WO2018139761A1 - Système et procédé permettant de marquer au laser des surfaces de roulement sur la base d'installations routières - Google Patents

Système et procédé permettant de marquer au laser des surfaces de roulement sur la base d'installations routières Download PDF

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Publication number
WO2018139761A1
WO2018139761A1 PCT/KR2017/014879 KR2017014879W WO2018139761A1 WO 2018139761 A1 WO2018139761 A1 WO 2018139761A1 KR 2017014879 W KR2017014879 W KR 2017014879W WO 2018139761 A1 WO2018139761 A1 WO 2018139761A1
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WO
WIPO (PCT)
Prior art keywords
road
information
laser
road surface
laser marking
Prior art date
Application number
PCT/KR2017/014879
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English (en)
Korean (ko)
Inventor
유시복
이재관
박지훈
박정태
진승호
Original Assignee
자동차부품연구원
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
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Application filed by 자동차부품연구원 filed Critical 자동차부품연구원
Publication of WO2018139761A1 publication Critical patent/WO2018139761A1/fr

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    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/04—Detecting movement of traffic to be counted or controlled using optical or ultrasonic detectors
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/01—Detecting movement of traffic to be counted or controlled
    • G08G1/0104—Measuring and analyzing of parameters relative to traffic conditions
    • G08G1/0137—Measuring and analyzing of parameters relative to traffic conditions for specific applications
    • G08G1/0141—Measuring and analyzing of parameters relative to traffic conditions for specific applications for traffic information dissemination
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/166—Anti-collision systems for active traffic, e.g. moving vehicles, pedestrians, bikes
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G1/00—Traffic control systems for road vehicles
    • G08G1/16—Anti-collision systems
    • G08G1/167—Driving aids for lane monitoring, lane changing, e.g. blind spot detection

Definitions

  • the present invention relates to a road installation based road surface laser marking system and method, and more particularly, to a road surface laser marking system and method capable of improving lane recognition rate of ADAS system and providing safety information and warning.
  • the driver can check the traffic status information through the electric signboard, radio broadcasting, etc. installed on the road, the electric signboard has a lot of installation restrictions, and the radio broadcasting is not checked the traffic status information when the driver does not listen to the traffic broadcasting. Since it is impossible, it is difficult to provide intuitive and continuous traffic information.
  • the present invention has been proposed to solve the above-mentioned problems, and when the driver's vision is not secured in the lane, driving guide information or road marking painted on the road surface, the laser beam is irradiated to the road surface to improve the ADAS recognition rate and drive safely.
  • An object of the present invention is to provide a road marking based road surface laser marking system and a method thereof.
  • the road installation based road surface laser marking system includes traffic information in consideration of at least one of a laser irradiation unit and a road condition detection result and traffic condition information which are disposed on a facility on a road and irradiate a laser to a road surface. And a control unit for transmitting a laser marking command signal for the irradiation of the laser.
  • a road marking laser marking method comprising: receiving information on road conditions and traffic conditions, determining traffic information to be displayed to a driver based on the received information, and a laser including traffic information And transmitting a research command signal.
  • Road installation laser road marking system and method can perform the laser marking including the traffic information on the road surface, to improve the lane visibility of the driver, as well as the ADAS and autonomous driving system Improved visibility has the effect of supporting safe driving.
  • the present invention it is easy to change the installation position and easy to operate, and the scope of application is wide, and it is possible to provide the driver with beneficial information in various forms through the control of the laser irradiation unit attached to the existing facility.
  • the efficiency of the operation and the efficiency of the information provided to the driver are outstanding.
  • FIG. 1 is a view showing a situation in which a lane is covered by a contaminant according to the prior art.
  • FIG. 2 is a block diagram showing a road installation based road surface laser marking system according to an embodiment of the present invention.
  • FIG 3 is an exemplary view showing a laser irradiation situation for lane display according to an embodiment of the present invention.
  • 4A and 4B are exemplary views illustrating a laser irradiation angle range according to an embodiment of the present invention.
  • FIG. 5 is a flow chart showing a road installation based road surface laser marking method according to an embodiment of the present invention.
  • This lane recognition confusion causes a problem such that the driving vehicle leaves the lane.
  • a system that recognizes a lane using a vision sensor such as autonomous driving or ADAS causes a fatal control error.
  • a driver can check traffic information through a vehicle terminal such as a radio or a telematics terminal, which is impossible to provide traffic information to a driver who does not have a terminal or does not receive corresponding channel service depending on the terminal in the vehicle. There was a problem.
  • the present invention has been proposed in order to solve the above-mentioned problems, but irradiating a laser disposed on the road facility, the laser is irradiated so that the hidden lanes are easily visible, or an icon indicating the front vehicle failure information and climate change.
  • a road surface laser marking system and method capable of being irradiated to form or irradiated to form a virtual grooving or virtual speed bump on a road to provide personalized service to all vehicles passing through the area.
  • FIG. 2 is a view showing the configuration of a road installation based road surface laser marking system according to an embodiment of the present invention.
  • Road installation based road surface laser marking system is disposed in the facility on the road in consideration of at least one of the laser irradiation unit 300 for irradiating the laser to the road surface and the road condition detection results and traffic conditions information
  • the control unit 200 transmits a laser marking command signal for irradiation of a laser including traffic information.
  • the laser irradiation unit 300 is fixedly installed in the facility of the accident accident area or the bad lane maintenance bad area, or temporarily installed in the facility of the construction section.
  • the laser irradiation unit 300 is temporarily or fixedly mounted at the location of existing streetlights / posts, new props, and road marking facilities, thereby improving the driver's lane visibility and visibility of ADAS and autonomous driving systems. To support the improvement of driving safety.
  • the laser irradiation unit 300 may be disposed in existing facilities such as a street light, an ITS sign gantry, a roadside communication equipment, a roadside camera, and also may be disposed in a new facility.
  • the present invention even if it is not provided with a radio or vehicle telematics terminal, it is possible to provide traffic information (lanes, traffic event information, deceleration guidance information, etc.) that can be intuitively confirmed to the driver through laser marking on the road surface. It works.
  • Traffic information displayed by the laser irradiated by the laser irradiation unit 300 typically includes fixed information, traffic event information, deceleration induction information.
  • the fixed information is a lane, a milestone, and the lane includes various lane types such as a solid line, a dotted line, a double solid line, and a solid / dotted line.
  • the laser irradiator 300 irradiates a laser beam so that the lane obscured by an external environmental factor (snow, rain, fallen leaves, dust, etc.) is clearly seen, and a part of the lane is determined according to an environmental situation detected by the detector 100. For all of them, as shown in FIG. 3, the laser is padded to match the lane shape.
  • an external environmental factor snow, rain, fallen leaves, dust, etc.
  • the milestone as traffic information expressed by the laser beam by the laser irradiation unit 300 includes a content indicating a traveling direction for each lane on the road surface, for example, indicating a straight direction Seoul direction, a right direction Cheonan rest area, and the like.
  • road sign information may be displayed, which is road sign information such as a speed limit, a slow speed, a danger and a rockfall warning, an animal appearance warning, and a pedestrian warning.
  • the road sign information is included in the traffic information and implemented in the shape of an icon on the road surface by laser irradiation.
  • the above-mentioned traffic event information laser-marks weather information (typhoon, snow, fog, strong wind, etc.) necessary for driving on the road, and also traffic event information such as the presence of an accident vehicle on the road, stop, forward road construction, and detour installation. Is implemented as an icon.
  • the traffic event information may be transmitted from the traffic situation server 400.
  • the traffic event information may be received from the detector 100 installed at the separation place, and the laser irradiation unit may be disposed in an area through which the vehicle entering the separation area passes. Through 300 is to be implemented as an icon.
  • the above-mentioned traffic event information corresponds to semi-dynamic information corresponding to LDM Layer 3 on a standard basis.
  • the deceleration guidance information is implemented on the road surface with a virtual grooving shape or a virtual speed bump using a laser when a deceleration guidance of the vehicle is needed, such as a traffic accident in front of the road, a curve road, or a construction section. do.
  • the control unit 200 receives the results of the vehicle detection information, the road surface state, etc. from the detection unit 100 to control the laser irradiation on and off.
  • the control may be activated by the vehicle detection result, and may also be activated depending on whether the driver's field of view detected by the sensing unit 100 is secured.
  • the sensing unit 100 is implemented by a sound, a laser, a radar, a camera, an ultrasonic wave, a loop detector, and the like.
  • control unit 200 transmits a laser marking command signal to control laser irradiation.
  • controller 200 may activate the control in consideration of the travel time information, which is to activate the control to irradiate a laser including the traffic information on the dangerous section since the driver's view is not secured at night.
  • the control unit 200 transmits a laser marking command signal for displaying traffic information for the lane or road markings, and the traffic information.
  • a laser marking command signal for displaying traffic information for the lane or road markings, and the traffic information.
  • the traffic information is preferably implemented on the road surface in the form of an icon.
  • the control unit 200 transmits a laser marking command signal including traffic information, which is deceleration induction information, to the laser irradiation unit of the accident occurrence section, and controls the laser irradiation unit 300 to irradiate the virtual grooving or the virtual speed bump on the road surface. do.
  • traffic information which is deceleration induction information
  • the laser irradiation unit 300 irradiates the above-mentioned laser beam onto the road surface in a range in which the laser beam is not directly irradiated to the driver's eyes according to preset horizontal and longitudinal angle control.
  • FIGS. 4A and 4B the lateral direction and the longitudinal installation angle of the laser irradiation unit in consideration of the glare of the driver of the vehicle 10 are within the vertical reference longitudinal direction of 33 degrees and the horizontal direction of 16 degrees, respectively.
  • the controller 200 controls the irradiation target point of the laser irradiation unit, and controls the irradiation within a specific range (ROI) in consideration of the intensity of the laser, the reflectance of the surface, the lighting environment, and the like.
  • ROI specific range
  • the irradiation angle is determined in consideration of the location information of the vehicles within a specific range, when the laser irradiation to provide the traffic information for the first vehicle, if the anti-glare angle of the second vehicle is more than, the control unit is the angle It is controlled so as not to irradiate the above, so that the glare of the driver of vehicle # 2 does not occur.
  • the control unit 200 maintains a predetermined distance from the vehicle by using the result of detecting the longitudinal position of the vehicle and the current lane position, and the laser irradiation is performed in a tracking type at the corresponding point ahead. Transmit the laser marking command signal to make it happen.
  • the longitudinal position accuracy which is the accuracy of the relative distance between the vehicle and the irradiation point, is controlled within 2 m.
  • the lateral (lane direction) positional accuracy is controlled to have a distance accuracy of less than 50 cm in the case of targeting only the vehicle, and less than 2 m in the case of utilization without any problem even if irradiated to the adjacent lane.
  • the road marking laser road marking method may include receiving information on road conditions and traffic conditions (S100), and determining traffic information to be displayed to a driver based on the received information ( S200) and transmitting a laser irradiation command signal including traffic information (S300).
  • Step S100 is an information collection step for determining traffic information provided for recognition of the driver, the ADAS system, and the autonomous driving system through laser irradiation.
  • step S100 information about whether the vehicle is entered, whether the lane is contaminated, whether the road sign is visible, etc. is obtained by a detection unit including a laser, a radar, a camera, and the like.
  • the step S100 receives information on the road condition as to whether the field of view secured by the surrounding conditions (weather, wear, etc.) of the lane or road markings.
  • the step S010 receives information about the traffic situation including at least one of the accident occurrence section, whether there is an accident ahead, whether the construction work ahead, driving guide information, driving status information.
  • Step S200 determines traffic information to be displayed by laser irradiation, and determines traffic information including at least one of fixed information, traffic event information, and deceleration guidance information.
  • step S200 irradiates a laser according to the shape of the original lane on the contaminant.
  • the laser is irradiated so as to be implemented as an icon for the animal appearance attention, the speed limit, the direction of progress corresponding to the road sign information.
  • step S300 a laser irradiation command signal is transmitted to a laser irradiation unit that is fixedly installed in a facility having poor visibility or is temporarily installed in a facility of a construction section, and as described above, the provision of a personalized service to the driver is provided in response to the situation.
  • the laser marking command signal is transmitted, if possible.
  • step S300 the laser irradiation command signal is transmitted according to a preset angle range in consideration of whether the driver's view is disturbed within the laser irradiation range, which is irradiated within a vertical reference longitudinal 33 degrees and a horizontal 16 degrees. It is preferable to control.
  • step S300 the laser irradiation command signal is transmitted so that the laser is irradiated to the corresponding point away from the front predetermined distance based on the driving vehicle in a tracking manner, and the plurality of laser irradiation units are sequentially disposed in consideration of the driving speed of the driving vehicle or the position of the driving vehicle.
  • the laser irradiation command signal is transmitted.

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  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Analytical Chemistry (AREA)
  • Traffic Control Systems (AREA)
  • Road Signs Or Road Markings (AREA)

Abstract

La présente invention concerne un système et un procédé permettant de marquer au laser une surface de roulement sur la base d'installations routières et concerne, plus particulièrement, un système et un procédé de marquage au laser de surfaces de roulement pouvant améliorer le taux de reconnaissance d'une voie d'un système ADAS et fournir des informations de sécurité et une alerte. Le système permettant de marquer au laser la surface de roulement sur la base d'installations routières, selon la présente invention, comprend : une unité d'irradiation par laser qui est disposée dans une installation sur une route de façon à exposer la surface de roulement aux faisceaux laser ; et une unité de commande qui, en prenant en considération un résultat de détection des conditions routières ou des informations sur les conditions de circulation, permet d'émettre un signal de commande de marquage au laser permettant d'appliquer des faisceaux laser et comprenant des informations de circulation.
PCT/KR2017/014879 2017-01-26 2017-12-15 Système et procédé permettant de marquer au laser des surfaces de roulement sur la base d'installations routières WO2018139761A1 (fr)

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KR1020170012416A KR102508510B1 (ko) 2017-01-26 2017-01-26 도로설치 기반 도로표면 레이저 마킹 시스템 및 방법
KR10-2017-0012416 2017-01-26

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Cited By (1)

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CN109215348A (zh) * 2018-10-25 2019-01-15 苏州正载信息技术有限公司 一种把交通事故准确定位到相关路段的方法

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KR102092507B1 (ko) * 2019-08-06 2020-03-23 주식회사 세한이노테크 로고 라이트를 이용한 안전운전 시스템
KR102161619B1 (ko) * 2020-05-14 2020-10-05 주식회사 씨에이에스 도로교통 정보통신 시스템
KR102231670B1 (ko) * 2020-08-06 2021-03-24 주식회사 와이비텔 도로 안전 시설물의 레이저 제어시스템
KR102265311B1 (ko) * 2021-02-09 2021-06-14 이춘경 자동 감지형 도로 결빙구간 알림 시스템
KR102306855B1 (ko) 2021-04-23 2021-09-30 주식회사 비츠에스앤지 도로 설치형 정보 제공 시스템

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Publication number Priority date Publication date Assignee Title
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KR102508510B1 (ko) 2023-03-10

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