Control system of autonomous vehicle and control method thereof
A control system of an autonomous vehicle may include: a camera unit installed on a vehicle body, and configured to take an image of a pedestrian; a measurement unit installed on the vehicle body, and configured to measure a position of the pedestrian and a distance to the pedestrian; a control unit configured to receive data of the camera unit and the measurement unit; and an image irradiation unit configured to operate according to a control signal of the control unit, and irradiate light to one or more of the pedestrian and a road.
1. A control system of an autonomous vehicle having a vehicle body, comprising:
one or more sensors installed on the vehicle body, and configured to detect a pedestrian on a sidewalk next to a road on which the autonomous vehicle drives, a position of the pedestrian, and a distance from the autonomous vehicle to the pedestrian; and
one or more light sources configured to irradiate light to one or more of the pedestrian and the road,
wherein, when the pedestrian is detected, the control system of the autonomous vehicle is configured to cause the one or more light sources to:
irradiate light around the pedestrian to form a first image on the sidewalk when the pedestrian is detected and the distance is greater than a predetermined value, and
irradiate light around the pedestrian to form the first image on the sidewalk and irradiate light toward the road to form a second image on a surface of the road when the pedestrian is detected and the distance is smaller than the predetermined value,
wherein when the pedestrian is detected, the control system is further configured to cause the one or more light sources to:
irradiate light around the pedestrian to form the first image on the sidewalk when the distance is greater than the predetermined value and is within a first range, and
irradiate light around the pedestrian to form the first image on the sidewalk and further irradiate light to the boundary between the sidewalk and the road to form a third image on the boundary when the distance is greater than the predetermined value and is within a second range, and
wherein the autonomous vehicle is closer to the pedestrian when the distance is within the second range than when the distance is within the first range.
2. The control system of claim 1 , wherein the one or more sensors comprise:
a camera configured to detect the pedestrian.
3. The control system of claim 1 , wherein the one or more light sources comprise:
a first light source configured to irradiate light to around the pedestrian to form the first image; and
a second light source configured to irradiate light onto the surface of the road to form the second image on the surface of the road.
4. The control system of claim 1 , further comprising an image display installed at one or more of the front and side of the vehicle body, and configured to display a display image to inform the pedestrian of information.
5. The control system of claim 1 , further comprising a side display installed at a side of the vehicle body, and configured to display a display image a target passenger.
6. The control system of claim 5 , further comprising a scanner configured to scan the body of the target passenger.
7. The control system of claim 6 , further comprising a guide light source installed on the vehicle body, and configured to irradiate light in a lateral direction of the vehicle body in order to guide the target passenger to get in the autonomous vehicle.
8. The control system of claim 1 , wherein the control system is configured to stop the autonomous vehicle when the distance is smaller than the predetermined value while causing the one or more light sources to irradiate light around the pedestrian to form the first image on the sidewalk and irradiate light toward the road to form the second image on the surface of the road.