KR-20260063815-A - Apparatus recognizing reverse vehicle for autonomous cooperative driving and method using the same

Abstract

The present invention relates to a wrong-way vehicle 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 provided 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 image data; a wrong-way vehicle recognition unit that determines whether a vehicle is driving in the wrong direction using the recognized object information and sets the location of the accident area and the accident section; a map generation unit that maps the wrong-way vehicle 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 (5)

1. In a reverse-driving vehicle recognition device that generates 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 reverse-driving vehicle recognition unit that determines whether a vehicle is driving in the wrong direction by utilizing the above-mentioned recognized object information, and predicts the location and direction of movement of the vehicle driving in the wrong direction; A map generation unit for mapping the above-mentioned reverse-driving vehicle to the above-mentioned precision map; and A reverse-driving vehicle 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-mentioned vehicle traveling in the wrong direction; A vehicle recognition unit that recognizes a moving vehicle located on the above road; A driving direction determination unit that determines the direction of travel by tracking the location of the above-mentioned recognized vehicle; and A reverse-driving vehicle recognition device characterized by comprising a coordinate transformation 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 reverse-driving vehicle recognition unit (130) includes a vector cross product calculation unit that calculates a vector cross product using a forward direction vector and a driving direction vector; and A reverse-driving vehicle recognition device characterized by comprising a reverse-driving vehicle selection unit that selects a reverse-driving vehicle using a vector cross product.
4. In paragraph 1, A reverse-driving vehicle recognition device characterized by the above map transmission unit transmitting the above precision map, including the above reverse-driving vehicle, in real time to an autonomous vehicle located within the coverage range of the above infrastructure using V2X communication.
5. In a method using a reverse-driving vehicle recognition device according to any one of paragraphs 1 to 3, A first step of recognizing road boundaries using a camera equipped in the infrastructure to set a road area; A second step of recognizing vehicles that are stopped or in motion among objects located within the above road area and tracking these vehicles; A third step of extracting the vehicle's driving direction vector and forward direction vector using the above-mentioned recognized vehicle location tracking results; A fourth step of selecting a vehicle driving in reverse by calculating the cross product of the driving direction vector and the direction of travel vector; and A method for recognizing a vehicle going in the wrong direction, characterized by comprising a fifth step of mapping the vehicle going in the wrong direction onto a precision map.

Description

Apparatus recognizing reverse vehicle for autonomous cooperative driving and method using the same The present invention relates to a vehicle recognition device for autonomous cooperative driving that recognizes a vehicle driving in the wrong direction on a road using a camera installed in infrastructure along a roadside and reflects this in real time on a precision map for autonomous vehicles, 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 routes autonomous vehicles intend to travel, there are always situations where they cannot respond in real time due to traffic accidents, 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 moving objects around the road (e.g., people, cars, bicycles, etc.), this infrastructure needs to recognize information on unexpected situations, road surface conditions, traffic accidents, and road accidents, 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, accident 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 a vehicle traveling in the wrong direction occurs on a road detectable by infrastructure, the autonomous vehicle may find itself in an unavoidable situation by the time it detects it. Therefore, it is necessary to recognize this in advance, reflect it in a precision map, and provide a driving route that can detour or avoid it. However, conventional infrastructure lacks the means to recognize vehicles traveling in the wrong direction, and even if it does, it fails to provide the autonomous vehicle with information on which lane of the road and at what speed the vehicle is moving. Patent Document 1 relates to recognizing vehicles violating traffic laws by detecting the position and speed of a vehicle traveling on a road using multiple cameras, and describes a means for confirming whether a vehicle is driving in the wrong direction by recognizing the license plate of the vehicle using cameras installed in each lane. However, Patent Document 1 has the problem that cameras must be installed on every lane, which increases the cost of installing the infrastructure. FIG. 1 is a configuration diagram showing the configuration of an infrastructure including a reverse-driving vehicle recognition device according to an embodiment of the present invention. FIG. 2 is a diagram showing an edge computer driving a reverse-driving vehicle recognition device according to an embodiment of the present invention. FIG. 3 is a diagram showing a functional block diagram of a reverse-driving vehicle 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 diagram showing an example of recognizing a road boundary and a vehicle driving on the road according to an embodiment of the present invention. FIG. 6 is a diagram illustrating the direction of travel of a recognized vehicle according to an embodiment of the present invention. FIG. 7 is a drawing illustrating the position of a vehicle centered on a central lane according to an embodiment of the present invention. FIG. 5 is a drawing showing an example of recognizing a road boundary and a vehicle driving on the road according to an embodiment of the present invention. FIG. 6 is a drawing illustrating an accident scene and an accident vehicle as examples according to an embodiment of the present invention. FIG. 7 is a drawing illustrating the location and speed of an accident vehicle within a road area according to an embodiment of the present invention. FIG. 8 is a diagram showing a functional block diagram of a reverse-driving vehicle recognition unit according to an embodiment of the present invention. FIG. 9 is