KR0154037B1 - Driving system & driving method for a no-driver's car - Google Patents

Abstract

Using the magnetic field generated from the guideline, the driving test of the car can be executed unattended to solve the risk of human injury and to perform the performance test of the car under severe driving conditions so that the accurate performance of the car can be judged. To this end, the remote control unit for outputting a control signal for controlling the driving operation of the test vehicle; A remote control receiver for receiving a signal transmitted from a remote controller and receiving a signal from an antenna and automatically connecting a corresponding internal switch to change an output signal; A section detector, a travel distance detector, a speed detector, an emergency point detector, and a travel state detector; Connect to the remote control receiver to set the corresponding data, initialize the state of the flag, start the car to determine the state of the driving mode, perform the operation of the corresponding driving mode, control the driving operation, and then determine the state of the flag. An operation control unit for stopping the driving operation of the vehicle according to the state of the flag; After setting the control data of the steering device corresponding to the test vehicle and initializing the variable value, the data corresponding to the state of the vehicle is read to stop the driving of the test vehicle when an abnormality occurs in the state of the system, and the system is in a normal state. A steering device control unit for controlling the operation of the steering wheel by determining whether the initial position of the steering wheel is set, and controlling the operation of the steering device according to whether the initial position of the steering wheel is set; A brake drive motor, an accelerator pedal drive motor, a steering device drive motor; An unmanned driving device for a vehicle and a method thereof comprising an auxiliary brake connected to a remote control receiver, an operation control unit, and a steering unit control unit.

Description

Unmanned driving device of vehicle and its method

1 is a block diagram of an unmanned driving apparatus of a vehicle according to an embodiment of the present invention.

2 is an operation flowchart of an unmanned driving method of a vehicle according to an embodiment of the present invention.

3 is an operational flowchart of a steering device control unit according to an embodiment of the present invention.

4 is a mounting diagram of the sensing unit according to the embodiment of the present invention.

The present invention relates to an unmanned driving device of a vehicle for testing the performance of the vehicle and a method thereof, and more particularly, to an unmanned driving device of a vehicle that enables the vehicle to automatically run using a change in the magnetic field caused by the guide line device. It's about how.

In the development of a new vehicle, durability tests are conducted on roads that are harsher than general roads to evaluate the durability of the vehicle. Therefore, it is possible to develop a safe car that is confirmed the durability of the car or the performance of the car.

In general, however, in order to test driving a test vehicle, the driver should test the vehicle directly on a bad road, and check a change in a test value that varies according to driving conditions or driving conditions.

Therefore, the safety of the driver and the passenger for testing the vehicle is very dangerous, and because of the safety of the occupant, it is impossible to carry out intensive tests, so it is impossible to accurately test the durability of the vehicle under extreme conditions. Satisfactory vehicle testing is not possible because it is impossible to accurately test the state of the vehicle under severe driving conditions.

Therefore, an object of the present invention is to solve the above-mentioned conventional problems, by using the magnetic field generated in the guideline to perform the driving test of the vehicle unattended to solve the risk of human injury and the vehicle under severe driving conditions It is to provide an unmanned driving device of the vehicle and its method to be able to determine the durability of the vehicle by enabling the durability test of the.

In order to achieve the above object, a configuration of the present invention includes a remote controller (Remocon) transmitter for outputting a control signal for controlling the driving operation of the test vehicle; A remote controller receiving unit for receiving a signal transmitted from a remote controller and receiving a signal from an antenna and automatically connecting a corresponding internal switch according to the received signal to vary the output signal; A section detector, a travel distance detector, a speed detector, an emergency point detector, and a travel state detector; Connected to the remote control receiver to set the corresponding data, initialize the state of the flag, start the car, determine the state of the driving mode, and perform the operation of the corresponding driving mode. An operation control unit which determines a state of the flag after controlling the operation and stops the driving operation of the vehicle according to the state of the flag; After setting the control data of the steering device corresponding to the test vehicle and initializing the variable value, the data corresponding to the state of the vehicle is read to stop the driving of the test vehicle when an abnormality occurs in the state of the system, and the system is in a normal state. A steering device control unit for controlling the operation of the handle by determining whether the initial position of the handle is set, controlling the operation of the steering device according to whether the initial position of the handle is set, and inputting a state of the handle; A brake drive motor, an accelerator pedal drive motor, a steering device drive motor; It consists of a remote control receiver, an operation control unit and an auxiliary brake connected to the steering unit control unit.

Another configuration of the present invention for achieving the above object comprises the steps of setting a parameter for automatically controlling the traveling speed of the system and the vehicle and initializing the state of the flag; Starting the vehicle by applying a start signal by an operation of an internal switch of the remote control receiver according to a start signal applied from the remote control transmitter to the antenna; Determining the driving mode using the state of the flag and performing an operation according to the determined driving mode; After controlling the driving operation, the state of the flag is determined and the driving operation of the vehicle is stopped according to the state of the flag.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram of an unmanned driving apparatus of a vehicle according to an embodiment of the present invention, FIG. 2 is an operation flowchart of an unmanned driving method of a vehicle according to an embodiment of the present invention, and FIG. 3 is a steering apparatus according to an embodiment of the present invention. 4 is a mounting diagram of a sensing unit according to an exemplary embodiment of the present invention.

Referring to the configuration of the present invention with reference to Figure 1, the remote control transmitter 1 for outputting a control signal for controlling the operation of the driving car, and the antenna for receiving the signal transmitted from the remote control transmitter 1 ( 21 and the remote control receiver 2 connected to the antenna 21 to change the connection state of the internal switch according to the signal received through the antenna 21 to output a corresponding signal among the emergency stop, stop signal and start signal. And a section detection unit 61 for detecting a driving section connected to the operation control unit 3 and outputting a corresponding signal, and a driving distance detection for detecting a driving distance connected to the operation control unit 3. The unit 62, a speed detecting unit 63 for detecting a traveling speed connected to the operation control unit 3, an emergency point detecting unit 64 for detecting an emergency point to make an emergency stop, and a driving state To detect An operation control unit 3 connected to the row state detecting unit 65 and the remote control receiving unit 2 so as to control the state of the vehicle and the driving operation of the vehicle according to the state of the signal received from the remote control receiving unit 2; A steering device control unit 4 connected to the operation control unit 3 and the driving state detection unit 65 to control the operation of the steering unit according to the control of the operation control unit 3, and the operation control unit 3 and the operation control unit 3. Connected to the brake driving motor 51 to operate the brake, the accelerator control motor 52 connected to the operation control unit 3 to operate the accelerator pedal, and the steering apparatus control unit 4 to operate the steering apparatus. A steering device driving motor 53 for driving and an auxiliary brake 7 connected to the emergency point detecting unit 64 are operated when an emergency occurs while driving a vehicle.

The operation of the present invention made as described above is as follows.

First, when the power required for each device is applied, the operation control unit 3 sets a factor corresponding to the test vehicle among the data already set in order to automatically control the driving operation according to the type or characteristic of the vehicle (110). Therefore, accurate driving operation can be made according to the type or driving characteristics of the vehicle.

In addition, the operation control unit 3 initializes all the flag values used (120) to prevent a malfunction that incorrectly determines the state of the vehicle during the test.

When the power supply state, the operation control unit 3, the steering unit control unit 4, and the operating device of each vehicle are in a normal state, the tester operates the start button of the remote controller 1 to start the vehicle. (130).

At this time, in order to enable the test vehicle to perform the normal starting operation, the tester has already operated the starting operation and the shift lever of the vehicle to match the starting operation.

Therefore, the signal received through the antenna 21 is changed in the state related to the start operation among the internal switch built in the remote control receiver 2 so that a signal corresponding to the start operation of the vehicle is applied to the operation controller 3. Therefore, the operation control unit 3 starts the vehicle by operating the accelerator pedal drive motor 52 according to the set data.

In operation 140, the operation controller 3 selects whether the driving road currently running is a straight road or a curved road to control the driving operation of the vehicle. Therefore, the driving mode is determined according to the flag value by determining the value of the corresponding flag.

The test road for testing a vehicle consists of a pair of straight sections capable of driving in a straight line and a pair of curved sections for connecting a pair of straight sections as shown in FIG.

And in the center of the test driving road of the vehicle is equipped with a guide line (6) that can generate a strong magnetic field, so as shown in Figure 4 mounted on the test vehicle for the change in the intensity of the magnetic field generated in the guide line (6) It is possible to control the driving operation of the test car by using the output voltage of the driving state detection unit 65 that is variable according to the.

Therefore, if the test vehicle normally completes the driving operation in the straight section, the driving mode can be changed so that the vehicle can run in the curved section automatically.

Therefore, the operation control unit 3 determines the current vehicle driving mode so that the straight road can be normally driven when the driving mode is the straight mode, and can automatically drive the curved road when the straight road is completed. To control.

Therefore, when the state of the flag determined by the operation control unit 3 corresponds to the linear mode, the operation control unit 3 controls the driving operation of the vehicle appropriately for linear driving.

First, when the driving mode of the vehicle determined by the operation control unit 3 is the linear mode, the operation control unit 3 may control the driving operation of the vehicle as shown in FIG. The brake driving motor 51 and the accelerator pedal driving motor 52 are operated to be positioned at the center of the guide line 6 positioned at the center so that the vehicle can be aligned at a desired position (150).

The operation control unit 3 determines the driving state of the vehicle and determines whether the vehicle is stopped during the test driving (160).

When the vehicle is stopped during the test drive, it is as follows.

First, the stop signal is transmitted to the antenna 21 in the remote control transmitter 1. At this time, the state of the remote control receiver 2 is changed so that the stop signal of the remote control transmitter 1 is applied to the operation controller 3 so that the operation controller 3 operates the brake driving motor 51 to stop the test vehicle. The operation control unit 3 waits for the restart signal from the remote control transmitter 1. When the stop signal is received by the remote controller receiver 2 while the fine adjustment for aligning the vehicle to the desired position is performed, the vehicle stops after the fine adjustment is completed.

Secondly, when the power supply of all or part of the system is cut off or when the reset operation is performed, the auxiliary brake 7 is operated so that the vehicle is stopped. At this time, to restart the vehicle, the tester must release the auxiliary brake and restart the system.

Third, the vehicle is stopped according to the vehicle stop operation of the occupant in the test vehicle. At this time, when the restart signal is applied again, the restart operation of the vehicle is performed.

Fourth, the vehicle is stopped by the operation control unit 3 when an error occurs in the steering unit control unit 4 and the steering unit drive motor 53 cannot be precisely controlled according to the change in the state of the vehicle.

Fifth, in the middle of the guide line (6) installed on the driving road detects the degree of departure of the test car to the left / right, the steering device control unit (4) when it is out of the control range that can be normally controlled by the steering device control unit (4) In accordance with the operation of), the auxiliary brake 7 is operated to stop the vehicle.

In order to detect this, when the guideline 6 installed on the driving road exactly matches the center of the car as shown in FIG. 4, a pair of driving states mounted on the left and right sides of the test car as shown in FIG. The section 65 outputs the same voltage, respectively. Therefore, the voltage value output from the pair of driving state detectors 65 varies according to the state where the center of the test vehicle is located with respect to the guide line 6.

Therefore, when the voltage difference output from the driving state detection unit 65 is out of the set range, it is determined that the control unit 4 is out of the control range and the steering unit control unit 4 operates the auxiliary brake 7. Stop driving of the car.

Sixth, when it is determined by the mileage detecting unit 62 that the motion control section 3 has completed the straight section or the curved section, the motion control section 3 stops the test vehicle.

Seventh, in case an abnormality occurs in the operation control unit 3 or the braking device of the vehicle (not shown), and the normal braking operation cannot be performed, the auxiliary brake 7 operates by the emergency stop signal of the remote control unit 1 to stop the vehicle. do.

When the mileage of the test car detected by the eighth mileage detecting unit 62 reaches the set distance, the operation control unit 3 detects this to allow the vehicle to stop.

The above operation is operated when an abnormality occurs in the section detecting unit 61 when the driving operation of the vehicle is stopped according to the driving distance by the traveling distance detecting unit 62, and thus, the normal operation cannot be performed.

Ninth, when the magnetic field of the permanent magnet is detected in the emergency point detection unit 64 mounted on the front of the test vehicle, the emergency point detection unit 64 outputs a control signal for operating the auxiliary brake (7) by the auxiliary brake According to the operation of (7), the vehicle can stop the driving operation.

The emergency point detection unit 64 is to prepare for the case in which all the control devices are abnormal and cannot control the operation of the vehicle, and the driving operation of the vehicle when the vehicle continues to travel straight without any control operation due to a failure of the system. It is a device to prevent accidents that may occur by stopping the engine.

Therefore, the permanent magnet is detected by the emergency point detecting unit 64 mounted at the center of the test vehicle as shown in FIG. 4 while the vehicle is mounted and equipped with a permanent magnet capable of generating a strong magnetic field at the set position. When the auxiliary brake 7 automatically operates to allow the vehicle to stop.

When the above operation occurs while driving, the operation controller 3 determines whether a restarting operation or a signal is applied after the vehicle is stopped (170). When the restart signal is applied according to the remote controller 1 or other operations, the operation controller 3 may perform a driving operation according to a corresponding driving mode.

However, if no separate restart operation is made, the process returns to the main program (180).

When the state of the vehicle is normally driven instead of the stopped state, the driving speed of the vehicle is checked to control the test vehicle to run at the set reference speed (190).

Therefore, by driving the accelerator pedal drive motor 52 of the vehicle to accelerate the speed of the vehicle to perform a desired performance test, the operation control unit 3 uses the signal applied from the speed detecting unit 63 of the currently running vehicle The brake drive motor 51 and the accelerator pedal drive motor 52 are operated in a running state so that the speed does not deviate from the set speed.

The speed control operation is operated every set time so that the traveling speed of the vehicle can travel at the set speed.

The operation controller 3 determines the state of the vehicle to determine whether to stop the vehicle by changing the state of the vehicle or inputting other control signals (200).

When the driving operation of the vehicle is stopped according to the change of the state of the vehicle or the control signal, the operation control unit 3 determines whether the restart signal or the operation of the vehicle is performed (170), and when the restart signal or the operation is performed, the corresponding driving mode is taken. The re-run operation may be performed according to 140, and when the restart signal or the action is not taken, the process returns to the main program (180).

However, when the stop operation or the stop signal is not applied, the operation control unit 3 reads the signal of the section detection unit 61 to determine the current driving section (210).

The section detecting unit 61 is a pair of both sides of the driving road, respectively, at a point in time at which it can be seen that the first test driving starts on a straight road of the car and a position for controlling the driving motion of the car so as to stop the straight running. The motion control unit 3 detects a signal of the ultrasonic apparatus installed in the current position of driving the straight road.

That is, when the vehicle starts from the departure point, when the section detecting unit 61 detects a signal generated from the ultrasonic apparatus mounted at the departure point and applies it to the operation control unit 3, the operation control unit 3 monitors the state of the vehicle. By varying the speed or state corresponding to the test state, the driving test can be carried out under the set conditions, and if the ultrasonic signal corresponding to the end point of the straight section is detected by the section detecting section 61, the motion control section 3 It is possible to control the speed of the car so that the car can stop at the end of.

Therefore, when the straight section end signal is input by the section detecting unit 61 as described above, the operation control unit 3 determines the state of the section detecting unit 61 by determining the type of the applied signal (230). ).

When the straight driving end signal is applied from the section detecting unit 61 while driving as described above, the operation control unit 3 determines whether the signal state of the section detecting unit 61 to be applied is normal by using the driving distance or the state of the car. To judge.

When the signal applied from the section detecting unit 61 is a normal signal, the operation control unit 3 operates the brake driving motor 51 to gradually reduce the driving speed of the vehicle (240). However, when the signal state applied from the section detecting unit 61 is abnormal, an abnormality occurs in the section detecting unit 61 and thus the normal operation cannot be performed. Therefore, the operation control unit 3 uses the brake driving motor 51. The vehicle stops traveling (250) and returns to the main program (260).

However, when the straight run end signal is not applied to the operation control unit 3 or the deceleration operation is performed in the section detection unit 61, the operation control unit 3 checks the state of the flag to determine the state of the vehicle ( 340).

However, when it is determined that the driving mode of the vehicle is the curved mode in the operation control unit 3, the operation control unit 3 starts the vehicle by operating the accelerator pedal driving motor 52 (270) and inputs the data and the driving state detection unit. The steering apparatus control section 4 operates so that the steering apparatus can be operated according to the output voltage of 65.

In operation 290, the operation controller 3 checks the driving distance of the music section and compares it with the set distance.

When the driving distance driving the curved section is greater than or equal to the set distance, the operation control unit 3 operates the brake drive motor 51 to stop the test car for a set time (310) (310) and restart again ( 320).

However, if the curved driving distance is less than the set distance, continue driving the curved section and check the driving distance (290).

When the test vehicle stops for a predetermined set time and then restarts, the operation controller 3 checks the state change of the vehicle to determine whether the vehicle is in the stopped state (330).

When the stop signal or the emergency stop signal is transmitted from the remote controller 1 or the stop operation is required according to the state of the vehicle, and the vehicle is in the stopped state, the operation controller 3 determines whether the restart signal is applied (170).

When the restart signal is applied to the operation control unit 3, the operation control unit 3 determines a driving mode of the vehicle 140 to allow the vehicle to travel in the corresponding driving mode.

However, when a separate restart signal is not applied to the operation control unit 3 after the vehicle stops, the operation control unit 3 returns to the main program (180).

However, when the stop operation of the vehicle is not performed, the operation control unit 3 checks the state of the flag to determine the state of the vehicle (340).

When it is determined that the state of the flag is abnormal in the steering apparatus when the state of the flag is checked after the straight or curved driving as described above (350), the driving operation of the vehicle is stopped (360) and the process returns to the main program (370). ).

However, even when the steering apparatus is in a normal state and the driving state of the vehicle is out of the control range by the determination of the flag state (380), the driving operation of the vehicle is stopped (390) and the process returns to the main program (400).

The driving state detection unit 65 outputs a pair of voltages according to the change in the intensity of the magnetic field generated by the induction line 6 mounted in the middle of the driving road. Therefore, the pair of voltages output from the driving state detection unit 65 is determined depending on how far the vehicle leaves the induction line 6.

When the pair of voltage differences output from the driving state detection unit 65 is greater than the set value, it is determined that the driving range of the vehicle is out of the control range for automatically adjusting the driving operation of the vehicle.

Therefore, when the test vehicle is out of the control range from the guide line 6, the state of the corresponding flag is changed so that the operation control unit 3 stops the driving operation of the vehicle as described above.

However, even when the state change of the flag indicates the completion of the straight line in driving (410), the driving operation of the vehicle is stopped (420) and the fine adjustment is possible to position the car to a desired position so that the curved road can be normally driven. Perform 430. In operation 440, the mode value is converted to a value corresponding to the curved mode so that the driving control unit 3 may control the driving operation of the vehicle according to the curved road.

However, if the motion controller 3 determines that the state of the flag has completed the curved road rather than completing the straight road (450), the driving motion of the vehicle is stopped (460) and the driving mode is a value capable of driving the straight road. (470).

However, when not completing the curved road, the operation control unit 3 continues the driving operation of the vehicle according to the corresponding driving mode (140).

The operation of the steering apparatus control unit 4 for operating the steering apparatus in the corresponding driving state when the vehicle is driven according to the driving state of the vehicle as described above will be described with reference to FIG.

First, when the test vehicle starts, the operation control unit 3 outputs a start signal for controlling the steering unit to the steering unit control unit 4 so that the steering unit control unit 4 can operate.

When the steering device control unit 4 starts operation as described above, the steering device control unit 4 sets control data of the steering device suitable for the test vehicle among the data corresponding to the angle change of the steering device according to the type or characteristic of the vehicle. (42) Initialize (43) the state of all variables or devices used.

The steering apparatus control unit 4 receives a signal corresponding to the state of the system from the operation control unit 3 (44) and determines whether the device used for the driving operation of the vehicle is operating normally (45).

That is, the state of each device used by judging whether the state of the guide line 6 provided in the straight section is operating in the normal state, or whether the driving state detection unit 65 is operating normally and outputting the correct signal. Judge.

If a signal is applied out of the setting range among the signals input from the operation control unit 3, the steering unit control unit 4 determines that an abnormality has occurred in the device used for driving the vehicle, and the steering unit control unit 4 is assisted. The brake 7 is operated (46) to stop the driving operation of the vehicle and then return to the main program (47).

However, when the signal input from the operation control unit 3 satisfies the setting condition, the steering unit control unit 4 determines that the system state is normal and the steering unit control unit 4 determines whether the steering wheel initial position is set. (48).

If the initial position of the steering wheel is already set, the steering apparatus control unit 4 reads a signal applied from the driving state detecting unit 65 (49) to determine the current steering state, and the driving mode of the test vehicle currently running is It is determined whether the vehicle is traveling in a straight section (411).

When the driving test vehicle travels in a straight section, the steering apparatus control unit 4 enables accurate straight driving by using the driving state determined by the driving state detecting unit 65 and the data already stored (412). ).

And when the driving test vehicle is driving the curve section, the steering device control unit 4 can operate the steering device drive motor 53 so that the steering device can be driven according to the curve section using the data already stored. (413).

However, when the initial position of the handle is not set, the steering device control unit 4 operates the steering device drive motor 53 to allow the handle to be placed in the initial state (414).

After the steering device is controlled or the steering wheel position is set to an initial state according to the driving state of the vehicle, the steering device control unit 4 stores the steering wheel state (415) and then returns to the main program (416).

Therefore, the effect of the present invention operating as described above can test the driving performance of the test vehicle without actually having a tester in the test vehicle, thereby preventing a safety accident occurring during the test.

And since there is no risk of safety accidents, the performance test of a car can be performed under severe bad conditions, so that accurate test data can be obtained by accurately determining the performance or durability of the car.

Unattended test run by the system and test run by the tester can be selected and tested according to each state, and in the event of an abnormality in the system or an error in each sensing device, the vehicle can be safely stopped. It can prevent large accidents caused by uncontrollable.

Claims (15)

A remote control transmitter for outputting a control signal for controlling the driving operation of the test vehicle; A remote control receiver for receiving a signal transmitted from a remote controller and receiving a signal from an antenna and automatically connecting a corresponding internal switch to change an output signal; A section detector, a travel distance detector, a speed detector, an emergency point detector, and a travel state detector; Connect to the remote control receiver to set the corresponding data, initialize the state of the flag, start the car to determine the state of the driving mode, perform the operation of the corresponding driving mode, control the driving operation, and then determine the state of the flag. An operation control unit for stopping the driving operation of the vehicle according to the state of the flag; After setting the control data of the steering device corresponding to the test vehicle and initializing the variable value, the data corresponding to the state of the vehicle is read, and if an abnormality occurs in the system state, the auxiliary brake is operated to stop the driving of the test vehicle. When the system is in a normal state, the steering wheel control unit controls the operation of the steering wheel by determining whether the initial position of the steering wheel is set, and controls the steering device operation according to whether the initial position of the steering wheel is set, and then inputs the steering wheel state. Wow; A brake drive motor, an accelerator pedal drive motor, a steering device drive motor; Unmanned driving device of the vehicle consisting of a remote control receiver, the operation control unit and the auxiliary brake connected to the steering unit control. The unmanned driving apparatus of claim 1, wherein the remote control receiver controls a start operation, a stop operation, and an emergency stop operation of the test vehicle. The unmanned vehicle of claim 1, wherein the steering control unit is operated after the test vehicle starts. The steering apparatus of claim 1, wherein the steering control unit, which determines whether the steering wheel is initially set and controls the operation of the steering wheel, reads a signal of the driving state detecting unit when the steering wheel is initially set; After reading the signal of the driving state detection unit, it is judged whether the driving test vehicle is driving on the straight road, and when driving the straight road, the driving is controlled according to the stored data. Storing the state of the steering wheel after controlling the curve driving according to the stored data when driving; And a step of controlling the operation of the handle to store the state of the steering wheel so that the initial position of the steering wheel can be set when the initial position of the steering wheel is not set. The unmanned driving device of claim 1, wherein the emergency point detecting unit detects a magnetic field of a permanent magnet installed in a central portion of the test vehicle. According to claim 1, The driving state detection unit is mounted to each of the left and right parts of the test vehicle, and outputs a corresponding voltage according to the magnetic field change according to the degree of departure of the vehicle from the guide line installed in the driving section Unmanned driving device for cars. The unmanned traveling device for a vehicle according to claim 1, wherein the driving mode of the test vehicle determined by the operation control unit is divided into a straight mode and a curved mode. 2. The driving apparatus of claim 1, wherein the driving operation of the vehicle according to the state of the flag after controlling the driving operation comprises: stopping the test vehicle when an error occurs in the steering apparatus; Stopping the test vehicle when the test vehicle is out of control when the steering apparatus is in a normal state; Stopping the test vehicle when the test vehicle completes the straight line in the running range when the test vehicle is not out of the control range, finely adjusting the position of the vehicle at a desired position, and converting the driving mode; When the test vehicle completes the curved section without completing the straight section, the test vehicle is stopped and the driving mode is changed. 8. The apparatus of claim 7, wherein the operation control unit for controlling the straight line mode finely adjusts the vehicle to be positioned at a desired position before driving the straight road; After the fine adjustment of the test car is made, it is determined whether the test car is stopped. If the test car is stopped, it is determined whether the restart signal is applied, and when the restart signal is applied, it operates according to the driving mode and the restart signal is applied. If not, return to the main program, and control the speed of the test car to the set speed if the test car is not stopped; After the test vehicle controls the speed to the set speed, it is determined whether the test vehicle is stopped, and if the test vehicle is stopped, it is determined whether a restart signal is applied, and when the restart signal is applied, it operates according to the driving mode corresponding to the restart signal and restarts. Return to the main program when no signal is applied, and read the signal of the section detection unit when the test vehicle is not stopped; If the section detection signal is applied from the section detection unit, it is determined whether the section detection unit signal is normal, if the signal of the section detection unit is not applied, the state of the flag is determined, and if the signal of the section detection unit is the normal signal And decelerating the speed of the test vehicle to determine the state of the flag, and stopping the driving operation of the test vehicle when the signal of the section detecting unit is an abnormal signal. 8. The apparatus of claim 7, wherein the operation control unit that controls the curve mode operates the accelerator pedal; When the accelerator pedal is operated, the driving distance of the curved road is checked to operate the brake when the driving distance of the curved road is greater than or equal to the set distance, and the brake operation time is judged compared to the set time, and the driving distance of the curved road is determined. Activate the accelerator pedal when is less than the set distance; When the brake operation time is equal to the set time, the test vehicle is restarted, and after the test vehicle has started, it is determined whether the test vehicle is stopped, and it is determined whether the restart signal is applied when the vehicle is stopped, and the vehicle is stopped. Unattended driving device for a vehicle, characterized in that for determining the state of the flag if not. A method for automatically operating a test car includes the steps of: setting arguments for automatically controlling the traveling speed of the system and the car and initializing the state of the flag; Starting the vehicle by applying a start signal by an operation of an internal switch of the remote control receiver according to the start signal applied to the antenna from the remote control transmitter; Determining the driving mode using the state of the flag and performing an operation according to the determined driving mode; And controlling the driving operation to determine the state of the flag and stopping the driving operation of the vehicle according to the state of the flag. 12. The method of claim 11, wherein the method for stopping the driving operation of the vehicle according to the state of the flag after controlling the driving operation comprises: stopping the test vehicle when an error occurs in the steering apparatus; Stopping the test vehicle when the test vehicle is out of the control range when the steering apparatus is in a normal state; Stopping the test car, making fine adjustments to position the car at a desired position and converting the driving mode when the test car completes a straight line in driving when the test car does not deviate from the control range; When the test car completes the curved section without completing the straight section, stopping the test car, and converting the driving mode, characterized in that the unmanned driving method of the vehicle. 12. The method of claim 11, wherein the driving mode of the test vehicle is divided into a straight mode and a curved mode. The method of claim 13, further comprising: a fine adjustment step of allowing the vehicle to be positioned at a desired position before driving the straight road; After the fine adjustment of the test car is made, it is determined whether the test car is stopped. If the test car is stopped, it is determined whether the restart signal is applied. The vehicle is operated according to the driving mode applicable when the restart signal is applied and the restart signal is applied. If not, returning to the main program, and controlling the speed of the test car to the set speed if the test car is not stopped; After controlling the speed of the test vehicle to the set speed, it is determined whether the test vehicle is stopped, and when the test vehicle is stopped, it is determined whether the restart signal is applied, and it operates according to the driving mode applicable when the restart signal is applied. Returning to the main program when no signal is applied, and reading the signal of the section detecting unit when the test vehicle is not stopped; When the section detection signal is applied from the section detection signal, it is determined whether the section detection signal is normal, when the section detection signal is not applied, the state of the flag is judged, and when the section detection signal is the normal signal, And deciding the state of the flag after decelerating the speed of the vehicle, and stopping the driving operation of the test vehicle when the signal of the section detecting unit is an abnormal signal. The method of claim 13, further comprising: operating an accelerator pedal; When the accelerator pedal is operated, the driving distance of the curved road is checked, and when the driving distance of the curved road is greater than or equal to the set distance, the brake is operated, the operating time of the brake is compared with the set time, and the driving on the curved road is performed. Operating the accelerator pedal when the distance is smaller than the set distance; Starting the test vehicle again when the operating time of the brake is equal to the set time; Determining whether the test vehicle is stopped after the test vehicle starts, and determining whether a restart signal is applied when the vehicle is stopped, and determining a state of a flag when the vehicle is not stopped. Unmanned driving method of car.