Search

KR-20260065023-A - Information exchange system for cooperative driving between infrastructure and autonomous vehicle and method using the same

KR20260065023AKR 20260065023 AKR20260065023 AKR 20260065023AKR-20260065023-A

Abstract

The present invention relates to an information exchange system for cooperative driving between infrastructure and an autonomous vehicle, comprising an infrastructure installed along a roadside that recognizes road conditions and traffic information, and an autonomous vehicle that performs cooperative driving by fusing information recognized by the infrastructure and information recognized by the autonomous vehicle, wherein cooperative driving is performed by predetermining whether to fuse information recognized from the infrastructure by considering the communication delay time between the infrastructure and the autonomous vehicle.

Inventors

  • 오광만
  • 추연호
  • 안웅

Assignees

  • (주)테슬라시스템

Dates

Publication Date
20260508
Application Date
20241031

Claims (12)

  1. In an information exchange system for cooperative driving between infrastructure and autonomous vehicles, The above information exchange system comprises an infrastructure installed along the roadside that recognizes surrounding road conditions and traffic information, and an autonomous vehicle that drives cooperatively by fusing the information recognized by the infrastructure and the information recognized by the autonomous vehicle. The above infrastructure includes an information collection unit that collects information from sensors; A situation recognition unit that recognizes road conditions and traffic information occurring on the surrounding roads based on collected information; A coordinate transformation unit that converts the location of the above-mentioned situation into global coordinates; and It includes a V2X communication unit that generates and transmits a service information message including the above-mentioned recognized road conditions and traffic information, and An information exchange system for cooperative driving between an infrastructure and an autonomous vehicle, characterized in that the autonomous vehicle determines in advance whether to fuse the information by considering the communication delay time with the infrastructure and performs cooperative driving.
  2. In paragraph 1, An information exchange system for cooperative driving between infrastructure and an autonomous vehicle, characterized by the above-mentioned situation recognition unit detecting a dynamic object and predicting the movement of the dynamic object, and then recognizing whether there is an accident or construction, and recognizing the accident occurrence area and the construction area.
  3. In paragraph 1, An information exchange system for cooperative driving between infrastructure and an autonomous vehicle, characterized in that the above service information message includes an edge infrastructure ID, a situation type, a type of dynamic object, and location coordinates.
  4. In paragraph 1, The above infrastructure further includes a map information transmission unit for reflecting the road conditions and traffic information on a dedicated map for autonomous driving, and An information exchange system for cooperative driving between an infrastructure and an autonomous vehicle, characterized in that the above-mentioned dedicated map is stored on a cloud-based map server capable of internet access.
  5. In paragraph 1, The above-mentioned autonomous vehicle includes a message transmission and reception unit that transmits and receives V2X messages; An infrastructure detection unit that detects the service information message or beacon signal transmitted from the above infrastructure; A delay time calculation unit that calculates the communication delay time between the above infrastructure and the above autonomous vehicle; A threshold determination unit that determines whether the time required to recognize the road conditions and traffic information in the above infrastructure and the communication delay time are within a predetermined threshold time; A cognitive information fusion unit that recognizes road conditions and traffic information using sensors provided in the autonomous vehicle and fuses with the information recognized by the infrastructure; and Information exchange system for cooperative driving between infrastructure and an autonomous vehicle, characterized by including an autonomous driving control unit that controls the driving of the autonomous vehicle using the above-mentioned fused information.
  6. In paragraph 5, The above delay time calculation unit transmits a service request message to the infrastructure and receives a service response message from the infrastructure, The above service request message includes the autonomous vehicle ID and the current time of the autonomous vehicle, and The above service response message includes the autonomous vehicle ID, edge infrastructure ID, and the current time of the infrastructure, and Information exchange system for cooperative driving between infrastructure and autonomous vehicle, characterized by calculating the delay time by V2X communication using the difference between the current time of the autonomous vehicle and the current time of the infrastructure.
  7. In paragraph 6, An information exchange system for cooperative driving between an infrastructure and an autonomous vehicle, characterized in that the above cognitive information fusion unit does not fuse information received from the infrastructure when the above delay time is greater than the above threshold time.
  8. In Paragraph 7, An information exchange system for cooperative driving between an infrastructure and an autonomous vehicle, further comprising determining whether to fuse information received from the infrastructure by considering at least one of the driving speed of the autonomous vehicle or the distance from the infrastructure when the above threshold time is exceeded.
  9. In paragraph 6, An information exchange system for cooperative driving between infrastructure and an autonomous vehicle, characterized in that the above cognitive information fusion unit does not consider delay time when the information received from the infrastructure is a construction area or a traffic accident.
  10. In a method for exchanging information for cooperative driving between infrastructure and autonomous vehicles, A first step in which the autonomous vehicle receives a beacon signal transmitted from the infrastructure; A second step in which the autonomous vehicle transmits a service request message to the infrastructure; A third step of receiving a service response message from the above infrastructure; Step 4 for calculating V2X communication delay time; Step 5: Receiving a service information message including road conditions and traffic information recognized from the above infrastructure; A sixth step of fusing the information recognized by the autonomous vehicle and the information transmitted from the infrastructure; and A method for information exchange for cooperative driving between an infrastructure and an autonomous vehicle, characterized by comprising a seventh step of controlling the autonomous vehicle based on the fused information.
  11. In a method for exchanging information for cooperative driving between infrastructure and autonomous vehicles, The above infrastructure has a first step of periodically transmitting service information messages including beacon signals or recognized road conditions and traffic information; A second step in which the above infrastructure receives a service request message from the autonomous vehicle; A third step of transmitting a service response message to the autonomous vehicle; and A method for exchanging information for cooperative driving between an infrastructure and an autonomous vehicle, characterized by comprising a fourth step of converting the location coordinates of the above-mentioned recognized information into global coordinates and transmitting them to a map server.
  12. In Article 10 or Article 11, The road conditions and traffic information recognized by the above infrastructure are dynamic objects, road construction information, and traffic accident information around the road where the above infrastructure is located, and A method for exchanging information for cooperative driving between an infrastructure and an autonomous vehicle, characterized in that the service request message includes the autonomous vehicle ID and the current time of the autonomous vehicle, and the service response message includes the infrastructure ID, the autonomous vehicle ID, and the current time of the infrastructure.

Description

Information exchange system for cooperative driving between infrastructure and autonomous vehicle and method using the same The present invention relates to an information exchange system for cooperative driving between an infrastructure for safe driving of an autonomous vehicle and an autonomous vehicle, and a method using the same, by fusing road conditions and traffic information recognized from edge infrastructure installed along a roadside with information independently recognized by the autonomous vehicle. An autonomous vehicle (hereinafter referred to as "autonomous vehicle") has the function of autonomous driving by using various sensors such as cameras, radar, and lidar to recognize environmental information necessary for driving, such as the type and location of objects around the vehicle, and making decisions based on this information to control the vehicle. 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 in the sensors. 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. Infrastructure is gradually shifting toward a cooperative autonomous driving method in which it recognizes dynamic objects around the road (e.g., people, cars, bicycles, etc.), information on unexpected situations, road surface conditions, traffic accidents, and road construction, transmits this information to nearby autonomous vehicles via C-V2X communication, and the autonomous vehicles utilize this information from the infrastructure and their own data for decision-making and control. As such, cooperative autonomous driving is a technology that utilizes not only information recognized by the autonomous vehicle's own sensors but also road environment and traffic information received from infrastructure installed around the road or traffic centers for driving. For example, if current traffic light information at an intersection is provided to an autonomous vehicle via wireless communication from the infrastructure, the autonomous vehicle can safely pass through the intersection without recognizing the traffic lights. In addition, providing autonomous vehicles with information on various unexpected situations occurring in their blind spots (such as the appearance of dynamic objects, accident data, construction information, and jaywalking) enables safer and accident-free operation. However, problems may arise where autonomous vehicles cannot respond in real time due to time delays in the process of transmitting road information recognized by the infrastructure. In particular, errors in information fusion with autonomous vehicles can occur due to delays in wireless signal transmission caused by interference or distortion from urban buildings and increased traffic; therefore, it is essential to verify the reliability of information transmitted from the infrastructure in advance regarding time delays. Patent Document 1 relates to a system and method for transmitting and receiving current location-based infrastructure information of an autonomous vehicle, which periodically transmits vehicle location and heading information and controls the autonomous vehicle according to driving path conditions such as traffic lights. However, Patent Document 1 is characterized by the fact that an autonomous vehicle extracts SPAT (Signal Phase and Timing) data of a traffic light from a server rather than a direct means of communication with the infrastructure, and generates an autonomous vehicle control signal based on the extracted SPAT data, but does not disclose means for considering the delay time of information transmitted from the infrastructure or means for vehicle control through fusion with the infrastructure information. FIG. 1 is a diagram showing the overall configuration of a system for autonomous cooperative driving between an autonomous vehicle and infrastructure according to an embodiment of the present invention. FIG. 2 is a diagram illustrating recognized information between an autonomous vehicle and infrastructure according to an embodiment of the present invention. FIG. 3 is a functional block diagram showing functions operated in an infrastructure according to an embodiment of the present invention. FIG. 4 is a diagram showing an example of recognizing a pedestrian in a position conversion unit according to an embodiment of the present invention. FIG. 5 is a functional block diagram showing a function operated in an autonomous vehicle according to an embodiment of the present invention. FIG. 6 is a diagram of road conditions and traffic information transmitted from an infrastructure according to an embodiment of the present invention. FIGS. 7 and 8 are diagrams showing the time flow of the fus