KR-20260063807-A - Apparatus recognizing construction area for autonomous cooperative driving and method using the same

Abstract

The present invention relates to a construction area recognition device for generating a precision map for autonomous cooperative driving and a method using the same, characterized by comprising: an image collection unit that collects image data captured from a camera equipped in infrastructure; an object recognition unit that recognizes road boundaries and lanes constituting the road and objects located on the road using an artificial intelligence model from the image data; a construction area recognition unit that determines whether it is a construction area using the recognized object information and sets the location of the area where construction is taking place and the construction section; a map generation unit that maps the construction area to a precision map; and a map transmission unit that transmits the precision map to a map server.

Inventors

• 오광만
• 추연호
• 안웅

Assignees

• (주)테슬라시스템

Dates

Publication Date

20260507

Application Date

20241031

Claims (6)

1. In a construction area recognition device for generating a precision map for autonomous cooperative driving, A video collection unit that collects video data captured from a camera equipped in the infrastructure; An object recognition unit that recognizes road boundaries and lanes constituting the road and objects located on the road using an artificial intelligence model from the above image data; A construction area recognition unit that determines whether it is a construction area by utilizing the above-mentioned recognized object information and sets the location of the area where construction is taking place and the construction section; A map generation unit that maps the above construction area to the above precision map; and A construction area recognition device characterized by comprising a map transmission unit that transmits the above-mentioned precision map to a map server.
2. In paragraph 1, The above object recognition unit is, A road recognition unit that recognizes road boundaries forming a road and lanes within the road to recognize the above construction area; A traffic safety facility recognition unit that recognizes traffic safety facilities located on the aforementioned road; A traffic safety facility location determination unit that recognizes the location of the above-mentioned recognized facility; and A construction area recognition device characterized by comprising a coordinate conversion unit that converts local coordinates within the image into global coordinates to reflect the above location in the above precision map.
3. In paragraph 2, The above construction area recognition unit (130) is, A polygon generation unit that searches for the range of the construction area through a polygon; A construction area determination unit that determines the construction area through the above polygon; and A construction area recognition device characterized by comprising a bypass route guide that provides a driving path to bypass or avoid the above construction area.
4. In paragraph 1, A construction area recognition device characterized by the above map transmission unit transmitting the above precision map, including the construction area, in real time to an autonomous vehicle located within the coverage range of the above infrastructure using V2X communication.
5. In paragraph 3, A construction area recognition device characterized in that the above-mentioned polygon is a polygon connecting the outermost edges of the above-mentioned recognized traffic safety facilities.
6. In a method of using a construction area recognition device according to any one of paragraphs 1 to 3, A first step of recognizing road boundaries using a camera equipped in the above infrastructure to set a road area; A second step of recognizing traffic safety facilities among objects located within the above road area; A third step of extracting the location of the above traffic safety facility and converting the location into global coordinates; A fourth step of setting a construction area by extracting polygon data based on the location of the above-mentioned traffic safety facilities; and A construction area recognition method characterized by comprising a fifth step of mapping the construction area set by the above polygon onto a precision map.

Description

Apparatus recognizing construction area for autonomous cooperative driving and method using the same The present invention relates to a construction area recognition device for autonomous cooperative driving that recognizes a construction area proceeding on a road using a camera installed on infrastructure along a roadside and reflects it in real time on a precision map for an autonomous vehicle, and a method using the same. An autonomous vehicle (hereinafter referred to as "autonomous vehicle") has the function of recognizing environmental information necessary for driving, such as the types and locations of objects around the vehicle, using various sensors such as radar and lidar and cameras, and controlling the vehicle based on this information to perform autonomous driving. However, along the route where autonomous vehicles intend to travel, there are always situations where they cannot respond in real time due to road conditions, unexpected emergencies, and blind spots. As such, an edge infrastructure system (hereinafter referred to as "infrastructure") equipped with various sensors installed along the roadside is required to recognize the autonomous driving environment of the autonomous vehicle in advance. In addition to the function of detecting objects moving around the road (e.g., people, cars, bicycles, etc.), this infrastructure needs to recognize information such as sudden situations, road surface conditions, traffic accidents, and road construction, and reflect this in a precision map for autonomous driving. Precision maps for autonomous vehicles can be displayed by classifying them into static elements of a typical road (roadway, lane markings, road markings, locations of traffic lights, traffic signs, etc.) and dynamic elements that change over time (obstacles, construction zones, traffic congestion, surrounding vehicles, pedestrians, etc.). While the purpose of these precision maps is no different from current vehicle navigation maps, they require more accurate location information for static elements and a rapid update cycle for dynamic elements; additionally, they can safely perform autonomous driving functions by selecting the optimal route from the starting point to the destination. In particular, when construction is underway on roads detectable by infrastructure, it is necessary to recognize this in advance, reflect it in a precision map, and provide driving routes that allow for detours or avoidance. However, conventional infrastructure merely transmits situational information regarding the road surroundings and currently fails to provide the means to directly recognize traffic safety facilities installed in construction zones, accurately define the construction area, and reflect this in a precision map for autonomous driving. Patent Document 1 is characterized by determining the type of construction zone sign on a road on which a vehicle is traveling using sensors such as cameras and lidar to detect a construction zone, determining the possibility of the existence of a construction zone on the road based on this, modifying a control strategy related to the driving behavior of the vehicle, and controlling the vehicle according to the modified control strategy. However, Patent Document 1 detects the construction area only through sensors equipped in the vehicle, whereas the present invention differs in that it detects the construction area in the infrastructure and does not provide a means to reflect the construction section on the map. FIG. 1 is a configuration diagram showing the configuration of an infrastructure including a construction area recognition device according to an embodiment of the present invention. FIG. 2 is a drawing showing an edge computer driving a construction area recognition device according to an embodiment of the present invention. FIG. 3 is a diagram showing a functional block diagram of a construction area recognition device according to an embodiment of the present invention. FIG. 4 is a diagram showing a functional block diagram of an object recognition unit according to an embodiment of the present invention. FIG. 5 is a drawing illustrating road lanes and road boundaries as examples according to an embodiment of the present invention. FIG. 6 illustrates the types of traffic safety facilities that may be located on a road according to an embodiment of the present invention. FIG. 7 shows an example of recognizing a traffic safety facility by a traffic safety facility recognition unit according to an embodiment of the present invention. FIG. 8 illustrates the central location of a traffic safety facility according to an embodiment of the present invention. FIG. 9 illustrates an example of converting the position of an image acquired from an image camera attached to an infrastructure according to an embodiment of the present invention into global coordinates. FIG. 10 is a diagram showing a functional block diagram of a construction area recognition unit acc