by analyzing surrounding structures, terrain, etc. captured by a camera mounted on the vehicle, or can detect the location by transmitting and receiving a wireless signal to the traffic signal controller (3), or can detect the location of the traffic signal controller (3) by receiving a wireless signal of the traffic signal controller (3) transmitted to a specific location.

[0054] The above vehicle position detection module (113) is configured to detect the current position of the vehicle by using the position of the traffic signal controller (3) detected by the controller position detection module (112), and can detect the current position of the vehicle according to the distance and direction of the traffic signal controller (3).

[0055] The above map mapping module (114) is configured to map the location of a detected vehicle on a map using the location of a traffic signal controller (3) that is actually identified, and can apply the location of a vehicle identified by the vehicle location identification module (113) on the map using the location of a traffic signal controller (3) stored on the map.

[0056] The above guidance information correction module (115) is configured to correct the route of the vehicle according to the actual vehicle location applied by the map mapping module (114). If there is a difference between the vehicle location determined by the vehicle's existing sensor and the vehicle location determined by the vehicle location identification module (113) and mapped on the map, the vehicle location can be corrected according to the actual vehicle location, and the route can be corrected according to the corrected location. Therefore, even when the accuracy of the vehicle's existing sensors decreases in bad weather and an error occurs in the vehicle location, the vehicle location can be corrected using the location of the traffic signal controller (3) installed at each intersection, thereby improving the accuracy of vehicle location specification and driving route guidance.

[0057] The above sensing optimization unit (12) is configured to optimize the sensing information of the vehicle by using the information modified in the path guidance unit (11), and thereby corrects the sensing information of the vehicle according to the difference in the vehicle position, thereby reflecting the influence of the environment, thereby increasing the accuracy of the sensing information. To this end, the sensing optimization unit (12) may include a position information receiving module (121), a sensing information comparison module (122), and a position information correction module (123).

[0058] The above location information receiving module (121) is configured to receive location information of a vehicle identified by the vehicle location identification module (113), and as the vehicle approaches the traffic signal controller (3), it receives location information of the vehicle identified based on the actual location of the traffic signal controller (3).

[0059] The above sensing information comparison module (122) is configured to compare the vehicle location information received by the location information receiving module (121) with the location information identified by existing sensors installed in the vehicle, and calculates the degree of difference.

[0060] The above location information correction module (123) is configured to correct the location of the vehicle detected by the existing sensor of the vehicle according to the comparison result by the sensing information comparison module (122), and corrects the location by reflecting the degree of difference in the location in the sensing information. Therefore, the location information correction module (123) corrects the vehicle location using the location of the traffic signal controller (3) every time the vehicle passes an intersection, and corrects the sensing information itself accordingly to enable the vehicle to drive, so that accurate driving can be maintained even in bad weather.

[0061] The above mode setting unit (13) is configured to determine whether to reflect the path and position correction reflecting the position of the traffic signal controller (3), and can set whether to apply the path guidance unit (11) and the sensing optimization unit (12). In addition, the mode setting unit (13) can automatically set whether to reflect according to weather conditions. To this end, the mode setting unit (13) can include a reflection mode selection module (131) and an automatic mode application module (132).

[0062] The above reflection mode selection module (131) is configured to manually select whether to reflect the location of the traffic signal controller (3), and to select whether to correct the location or route of the vehicle or to correct the sensing information through the path guidance unit (11) and sensing optimization unit (12) by reflecting the actual location of the traffic signal controller (3).

[0063] The above-described automatic mode application module (132) is configured to automatically set whether or not to reflect the position of the traffic signal controller (3), and can be set automatically according to weather conditions. The above-described automatic mode application module (132) can set the weather conditions that serve as the criteria for reflection, and in particular, can automatically adjust and set the criteria according to the degree of difference in position depending on the weather conditions. In other words, the automatic mode application module (132) can lower the criteria for weather conditions when the degree of difference in position exceeds the set criteria in better weather conditions than the criteria set as the criteria, and can raise the criteria for weather conditions when the degree of difference in position is lower than the criteria in worse weather conditions. Through this, the automatic mode application module (132) can set the optimal criteria for weather conditions and automatically adjust the criteria according to the aging status, functional status, etc. of the sensors, thereby enhancing driving stability and enabling efficient system operation. To this end, the above-described automatic mode application module (132) may include a weather information collection module (132a), an application standard setting module (132b), a comparison information receiving module (132c), an error rate calculation module (132d), an error standard setting module (132e), and an application standard adjustment module (132f).

[0064] The above weather information collection module (132a) is configured to collect weather information on the vehicle's driving route, and can collect weather information such as precipitation and temperature from a server such as an external weather agency.

[0065] The above application standard setting module (132b) is configured to set a standard for weather conditions utilizing the location of the traffic signal controller (3), and can be set based on numerical values ​​related to weather information such as precipitation or temperature, and can cause the route guidance unit (11) and sensing optimization unit (12) to operate in weather conditions that exceed the set standard.

[0066] The above comparison information receiving module (132c) is configured to receive the comparison result by the sensing information comparison module (122), and receives comparison information of the location identified by the vehicle location identification module (113) using the location of the vehicle by the existing sensors installed in the vehicle and the location of the traffic signal controller (3). At this time, the comparison information receiving module (132c) can always receive comparison information regardless of the criteria for weather conditions set by the application criteria setting module (132b).

[0067] The above error rate calculation module (132d) is configured to calculate the error rate of the position, and can calculate the difference between the position using the existing sensor, etc. and the position using the traffic signal controller (3) position compared to the distance between the vehicle position using the existing sensor and the traffic signal controller (3) using the position information received by the comparison information receiving module (132c) as the error rate.

[0068] The above error standard setting module (132e) is configured to set a standard for the error rate, and sets the error rate that recognizes the accuracy of the sensor, etc. as a standard value. If the error rate is smaller than the standard value, the sensor, etc. is judged to be accurate. If the error rate is smaller than the standard value, the accuracy of the sensor, etc. is low, and it is judged to be in a state where correction to the position using the traffic signal controller (3) is required.

[0069] The above application standard adjustment module (132f) is configured to automatically change the application standard set by the application standard setting module (132b) according to the error rate calculated by the error rate calculation module (132d). When the error rate exceeds the error standard while the weather condition is below the application standard, the application standard is lowered to the corresponding weather condition. Conversely, when the error rate is below the error standard while the weather condition exceeds the application standard, the application standard is raised to the corresponding weather condition.

[0070] The signal reflection unit (14) above is configured to adjust the speed of the vehicle by reflecting traffic signal information, and receives information about traffic signals from the traffic signal controller (3) and adjusts the speed of the vehicle depending on whether the vehicle can pass through the intersection according to the traffic signal. Accordingly, the signal reflection unit (14) moves the vehicle quickly if the vehicle can pass through the intersection according to the traffic signal within a certain speed range, and moves at a slow speed if the vehicle cannot pass through the intersection, thereby enabling efficient operation of the vehicle. To this end, the signal reflection unit (14) may include a signal information receiving module (141), a route information loading module (142), a remaining distance calculation module (143), a speed information detection module (144), a speed range setting module (145), an achievability judgment module (146), and a vehicle speed adjustment module (147).

[0071] The above signal information receiving module (141) is configured to receive signal information from a traffic signal controller (3), and can receive information such as the current signal status, remaining time, and next signal from the traffic signal controller (3) when approaching an intersection within a certain range.

[0072] The above-mentioned route information loading module (142) is configured to load route information of a vehicle, load route information of an autonomous vehicle stored in a vehicle terminal (1), and select relevant traffic signal information according to the loaded route.

[0073] The above remaining distance calculation module (143) is configured to calculate the remaining distance to an intersection, and calculates the remaining distance to an intersection where a traffic signal is located based on the vehicle location.

[0074] The above speed information detection module (144) is configured to detect the current speed information of the vehicle, and detects speed information measured by the vehicle's own sensor.

[0075] The above speed range setting module (145) is configured to set the speed range in which the vehicle can drive, and can refer to the speed limit of the road on which the vehicle is driving, and can also set the maximum speed at which safe driving is possible according to the driving direction at the intersection.

[0076] The above reachability determination module (146) is configured to determine whether it is possible to reach an intersection using the vehicle's speed, remaining distance, and traffic signal information, and determines whether it is possible to reach the intersection in accordance with the vehicle's passing signal (green light). At this time, the reachability determination module (146) may calculate a driving speed by reflecting the road traffic conditions and use this to determine whether it is possible to pass.

[0077] The above vehicle speed control module (147) is configured to control the speed of the vehicle depending on whether or not the vehicle can pass a traffic signal. If the vehicle is driven faster than the current speed and can pass through the intersection within the speed range, the vehicle speed is controlled to the maximum speed. If the vehicle cannot pass through the intersection due to the traffic signal even when driving at the maximum speed, the vehicle speed is slowed down to enable economical driving.

[0078] The above-described route optimization unit (15) is configured to optimize the driving route of the vehicle based on traffic signal information, and calculates the driving time by reflecting not only information such as traffic conditions and speed limits, but also traffic signal information, and provides route guidance accordingly, thereby enabling optimal operation of the autonomous vehicle. The above-described route optimization unit (15) can compare the driving time according to the stored route with the average driving time of other vehicles on the route, and search for an alternative route if the driving time is longer. In addition, the driving times are compared using traffic information, traffic signal information, and speed limit information of the alternative routes, and the driving route is modified to a faster route. To this end, the above-mentioned route optimization unit (15) may include a signal information collection module (151), a traffic information collection module (152), a speed limit collection module (153), a driving speed calculation module (154), a driving time prediction module (155), an alternative route search module (156), a driving time comparison module (157), and a vehicle route correction module (158).

[0079] The above signal information collection module (151) is configured to collect road traffic signal information, and can collect information on current status, conversion patterns, etc. from the management server (5).

[0080] The above traffic information collection module (152) is configured to collect road traffic information, and can collect information on traffic congestion to calculate the time required to drive on the road.

[0081] The above speed limit collection module (153) is configured to collect speed limit information of a road, and can collect information on the speed limit specified for each road.

[0082] The above driving speed calculation module (154) is configured to calculate the driving speed of each road, and can calculate the driving speed for each road using collected traffic information and speed limit information.

[0083] The above driving time prediction module (155) is configured to predict the driving time according to the stored route to a designated destination, and predicts the driving time using the driving speed calculated by the driving speed calculation module (154) and traffic signal information. In other words, the driving time prediction module (155) can predict the total driving time by adding the waiting time according to the change information of the traffic signal to the driving time of each road according to the driving speed of the vehicle.

[0084] The alternative route search module (156) is configured to search for a route that can replace the stored route, and can search for multiple alternative routes through various combinations of roads. The alternative route search module (156) can perform a search according to the user's selection, and preferably, can automatically search for an alternative route when the predicted driving time is longer than the average driving time of existing vehicles on the corresponding route. In this case, the average driving time of existing vehicles can be calculated by accumulating and storing driving information of vehicles that passed the corresponding route.

[0085] The above driving time comparison module (157) is configured to compare the predicted driving times of the stored existing routes and alternative routes, and can predict the driving times for the alternative routes by the driving time prediction module (155), and can allow a comparison of the driving times between the existing route and the alternative routes.

[0086] The above vehicle route modification module (158) is configured to modify the driving route to the destination, and if there is an alternative route with a shorter driving time than the existing driving route, the alternative route is modified as the driving route to enable the autonomous vehicle to operate.

[0087] The above traffic signal controller (3) is installed at an intersection of a road on which a vehicle travels and controls the operation of traffic signals, and is installed at each intersection. Therefore, as described above, the present system utilizes the location of the traffic signal controller (3) installed at a fixed location at each intersection to assist the operation of an autonomous vehicle, thereby detecting the exact location of the vehicle even in bad weather and thereby improving the accuracy of driving guidance. The traffic signal controller (3) transmits signal information to the vehicle, and when a wireless signal is transmitted from the vehicle, a corresponding signal may be transmitted to the vehicle to enable location detection, or a signal may be transmitted to a specific location on the road on which the vehicle travels, so that the vehicle receiving the signal may detect the traffic signal controller (3) and the location of the vehicle. In particular, the traffic signal controller (3) can detect a vehicle within the intersection when a traffic signal changes and adjust the lighting of the traffic signal, thereby reducing the risk of an accident, and for this purpose, a risk control unit (31) may be included.

[0088] The above risk control unit (31) is configured to detect vehicles within an intersection and control the lighting of traffic signals, and may include a conversion information receiving module (311), a vehicle location detection module (312), a risk judgment module (313), and a signal lighting adjustment module (314).

[0089] The above conversion information receiving module (311) is configured to receive conversion information of a traffic signal, and receives information on changing from a green signal to a red signal.

[0090] The above vehicle position detection module (312) is configured to detect the position of a vehicle within an intersection, and when the conversion information of a traffic signal is received by the conversion information reception module (311), the vehicle position is detected to determine whether a vehicle exists within the intersection. At this time, the vehicle position detection module (312) can detect a vehicle within the intersection by transmitting a wireless signal within the intersection or by photographing the intersection using a camera or the like.

[0091] The above-mentioned risk assessment module (313) is configured to assess the risk of a vehicle within an intersection, and determines the risk based on the position of the green light that turns on next according to the change of the traffic signal. In other words, the above-mentioned risk assessment module (313) determines the risk by assessing whether a vehicle within the intersection is located within the path of a vehicle operating when the next green light turns on.

[0092] The above signal light adjustment module (314) is configured to delay the lighting of the next green signal, and when the danger of a vehicle within the intersection is detected by the danger judgment module (313), the lighting of the next green signal is delayed for a while to prevent an accident from occurring.

[0093] The above management server (5) is configured to manage the operation of the system, and can manage traffic signals, traffic conditions, and driving of autonomous vehicles, and can also monitor whether signals are being transmitted normally from the traffic signal controller (3). The above management server (5) may include a traffic information optimization unit (51) and a signal monitoring unit (52).

[0094] The above traffic information optimization unit (51) is configured to optimize traffic information using actual driving information of an autonomous vehicle, thereby modifying traffic information by reflecting actual driving information in the traffic information provided previously. To this end, the traffic information optimization unit (511) may include a speed information collection module (511), a speed information refinement module (512), an average speed calculation module (513), a traffic information loading module (514), a traffic information comparison module (515), an error index calculation module (516), and a traffic information modification module (517).

[0095] The above speed information collection module (511) is configured to collect speed information of an autonomous vehicle traveling on a road, and can collect vehicle speed information in real time from each vehicle terminal (1).

[0096] The above speed information refinement module (512) is configured to remove speed information having a deviation greater than a certain level from the speed information collected by the speed information collection module (511), thereby removing speed information of vehicles that are stopped or speeding, thereby enabling accurate analysis of traffic conditions.

[0097] The above average speed calculation module (513) is configured to calculate the average speed of the road in question, and calculates the average value of refined speed information collected in real time from autonomous vehicles traveling on the road.

[0098] The above traffic information loading module (514) is configured to retrieve information on traffic congestion on the road, and retrieves traffic information collected from a separate traffic control system.

[0099] The above traffic information comparison module (515) is configured to compare the vehicle speed of the corresponding road according to the retrieved traffic information with the average speed calculated by the average speed calculation module (513), thereby calculating the difference.

[0100] The above error index calculation module (516) is configured to calculate an error index that represents the degree of difference between the speed of a vehicle according to traffic information and the average speed of an autonomous vehicle, and can calculate the ratio of the error to the speed according to traffic information as the error index.

[0101] The above traffic information correction module (517) is configured to correct traffic information when the error index calculated by the error index calculation module (516) exceeds a set value, and when it is determined that the accuracy of the traffic information is low, it provides traffic information according to the average speed of the actual autonomous vehicle to the traffic control system, thereby improving the accuracy of the traffic information.

[0102] The signal monitoring unit (52) above is configured to monitor whether a signal is normally transmitted from the traffic signal controller (3) to the vehicle, and checks whether a signal from the traffic signal controller (3) used to detect the location of the vehicle, a signal providing traffic signal information to the vehicle, etc. are normally transmitted. When a vehicle approaches the traffic signal controller (3), a signal is transmitted in response to a signal transmitted from the vehicle or a signal is transmitted to a specific location, and traffic signal information is also transmitted to the vehicle. Therefore, the signal monitoring unit (52) monitors whether a signal is received from the traffic signal controller (3) when the vehicle approaches the traffic signal controller (3). In particular, the signal monitoring unit (52) includes a fault diagnosis unit (521) that diagnoses a fault in the traffic signal controller (3) when the degree to which a signal is not received from the traffic signal controller (3) exceeds a set degree, and further includes an abnormality diagnosis unit (522) that determines that a fault is present just before a fault when frequent non-reception occurs even if it is not a fault, so that preemptive measures can be taken before a fault occurs.

[0103] The above fault diagnosis unit (521) is configured to diagnose a fault condition regarding signal transmission of a traffic signal controller (3), and may include an arrival information receiving module (521a), a confirmation information receiving module (521b), a non-reception detection module (521c), a non-reception ratio calculation module (521d), a reference value comparison module (521e), and a fault notification module (521f).

[0104] The above arrival information receiving module (521a) is configured to receive information about a vehicle reaching the vicinity of a traffic signal controller (3), and receives information about the vehicle approaching the traffic signal controller (3) based on the vehicle's location information.

[0105] The above confirmation information receiving module (521b) is configured to receive information to confirm whether a signal has been received from a traffic signal controller (3) after the vehicle approaches, and receives information on whether a signal for vehicle location detection and a signal regarding signal information have been received.

[0106] The above-mentioned non-receipt detection module (521c) is configured to detect information that a signal from a traffic signal controller (3) has not been received, and detects a vehicle that has received information that the vehicle is approaching the traffic signal controller (3) by the arrival information receiving module (521a), but has not received a signal confirming that a signal has been received from the traffic signal controller (3) by the confirmation information receiving module (521b).

[0107] The above-mentioned non-reception ratio calculation module (521d) is configured to calculate the ratio of non-reception of signals from the traffic signal controller (3), and calculates the ratio of the number of vehicles that do not receive signals to the number of vehicles approaching the traffic signal controller (3) in a certain time unit as the non-reception ratio.

[0108] The above reference value comparison module (521e) is configured to compare the non-received rate calculated by the non-received rate calculation module (521d) with a set reference value, and the non-received rate that can be judged as a failure of the traffic signal controller (3) can be set as a reference value so that a comparison with the reference value can be made at each unit time when the non-received rate is calculated.

[0109] The above failure notification module (521f) is configured to notify a failure of a traffic signal controller (3). If the non-reception ratio exceeds a reference value, it can determine that it is a failure and notify this. In addition, it can notify failure information together with identification information of the traffic signal controller (3) to enable a quick response to the failure.

[0110] The above abnormality diagnosis unit (522) is configured to diagnose abnormal conditions in the signal transmission of the traffic signal controller (3), and by diagnosing and notifying abnormal conditions immediately before a failure, it enables preemptive measures to be taken before a failure occurs. To this end, the above abnormality diagnosis unit (522) may include a non-receipt ratio storage module (522a), an abnormality range setting module (522b), an abnormality frequency calculation module (522c), and an inspection instruction module (522d).

[0111] The above-mentioned non-received ratio storage module (522a) is configured to accumulate and store the ratio of non-received signals from the traffic signal controller (3), and to store the non-received ratio calculated by the non-received ratio calculation module (521d).

[0112] The above-mentioned abnormal range setting module (522b) is configured to set a range for the non-reception ratio that can be determined as an abnormal state of the traffic signal controller (3), and can set a certain range below the reference value determined as a failure state by the reference value comparison module (521e) as an abnormal range.

[0113] The above abnormal frequency calculation module (522c) is configured to calculate the frequency at which the non-receipt rate reaches an abnormal range, and can calculate the number of times the non-receipt rate calculated in a certain time unit reaches an abnormal range in a certain time unit.

[0114] The above inspection instruction module (522d) is configured to instruct inspection of the traffic signal controller (3), and if the abnormal frequency calculated by the abnormal frequency calculation module (522c) exceeds the set reference value, it determines that the traffic signal controller (3) is in an abnormal state and instructs inspection.

[0115]

[0116] In the above, the applicant has described various embodiments of the present invention, but such embodiments are only examples of implementing the technical idea of ​​the present invention, and any change or modification that implements the technical idea of ​​the present invention should be interpreted as falling within the scope of the present invention.

Claims

1. A traffic signal controller installed at an intersection where vehicles are driving and controls traffic signals; A vehicle terminal mounted on a self-driving vehicle that controls and operates on its own, and Includes a management server that manages the system by communicating with the above traffic signal controller and vehicle terminal, The above vehicle terminal is an autonomous driving system utilizing a traffic signal controller, characterized in that it provides guidance on a driving route using the location of the traffic signal controller.

2. In the first paragraph, the vehicle terminal Includes a route guidance unit that guides the driving route using the location of the traffic signal controller, The above route guidance section, An autonomous driving system utilizing a traffic signal controller, characterized in that it includes a controller location storage module that stores location information of a traffic signal controller on a map, a controller location detection module that detects the actual location of the traffic signal controller in a state in proximity to the traffic signal controller, a vehicle location identification module that identifies the location of a vehicle based on the detected location of the traffic signal controller, a map mapping module that maps the identified location of the vehicle on a stored map, and a guidance information modification module that modifies and provides guidance on a route stored in a vehicle terminal based on the location of the vehicle identified from the traffic signal controller.

3. In the second paragraph, the vehicle terminal Includes a sensing optimization unit that optimizes sensing information for detecting the location of the vehicle, The above sensing optimization unit An autonomous driving system utilizing a traffic signal controller, characterized in that it includes a location information receiving module that receives location information of a vehicle identified by the vehicle location identification module, a sensing information comparison module that compares the received location information with location information identified by sensors mounted on the vehicle, and a location information correction module that corrects location information by sensors mounted on the vehicle based on the comparison result of the location information.

4. In the second paragraph, the vehicle terminal An autonomous driving system utilizing a traffic signal controller, characterized by including a mode setting unit that selects whether to modify a route according to a signal from a traffic signal controller.

5. In the fourth paragraph, the mode setting unit Includes an automatic mode application module that automatically sets whether to reflect traffic signal controller signals depending on weather conditions. The above mode automatic application module is, An autonomous driving system utilizing a traffic signal controller, characterized in that it includes a weather information collection module that collects weather information around a vehicle, an application standard setting module that sets a standard for weather conditions to which a traffic signal controller signal is reflected, a comparison information receiving module that receives information on a difference in location according to application of a traffic signal controller signal, an error rate calculation module that calculates a location error rate according to a location comparison result, an error standard setting module that sets a standard for the error rate, and an application standard adjustment module that changes the standard for weather conditions set by the application standard setting module according to the error rate.

6. In the first paragraph, the vehicle terminal It includes a signal reflection unit that adjusts the speed of the vehicle according to signal information received from the traffic signal controller. The above signal reflection part is, An autonomous driving system utilizing a traffic signal controller, characterized in that it includes a signal information receiving module for receiving traffic signal information from a traffic signal controller within a certain distance, a route information loading module for loading vehicle route information, a remaining distance calculation module for calculating the remaining distance of a vehicle reaching a traffic signal, a speed information detection module for detecting the speed of the vehicle, a speed range setting module for setting an appropriate speed range of the vehicle, an reachability judgment module for determining whether a passing signal of a traffic signal according to a vehicle route is reachable within the set speed range, and a vehicle speed adjustment module for adjusting the speed depending on whether the vehicle is reachable.

7. In the first paragraph, the vehicle terminal Includes a route optimization unit that optimizes the vehicle's route according to traffic signals, The above path optimization unit, An autonomous driving system utilizing a traffic signal controller, characterized in that it includes a signal information collection module for collecting traffic signal information on a vehicle route, a traffic information collection module for collecting traffic information on the vehicle route, a speed limit collection module for collecting speed limit information on the vehicle route, a driving speed calculation module for calculating a drivable speed of the vehicle using traffic information and speed limit information on the vehicle route, a driving time prediction module for predicting a driving time to a destination based on the calculated drivable speed and change information in traffic signals, an alternative route search module for searching for an alternative route when the predicted driving time is longer than the average driving time of the route, a driving time comparison module for predicting a driving time using traffic signal information and drivable speed of the alternative route and comparing it with the driving time of the existing route, and a vehicle route correction module for correcting a route to the alternative route when the driving time of the alternative route is short.

8. In paragraph 1, the traffic signal controller Includes a risk control unit that controls traffic signals according to the location of vehicles within an intersection when traffic signals change. The above risk control unit is, An autonomous driving system utilizing a traffic signal controller, characterized by including a conversion information receiving module for receiving conversion information of a traffic signal, a vehicle location detection module for detecting the location of a vehicle within an intersection when receiving conversion information, a danger judgment module for determining danger based on the location of the vehicle and the vehicle path according to the next signal, and a signal lighting adjustment module for delaying the lighting time of the next passing signal when the vehicle is determined to be in danger.

9. In paragraph 1, the management server Includes a traffic information optimization unit that optimizes traffic information based on the actual moving speed of the autonomous vehicle. The above traffic information optimization department, An autonomous driving system utilizing a traffic signal controller, characterized by including a speed information collection module that collects vehicle speed information, a speed information refinement module that deletes speed information with a deviation greater than a certain level, an average speed calculation module that calculates the average speed of vehicles in a relevant section using the refined speed information, a traffic information loading module that loads traffic information for the relevant section, a traffic information comparison module that compares the average speed calculated by the average speed calculation module with the loaded traffic information, an error index calculation module that calculates an error index for speed error based on the comparison result, and a traffic information correction module that corrects traffic information to match the calculated average speed when the error index exceeds a set value.

10. In the second paragraph, the management server Includes a signal monitoring unit that monitors the status of a signal transmitted from a traffic signal controller, The above signal monitoring unit, It includes a fault diagnosis unit that diagnoses a fault condition in the signal transmission of the traffic signal controller, and an abnormality diagnosis unit that diagnoses an abnormal condition prior to the occurrence of a fault. The above fault diagnosis unit, A vehicle approaching a traffic signal controller according to the vehicle's location includes an arrival information receiving module for receiving information from a vehicle terminal, a confirmation information receiving module for receiving information on receiving a signal transmitted from a traffic signal controller when arrival of the vehicle is received, a non-reception detection module for detecting that a vehicle has reached the vicinity of a traffic signal controller but the signal has not been received, a non-reception ratio calculation module for calculating the ratio of the number of times the signal has not been received to the number of vehicles arriving near the traffic signal controller at a certain time interval, a reference value comparison module for comparing the calculated non-reception ratio with a set reference value, and a failure notification module for determining that the traffic signal controller is in a failure state and notifying the same when the non-reception ratio exceeds the reference value. The above abnormal diagnosis section is, An autonomous driving system utilizing a traffic signal controller, characterized in that it includes a non-received ratio storage module that accumulates and stores the non-received ratio calculated by the non-received ratio calculation module, an abnormal range setting module that sets a certain range below a reference value set by the reference value comparison module that can determine that the traffic signal controller is not in a malfunction but is in a stage immediately before a malfunction occurs, an abnormal frequency calculation module that calculates the frequency at which the non-received ratio of a transmission signal reaches the abnormal range for a set unit time, and an inspection instruction module that orders inspection of the traffic signal controller when the calculated abnormal frequency exceeds the set frequency.

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