Autonomous driving system and autonomous driving method

• US 10,401,869 B2
• Filed: 06/12/2017
• Issued: 09/03/2019
• Est. Priority Date: 01/06/2017
• Status: Active Grant

• Current Assignee: Hyundai Motor Company (Hyundai Motor Group), Kia Motors Corporation (Kia Corp.)
• Original Assignee: Hyundai Motor Company (Hyundai Motor Group)
• Inventors: Yi, Kichang, Lee, Hui Sung, Shin, Hyoung, Song, Youngwook
• Primary Examiner(s): Brushaber, Frederick M
• Application Number:
  US15/619,977
• Publication Number:
  US 20180196444A1
• Time in Patent Office: 813 Days
• CPC Class Codes: B60W 10/04 including control of propulsion units
• CPC Class Codes: B60W 10/20 including control of steering systems
• CPC Class Codes: B60W 2050/0075 Automatic parameter input, automatic initialising or calibrating means
• CPC Class Codes: B60W 2556/45 External transmission of data to or from the vehicle
• CPC Class Codes: B60W 2556/50 of positioning data, e.g. GPS [Global Positioning System] data
• CPC Class Codes: B60W 2710/207 Steering angle of wheels
• CPC Class Codes: B60W 2754/50 Relative longitudinal speed
• CPC Class Codes: B60W 30/00 Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
• CPC Class Codes: B60W 30/10 Path keeping cruise control for automatically following a preceding vehicle B60W30/165
• CPC Class Codes: B60W 30/143 Speed control B60W30/16 takes precedence
• CPC Class Codes: B60W 30/18154 Approaching an intersection
• CPC Class Codes: B60W 50/02 Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
• CPC Class Codes: B62D 15/021 Determination of steering angle
• CPC Class Codes: B62D 15/025 Active steering aids, e.g. helping the driver by actively influencing the steering system after environment evaluation B62D1/28 takes precedence
• CPC Class Codes: G05D 1/0223 involving speed control of the vehicle vehicle fittings for automatically controlling, i.e. preventing speed from exceeding an arbitrarily established velocity or maintaining speed at a particular velocity, as selected by the vehicle operator B60K31/00
• CPC Class Codes: G05D 1/0276 using signals provided by a source external to the vehicle involving a plurality of vehicles G05D1/0287; automatically controlling vehicle speed responsive to externally generated signals B60K31/0058
• CPC Class Codes: G08G 1/0116 from roadside infrastructure, e.g. beacons
• CPC Class Codes: G08G 1/096725 where the received information generates an automatic action on the vehicle control
• CPC Class Codes: G08G 1/096741 where the source of the transmitted information selects which information to transmit to each vehicle
• CPC Class Codes: G08G 1/09675 where a selection from the received information takes place in the vehicle
• CPC Class Codes: G08G 1/096783 : where the origin of the information is a roadside individual element
• CPC Class Codes: H04L 67/12 : specially adapted for proprietary or special-purpose networking environments, e.g. medical networks, sensor networks, networks in vehicles or remote metering networks
• CPC Class Codes: H04W 64/006 : with additional information processing, e.g. for direction or speed determination

Abstract

An autonomous driving system having an autonomous driving assistance apparatus includes: a gateway unit wirelessly communicating with a router among a plurality of routers installed in an autonomous driving road; a signal processing unit providing identification information of a vehicle at the time of setting a wireless communication link with each router and providing driving path information of the vehicle to the router every set cycle; a path tracking unit determining a speed, a progress direction, and a steering angle of the vehicle included in the driving path information so as to drive the vehicle based on driving path information; a speed control unit controlling a speed of the vehicle based on the speed determined by the path tracking unit; and a steering angle control unit controlling a steering angle of the vehicle based on the progress direction and steering angle determined by the path tracking unit.

Claims

1. An autonomous driving system including an autonomous driving assistance apparatus, the autonomous driving system comprising one or more processors configured to:

perform wireless communication with a router within a communication range among a plurality of routers installed in an autonomous driving road;

provide identification information of a vehicle at a time of setting a wireless communication link with each router of the plurality of routers;

provide driving path information of the vehicle to the router every set cycle;

determine a speed, a progress direction, and a steering angle of the vehicle included in the driving path information so that the vehicle is driven based on the driving path information received from the router;

control a speed of the vehicle based on the determined speed; and

control a steering angle of the vehicle based on the determined progress direction and steering angle.

2. The autonomous driving system of claim 1, wherein:

the one or more processors are configured to;

provide specification information of the vehicle to an entrance router when receiving a request for the specification information of the vehicle from the entrance router installed on an access road of an autonomous driving road,

receive the driving path information from the entrance router when the specification information of the vehicle satisfies a set specification, and

receive a driving prevention announcement in the autonomous driving road from the entrance router when the specification information does not satisfy the set specification.

3. The autonomous driving system of claim 1, wherein:

The one or more processors are configured to announce the progress direction at a road branch point or an outgoing intention to an outgoing point to a router which is under communication at present when a distance between a current location and the road branch point or the outgoing point is within a predetermined distance when a front road is the road branch point or the outgoing point of the autonomous driving road exists and the vehicle turns at the road branch point or goes out to the outgoing point.

4. The autonomous driving system of claim 3, wherein the road branch is an intersection.

5. The autonomous driving system of claim 3, wherein:

a current router and routers positioned after the current router are configured to provide the driving path information corresponding to a direction turn and an outgoing to the autonomous driving assistance apparatus through the wireless communication among neighboring routers based on the progress direction of the vehicle to allow a corresponding vehicle to change a direction to a target direction or induce the corresponding vehicle to a corresponding outgoing point at the road branch point, and the autonomous driving assistance apparatus is configured to provide the outgoing intention in the progress direction or to the outgoing point at the road branch point.

6. The autonomous driving system of claim 1, wherein:

the one or more processors are configured to receive the driving path information received from each router of the plurality of routers and the driving path information is driving path information for driving the vehicle in a set section.

7. The autonomous driving system of claim 6, wherein:

the set section is a maximum distance section where one router of the plurality of routers is configured to perform the wireless communication with the vehicle on the autonomous driving road.

8. The autonomous driving system of claim 6, wherein:

the one or more processors are configured to receive the driving path information provided by an abnormal router from a pre-router of the abnormal router and the driving path information is provided when the abnormal router exists.

9. The autonomous driving system of claim 1, wherein:

when information of abnormality of another vehicle or an abnormality of at least one router of the plurality of routers is received, the one or more processors are configured to provide the received information to a control center.

10. The autonomous driving system of claim 9, wherein:

each entrance router, each outgoing router, and each router of the plurality of routers is configured to

perform the wireless communication with a neighboring router to determine whether the neighboring router is malfunctioning.

11. The autonomous driving system of claim 10, wherein:

each entrance router, each outgoing router, and a router positioned in a curve section among the plurality of routers is configured to determine a vehicle kinetic modeling coefficient corresponding to a vehicle type and perform vehicle kinetic interpretation based on the determined vehicle kinetic modeling coefficient to determine the driving path information and provide the determined driving path information to the vehicle.

12. The autonomous driving system of claim 1, further comprising:

an entrance router installed in each access road of the autonomous driving road;

an outgoing router installed in each outgoing road of the autonomous driving road; and

a plurality of routers installed on a road between each entrance router and each outgoing router,

wherein each entrance router, each outgoing router, and each router of the plurality of routers have unique identification information, and each router is configured to perform the wireless communication with the vehicle within the communication range, and to provide the driving path information for a set section to the vehicle to allow the vehicle to be driven to a set movement path within the set section based on the driving path information.

13. The autonomous driving system of claim 12, wherein:

a current router and routers positioned after the current router are configured to provide the driving path information corresponding to a direction turn and an outgoing to the autonomous driving assistance apparatus through the wireless communication among neighboring routers based on the progress direction of the vehicle to allow a corresponding vehicle to change a direction to a target direction or induce the corresponding vehicle to a corresponding outgoing point at a road branch point, and the autonomous driving assistance apparatus is configured to provide an outgoing intention in the progress direction or to the outgoing point at the road branch point.

14. The autonomous driving system of claim 1, wherein:

each entrance router, each outgoing router, and each of the plurality of routers is configured to compare the vehicle speed and steering angle received from the vehicle with the vehicle speed and steering angle included in the driving path information provided to a corresponding vehicle to determine whether the corresponding vehicle is abnormal.