APPARATUS AND METHOD FOR CONTROLLING DRIVING DEVICE OF SELF-DRIVING VEHICLE

• US 20150234382A1
• Filed: 02/13/2015
• Published: 08/20/2015
• Est. Priority Date: 02/17/2014
• Status: Active Grant

• Current Assignee: Industry Academic Cooperation Foundation
• Original Assignee: Industry Academic Cooperation Foundation
• Inventors: LEE, Sangho, JU, DA YOUNG
• Granted Patent: US 9,360,867 B2
• Time in Patent Office: Days
• US Class Current: 1/1
• CPC Class Codes: G01S 17/86 Combinations of lidar systems with systems other than lidar, radar or sonar, e.g. with direction finders
• CPC Class Codes: G01S 7/003 Transmission of data between radar, sonar or lidar systems and remote stations
• CPC Class Codes: G05D 1/021 specially adapted to land vehicles

Abstract

Provided are an apparatus and method for controlling a driving device of a self-driving vehicle, the apparatus includes, a data converting unit receiving sensor data from at least one sensor of the self-driving vehicle, and converting a format of the sensor data into a predefined standard format to generate integrated standard data, a standard driving control message generating unit determining a standard driving control response for controlling the driving device of the self-driving vehicle according to the integrated standard data to generate a standard driving control message that has a pre-defined common format, and a driving command signal generating unit converting a format of the standard driving control message into a message format corresponding to the driving device of the self-driving vehicle to generate a driving command signal.

Claims

1. An apparatus for controlling a driving device of a self-driving vehicle, the apparatus comprising:

a data converting unit receiving sensor data from at least one sensor of the self-driving vehicle, and converting a format of the sensor data into a predefined standard format to generate integrated standard data;

a standard driving control message generating unit determining a standard driving control response for controlling the driving device of the self-driving vehicle according to the integrated standard data to generate a standard driving control message that has a predefined common format; and

a driving command signal generating unit converting a format of the standard driving control message into a message format corresponding to the driving device of the self-driving vehicle to generate a driving command signal.

2. The apparatus of claim 1, wherein the data converting unit converts the format of the sensor data into the standard format using pre-determined format information of the sensor and format conversion table which is set in correspondence with the pre-determined format information.

3. The apparatus of claim 1, wherein the data converting unit comprises a sensor database constructed with the format information of each of different sensors of an identical type, which perform the same function, and with format conversion table which is set in correspondence with the format information of the each of the sensors.

4. The apparatus of claim 3, wherein the data converting unit further comprises a format converting unit extracting identification information of the sensor from the sensor data, and converting the format of the sensor data into the standard format using format information of the sensor corresponding to the extracted identification information, and the format conversion table.

5. The apparatus of claim 1, wherein the driving command signal generating unit converts the format of the standard driving control message into the message format corresponding to the driving device using driving command format conversion table which is set in correspondence with pre-determined driving device.

6. The apparatus of claim 1, wherein the driving command signal generating unit comprises a driving device database constructed with driving command format conversion table which is set in one-to-one correspondence with each of a plurality of driving devices.

7. The apparatus of claim 6, wherein the driving command signal generating unit further comprises a message format converting unit extracting device identification information of the driving device from a message provided from the driving device at the time of initial connection with the driving device, and converting the format of the standard driving control message into the message format corresponding to the driving device using the driving command format conversion table of the driving device corresponding to the extracted device identification information.

8. The apparatus of claim 1, wherein the integrated standard data comprises an identification number representing a sensor type, a time stamp for message synchronization, a data size, and raw data measured by the sensor.

9. The apparatus of claim 8, further comprising a message synchronizer synchronizing the integrated standard data using the time stamp to output the synchronized integrated standard data to the standard driving control message generating unit.

10. An apparatus for controlling a driving device of a self-driving vehicle, the apparatus comprising:

a data converting unit receiving sensor data from at least one sensor of the self-driving vehicle, and converting a format of the sensor data into a predefined standard format to generate integrated standard data; and

a standard driving control message generating unit determining a standard driving control response for controlling the driving device of the self-driving vehicle according to the integrated standard data to generate a standard driving control message that has a pre-defined common format.

11. An apparatus for controlling a driving device of a self-driving vehicle, the apparatus comprising:

a standard driving control message generating unit determining a standard driving control response for controlling the driving device of the self-driving vehicle using sensor data provided from at least one sensor of the self-driving vehicle, to generate a standard driving control message that has a predefined common format; and

a driving command signal generating unit converting a format of the standard driving control message into a message format corresponding to the driving device of the self-driving vehicle to generate a driving command signal.

12. A method for controlling a driving device of a self-driving vehicle, the method comprising:

receiving sensor data from at least one sensor of the self-driving vehicle, and converting a format of the sensor data into a predefined standard format to generate integrated standard data;

determining a standard driving control response for controlling the driving device of the self-driving vehicle according to the integrated standard data to generate a standard driving control message that has a pre-defined common format; and

converting a format of the standard driving control message into a message format corresponding to the driving device of the self-driving vehicle to generate a driving command signal.

13. The method of claim 12, wherein the generation of the integrated standard data comprises converting the format of the sensor data into the standard format using pre-determined format information of the sensor and format conversion table which is set in correspondence with the pre-determined format information.

14. The method of claim 12, wherein the generation of the integrated standard data comprises extracting identification information of the sensor from the sensor data, reading the format information of the sensor corresponding to the extracted identification information and the format conversion table from a sensor database, and converting the format of the sensor data into the standard format using the format information and the format conversion table.

15. The method of claim 12, wherein the generation of the driving command signal comprises converting a format of the standard driving control message into the message format corresponding to the driving device using driving command format conversion table which is set in correspondence with a pre-determined driving device.

16. The method of claim 12, wherein the generation of the driving command signal comprises extracting device identification information of the driving device from a message provided from the driving device at the time of initial connection with the driving device, reading driving format conversion table of the driving device corresponding to the extracted device identification information from a driving device database, and converting the format of the standard driving control message into the message format corresponding to the driving device using the driving command format conversion table.

17. The method of claim 12, further comprising synchronizing the integrated standard data using a time stamp of the integrated standard data and outputting the synchronized integrated standard data to the standard driving control message generating unit.

18. A non-transitory computer readable medium that has a program recorded thereon, which, when executed by a computer, performs the method of claim 12.