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 method of an autonomous vehicle, comprising:
detecting, with one or more sensors installed on the autonomous vehicle, a pedestrian on a sidewalk next to a road on which the autonomous vehicle is driving, a position of the pedestrian and a distance between the pedestrian and the autonomous vehicle;
irradiating light, with one or more light sources, to the sidewalk to form a first image on the sidewalk, when the pedestrian is detected and the distance between the pedestrian and the autonomous vehicle is within a first range;
irradiating light, with the one or more light sources, to the sidewalk or both the sidewalk and the road to form the first image on the sidewalk and further form a second image on the sidewalk or the road, wherein the second image is different from the first image, when the pedestrian is detected and the distance between the pedestrian and the autonomous vehicle is within a second range, 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; and
irradiating light, with the one or more light sources, to the sidewalk and the road to form the first image on the sidewalk and further form a third image on the road, wherein the third image is different and separate from the first image, when the pedestrian is detected and the distance between the pedestrian and the autonomous vehicle is smaller than a predetermined value, wherein the autonomous vehicle is closer to the pedestrian when the distance is smaller than the predetermined value than when the distance is within the second range.
2. The control method of claim 1 , wherein the second image comprises a guide line extending along the road and formed between the road and the pedestrian.
3. The control method of claim 1 , wherein the third image comprises a warning image formed on the road for warning the pedestrian against crossing the road.
4. The control method of claim 3 , wherein when the third image is formed, another image is displayed on a front or side of a body of the autonomous vehicle.
5. The control method of claim 1 , wherein the first image comprises a circular image formed around the pedestrian on the sidewalk.
6. The control method of claim 1 , wherein the second image comprises a line formed along an edge of the sidewalk.
7. The control method of claim 1 , further comprising:
subsequently to irradiating light to form the first and third images, irradiating light to the road to form a fourth image that is different from the first and third images,
wherein the fourth image comprises a crosswalk image formed on the road for guiding the pedestrian to cross the road.
8. The control method of claim 1 , wherein when the third image is formed, the autonomous vehicle is in a stopping state, whereas when the second image is formed, the autonomous vehicle is in a driving state.
9. The control method of claim 1 , wherein when the first and third images are formed, the second image is formed between the first and third images, wherein the second image is different from and separate from the third image.