Method and device for generating driving suitability index

Abstract

The present invention relates to a method and a device for generating a driving suitability index of an autonomous vehicle on the basis of simple computations by which real-time performance is ensured in an actual driving situation. The method for generating a driving suitability index, related to one embodiment of the present invention, may comprise the steps of: acquiring a relative distance and a relative speed between an EGO vehicle and a target vehicle; and calculating a driving suitability index for the target vehicle by using the acquired relative distance and relative speed of the target vehicle.

Description

Method and device for generating operational suitability indicators

[0001] The present invention relates to a method and apparatus for generating an operational suitability index, and more specifically, to a method and apparatus for generating an operational suitability index of an autonomous vehicle based on simple calculations that guarantee real-time performance in actual operating situations.

[0002]

[0003] Various research and development are being carried out on autonomous vehicles.

[0004] For the optimal driving of autonomous vehicles, methods to maintain traffic flow and ensure safe operation based on the behavior of other vehicles are also being emphasized. In particular, criteria for judging whether the vehicle is operating appropriately for the driving situation are required, and to this end, various methods are being proposed to provide judgment criteria based on traffic flow.

[0005] In particular, game theory-based optimization methods are being proposed, which have the advantage of maintaining driving safety while providing improved ride comfort through natural judgment in response to traffic flow.

[0006] Game theory is utilized as one of the decision-making methods to maintain traffic flow and ensure safety by predicting the behavior of other vehicles. Game theory-based decision-making predicts the utility of other vehicles' driving and plans an optimal driving strategy based on stability and traffic flow.

[0007] However, since this method requires significant computation for real-time processing, improvements in hardware requirements, such as memory and computational performance, are necessary. Therefore, criteria for determining the driving suitability of the opposing vehicle are required to enable real-time processing while making optimal decisions.

[0008]

[0009] The objective of the present invention is to provide a method and apparatus for generating an operational suitability index for an autonomous vehicle based on simple calculations that guarantee real-time performance in actual operating situations.

[0010]

[0011] According to one embodiment of the present invention, to achieve the above objective, a method for generating a driving suitability index is disclosed, characterized by comprising: a step of obtaining a relative distance and relative speed between an EGO vehicle and a target vehicle; and a step of calculating a driving suitability index for the target vehicle using the obtained relative distance and relative speed of the target vehicle.

[0012] According to one embodiment of the present invention, to achieve the above objective, a driving suitability index generating device is disclosed, comprising: a measurement data acquisition unit for acquiring a relative distance and relative speed between an EGO vehicle and a target vehicle; an index calculation unit for calculating a driving suitability index for the target vehicle using the acquired relative distance and relative speed of the target vehicle; a display unit for displaying the calculated index; and a control unit for controlling the measurement data acquisition unit, the index calculation unit, and the display unit.

[0013]

[0014] A method and apparatus for generating an operation suitability index according to an embodiment of the present invention can calculate an operation suitability index based on simple calculations that guarantee real-time performance in actual operation situations.

[0015] According to one embodiment of the present invention, by applying an operational suitability index to an autonomous vehicle, it is possible to make decisions regarding optimal driving based on simple calculations that guarantee real-time performance in actual driving situations. Through this, the autonomous driving system can effectively determine conservative or aggressive driving by considering surrounding traffic conditions, thereby enabling safer and more efficient operation.

[0016] In addition, according to one embodiment of the present invention, applying a vehicle suitability index in various driving scenarios can contribute to improving the driving quality of an autonomous vehicle.

[0017]

[0018] FIG. 1 is a diagram illustrating a method for generating and verifying an operational suitability index in a scenario related to an embodiment of the present invention.

[0019] FIG. 2 is a block diagram showing an operation suitability index generating device related to an embodiment of the present invention.

[0020] FIG. 3 is a drawing for explaining the driving suitability index for the longitudinal and transverse directions related to an embodiment of the present invention.

[0021] Figures 4 to 7 show the results of analyzing the operational suitability index in the scenario illustrated in Figure 1.

[0022] FIG. 8 is a diagram illustrating a method for generating and verifying an operational suitability index in a scenario related to another embodiment of the present invention.

[0023] Figure 9 is the result of analyzing the driving suitability index in the scenario illustrated in Figure 8.

[0024] FIG. 10 is a drawing for illustrating a computing environment including a computing device related to an embodiment of the present invention.

[0025]

[0026] In order to fully understand the present invention, the operational advantages of the present invention, and the objectives achieved by the implementation of the present invention, reference must be made to the accompanying drawings illustrating preferred embodiments of the present invention and the contents described in the accompanying drawings.

[0027] The present invention will be described in detail below by explaining preferred embodiments with reference to the attached drawings. However, the present invention may be implemented in various different forms and is not limited to the embodiments described. Furthermore, to clearly explain the present invention, parts unrelated to the description are omitted, and the same reference numerals in the drawings indicate the same components.

[0028] The embodiments and terms used therein are not intended to limit the technology described in this document to specific embodiments and should be understood to include various modifications, equivalents, and / or substitutions of said embodiments.

[0029] In describing various embodiments below, if it is determined that a detailed description of related known functions or configurations could unnecessarily obscure the essence of the invention, such detailed description will be omitted.

[0030] In relation to the description of the drawings, similar reference numerals may be used for similar components.

[0031] A singular expression may include a plural expression unless the context clearly indicates otherwise.

[0032] In this document, expressions such as "A or B" or "at least one of A and / or B" may include all possible combinations of the items listed together.

[0033] Where it is stated that a certain (e.g., first) component is "(functionally or telecommunicationally) connected" or "connected" to another (e.g., second) component, the certain component may be directly connected to the other component or connected through another component (e.g., third component).

[0034] As used in this specification, singular expressions include plural expressions unless the context clearly indicates otherwise. In this specification, terms such as “composed” or “comprising” should not be interpreted as necessarily including all of the various components or steps described in the specification, and should be interpreted as meaning that some of the components or steps may not be included, or that additional components or steps may be included.

[0035] According to one embodiment of the present invention, a driving suitability index generating device may be mounted on or detached from an Ego vehicle to generate a driving suitability index (DI). The driving suitability index may be designed as a method to quantify the influence that the Ego vehicle has on the target vehicle (relative vehicle), rather than the influence that the target vehicle (relative vehicle) has on the Ego vehicle.

[0036] An Ego vehicle is a vehicle that generates an operational suitability index, and an autonomous vehicle can serve as an example. Below, an autonomous vehicle will be described as an example of an Ego vehicle.

[0037] FIG. 1 is a diagram illustrating a method for generating and verifying an operational suitability index in a scenario related to an embodiment of the present invention.

[0038] The scenario illustrated in Fig. 1 represents a scenario in which an Ego vehicle changes lanes and overtakes a vehicle ahead. In other words, it is intended to analyze how much an autonomous vehicle (Ego) affects vehicles in front, behind, and to the side when changing lanes and overtaking with conservative or non-conservative (aggressive) driving. An operational suitability index can be calculated by quantifying the degree of influence on surrounding vehicles through the relative speed and relative distance to longitudinal and lateral target vehicles relative to the autonomous vehicle (Ego).

[0039] FIG. 2 is a block diagram showing an operation suitability index generating device related to an embodiment of the present invention. Hereinafter, in the embodiment, a method for generating an operation suitability index will be described with reference to the scenario illustrated in FIG. 1.

[0040] As described, the driving suitability index generating device (100) may include a measurement data acquisition unit (110), an index calculation unit (120), a display unit (130), and a control unit (140).

[0041] The measurement data acquisition unit (110) can acquire the relative distance and relative speed of the measured target vehicle (or relative vehicle) (T1, T2, T3, T4). The relative distance and relative speed with respect to the target vehicle can be measured using front / rear radar, side radar, lidar, etc. mounted on the autonomous vehicle (Ego).

[0042] The indicator calculation unit (120) can calculate an operational suitability index using the relative distance and relative speed with respect to the acquired target vehicle. The operational suitability index may include an operational suitability index for the longitudinal direction and an operational suitability index for the lateral direction based on the autonomous vehicle (Ego).

[0043] For example, the indicator calculation unit (120) can calculate only the driving suitability indicator for the longitudinal direction based on the autonomous vehicle (Ego) when the target vehicle (T1, T2) is driving in the same lane as the autonomous vehicle (Ego) (i.e., calculate only one driving suitability indicator).

[0044] Additionally, the indicator calculation unit (120) can calculate a driving suitability indicator for the longitudinal direction and a driving suitability indicator for the lateral direction based on the autonomous vehicle (Ego) when the target vehicle (T3, T4) is driving in a different lane from the autonomous vehicle (Ego) (i.e., only two driving suitability indicators are calculated).

[0045] According to one embodiment of the present invention, in order to design an operational suitability index for an autonomous vehicle, the present invention first requires an analysis of the Artificial Potential Field (APF) method, which is primarily used for path planning of autonomous vehicles. The APF method is a method primarily used for path planning of autonomous vehicles that derives a safe driving range by utilizing relative distance and relative speed with surrounding vehicles. The APF can be described as a virtual energy standard for a target vehicle. The APF, which is a virtual energy standard for a target vehicle, can be expressed as shown in Equation 1 below. A higher energy level may indicate a higher risk level for the target vehicle.

[0046]

[0047] DI i : Operational suitability index

[0048] Energy Level: Virtual energy standard for target vehicles

[0049] k1, k2, τ i : APF Design Parameters

[0050] According to one embodiment of the present invention, from the expression of Equation 1, the Driving Suitability Index (DI) can be calculated as a method of quantifying the influence of the autonomous vehicle on the target vehicle, rather than the influence of the target vehicle on the autonomous vehicle. For example, the larger the predicted distance s, which consists of relative distance and relative speed, the larger the Driving Suitability Index (DI) representing a fixed energy level becomes. The calculation formula is explained as follows. In Equation 1, the relationship between the energy level and the DI can be expressed in a situation where the predicted distance to the target vehicle is s.

[0051] If a specific energy level is determined, the operational suitability index (DI) can be calculated through it, and this can be expressed by the following mathematical formula 2.

[0052]

[0053] DI i : Operational suitability index

[0054] Energy Level: Virtual energy standard for target vehicles

[0055] k1, k2, τ i : APF Design Parameters

[0056] R i : Longitudinal / Transverse Relative Distance (Unit: m)

[0057] RV i : Longitudinal / Transverse Relative Velocity (Unit: m / s)

[0058] Here, the subscript i is an index representing the longitudinal or transverse direction, and RV i In , i (not a subscript), i is the identifier of the target vehicle.

[0059] h: Prediction time (Validation Time) (Unit: s)

[0060] According to Equation 2, if an autonomous vehicle drives conservatively with respect to the vehicle ahead, the predicted distance s is large, and the driving fitness index (DI) corresponding to that value is also large. Through this relationship, a driving fitness index (DI) that expresses the degree of influence of the autonomous vehicle on the target vehicle can be designed. The driving fitness index (DI) can be designed for the longitudinal and lateral directions, respectively; where the longitudinal direction refers to the direction of travel of the autonomous vehicle (e.g., straight), and the lateral direction refers to the left and right sides perpendicular to the direction of travel. To design the driving fitness index (DI) in this way, a virtual energy criterion composed of the relative distance and relative speed to the target vehicle can be expressed by Equation 1.

[0061] FIG. 3 is a drawing for explaining the driving suitability index for the longitudinal and transverse directions related to an embodiment of the present invention.

[0062] As described, Longitudinal represents the driving suitability index for the longitudinal direction, and Lateral represents the driving suitability index for the lateral direction. The driving suitability index in the longitudinal and lateral directions according to Equation 2 is designed to increase when driving conservatively relative to the target vehicle, and decrease when driving non-conservatively relative to the target vehicle.

[0063] As an example, when the Driving Index (DI) is 5, it is assumed to be a standard driving situation where a safe distance is secured, and under this assumption, APF configuration parameters (k1, k2, τ) can be set. The designed Driving Index can be expressed by the above-described Equation 2. Here, long and lat represent the longitudinal and lateral directions, respectively.

[0064] Figures 4 to 7 show the results of analyzing the operational suitability index in the scenario illustrated in Figure 1.

[0065] Figures 4 and 5 show the results of longitudinal side analysis of conservative and non-conservative driving when an autonomous vehicle overtakes a vehicle ahead while driving at 60 kph. When changing lanes, non-conservative driving showed a lower driving suitability index compared to conservative driving in the longitudinal side.

[0066] Figures 6 and 7 show the analysis results of the lateral side. It was confirmed that in the lateral side, there is not a significant difference between conservative and non-conservative driving situations compared to the longitudinal side. Through this, it can be confirmed that when changing lanes in a conservative manner—that is, when changing lanes while maintaining a sufficient safety distance—the longitudinal driving suitability is calculated to be high, whereas when changing lanes through aggressive driving without sufficient safety distance, the longitudinal driving suitability is calculated to be low.

[0067] FIG. 8 is a diagram illustrating a method for generating and verifying an operational suitability index in a scenario related to another embodiment of the present invention, and FIG. 9 is a result of analyzing the operational suitability index in the scenario illustrated in FIG. 8.

[0068] The illustrated scenario is a diagram illustrating a method for verifying operational suitability indicators in scenarios where an autonomous vehicle enters an intersection while making a left turn conservatively or non-conservatively (aggressively).

[0069] When driving while maintaining a safe distance when entering an intersection, that is, when driving conservatively, the driving suitability shows a high value, whereas when driving without maintaining a safe distance, that is, when driving non-conservatively (aggressively), it shows a low value. Through this, it can be confirmed that the driving suitability index can be quantified from a lateral perspective.

[0070] As described above, one embodiment of the present invention presents a method for generating an indicator of the operational suitability of an autonomous vehicle by considering various driving situations. This indicator numerically expresses the suitability for conservative / non-conservative driving by utilizing the relative distance and relative speed to a target vehicle, and has been verified under various scenarios.

[0071] Therefore, the proposed driving suitability index can be applied not only to actual driving situations but also to various verification scenarios, and enables decision-making regarding optimal driving based on simple calculations that guarantee real-time performance in actual driving situations. Furthermore, it can effectively analyze and evaluate various driving patterns for the safe operation of autonomous vehicles.

[0072] FIG. 10 is a drawing for illustrating a computing environment including a computing device related to an embodiment of the present invention.

[0073] In the illustrated embodiment, each component may have different functions and capabilities in addition to those described below, and may include additional components in addition to those not described below. The illustrated computing environment includes a computing device (200), and the computing device (200) may be one or more components included in the network alignment device illustrated in FIG. 2.

[0074] A computing device (200) may include at least one processor (210) and a memory (220) that stores one or more programs executed by the one or more processors (210).

[0075] The processor (210) can enable the computing device (200) to operate according to the exemplary embodiment mentioned above. For example, the processor (210) can execute one or more programs stored in computer-readable memory (220).

[0076] The above one or more programs may include one or more computer-executable instructions, and the computer-executable instructions may be configured to cause the computing device (200) to perform operations according to exemplary embodiments when executed by the processor (210).

[0077] As described above, the method and apparatus for generating an operation suitability index according to one embodiment of the present invention can calculate an operation suitability index based on simple calculations that guarantee real-time performance in actual operation situations.

[0078] According to one embodiment of the present invention, by applying an operational suitability index to an autonomous vehicle, it is possible to make decisions regarding optimal driving based on simple calculations that guarantee real-time performance in actual driving situations. Through this, the autonomous driving system can effectively determine conservative or aggressive driving by considering surrounding traffic conditions, thereby enabling safer and more efficient operation.

[0079] In addition, according to one embodiment of the present invention, applying a vehicle suitability index in various driving scenarios can contribute to improving the driving quality of an autonomous vehicle.

[0080] The method and apparatus for generating an operational suitability index described above are not limited to the configurations and methods of the embodiments described above; rather, all or part of each embodiment may be selectively combined to allow for various modifications to be made.

[0081] [Explanation of the symbol]

[0082] 100: Operation Suitability Index Generating Device

[0083] 110: Measurement data generation unit

[0084] 120: Indicator Calculation Section

[0085] 130: Display section

[0086] 140: Control unit

Claims

1. A step of obtaining the relative distance and relative speed of the EGO vehicle and the target vehicle; and A method for generating a driving suitability index, characterized by including the step of calculating a driving suitability index for a target vehicle using the relative distance and relative speed of the target vehicle obtained above.

2. In Paragraph 1, The above operational suitability indicators are A method for generating a driving suitability index characterized by including a driving suitability index for the longitudinal direction and a driving suitability index for the lateral direction based on the above-mentioned EGO vehicle.

3. In Paragraph 1, If the above target vehicle is operating in the same lane as the above ego vehicle, Based on the above EGO vehicle, only the driving suitability index for the longitudinal direction is calculated, and If the above target vehicle is operating in a different lane from the above ego vehicle, A method for generating driving suitability indicators characterized by calculating driving suitability indicators for the longitudinal direction and driving suitability indicators for the lateral direction based on the above-mentioned EGO vehicle.

4. In paragraph 3, the step of calculating the above-mentioned operational suitability index A method for generating an operational suitability index characterized by including a step of using a value obtained by multiplying the above relative speed by a set prediction time.

5. In paragraph 3, the step of calculating the above-mentioned operational suitability index A method for generating a driving suitability index characterized by including the step of calculating the driving suitability index using a predicted distance expressed as the sum of the values ​​obtained by multiplying the relative distance and the predicted time set for the relative speed.

6. In paragraph 5, the step of calculating the above-mentioned operational suitability index A method for generating an operational suitability index characterized by being calculated by the following mathematical formula 1. [Mathematical Formula 1] DI i : Operational suitability index Energy Level: Virtual energy standard for target vehicles k1, k2, τ i : APF Design Parameters R i : Longitudinal / Transverse Relative Distance (Unit: m) RV i : Longitudinal / Transverse Relative Velocity (Unit: m / s) Here, the subscript i is an index representing the longitudinal or transverse direction, and RV i In , i (not a subscript), i is the identifier of the target vehicle. h: Prediction time (Validation Time) (Unit: s) 7. A measurement data acquisition unit for acquiring the relative distance and relative speed between an EGO vehicle and a target vehicle; An indicator calculation unit that calculates an operational suitability index for the target vehicle using the relative distance and relative speed of the target vehicle obtained above: A display unit for displaying the above-mentioned calculated indicators; and An operation suitability index generating device characterized by including a control unit that controls the above-mentioned measurement data acquisition unit, the above-mentioned index calculation unit, and the above-mentioned display unit.

8. In Paragraph 7, The above operational suitability indicators are A driving suitability index generating device characterized by including a driving suitability index for the longitudinal direction and a driving suitability index for the lateral direction based on the above-mentioned EGO vehicle.

9. In Paragraph 7, The above indicator calculation unit is, If the above target vehicle is operating in the same lane as the above ego vehicle, Based on the above EGO vehicle, only the driving suitability index for the longitudinal direction is calculated, and If the above target vehicle is operating in a different lane from the above ego vehicle, A driving suitability index generating device characterized by calculating a driving suitability index for the longitudinal direction and a driving suitability index for the lateral direction based on the above-mentioned EGO vehicle.

10. In Paragraph 9, the above indicator calculation unit A driving suitability index generating device characterized by using a value obtained by multiplying the above relative speed by a set prediction time.

11. In Clause 10, the above indicator calculation unit A driving suitability index generating device characterized by calculating the driving suitability index using a predicted distance expressed as the sum of the values ​​obtained by multiplying the relative distance and the predicted time set for the relative speed.

12. In Clause 11, the above indicator calculation unit An operation suitability index generating device characterized by calculating the above operation suitability index using the following mathematical formula 1. [Mathematical Formula 1] DI i : Operational suitability index Energy Level: Virtual energy standard for target vehicles k1, k2, τ i : APF Design Parameters R i : Longitudinal / Transverse Relative Distance (Unit: m) RV i : Longitudinal / Transverse Relative Velocity (Unit: m / s) Here, the subscript i is an index representing the longitudinal or transverse direction, and RV i In , i (not a subscript), i is the identifier of the target vehicle. h: Prediction time (Validation Time) (Unit: s)

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