KR100199757B1 - Unmanded vehicle and driving method - Google Patents
Unmanded vehicle and driving method Download PDFInfo
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- KR100199757B1 KR100199757B1 KR1019960067765A KR19960067765A KR100199757B1 KR 100199757 B1 KR100199757 B1 KR 100199757B1 KR 1019960067765 A KR1019960067765 A KR 1019960067765A KR 19960067765 A KR19960067765 A KR 19960067765A KR 100199757 B1 KR100199757 B1 KR 100199757B1
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- 238000000034 method Methods 0.000 title claims abstract description 16
- 238000001514 detection method Methods 0.000 claims abstract description 11
- 230000005540 biological transmission Effects 0.000 claims description 13
- 238000004364 calculation method Methods 0.000 claims description 12
- 230000008054 signal transmission Effects 0.000 claims description 10
- 238000006243 chemical reaction Methods 0.000 claims description 2
- 238000010191 image analysis Methods 0.000 abstract 1
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- 230000001133 acceleration Effects 0.000 description 3
- 238000012790 confirmation Methods 0.000 description 1
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/20—Conjoint control of vehicle sub-units of different type or different function including control of steering systems
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
- B62D6/002—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits computing target steering angles for front or rear wheels
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- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Mathematical Physics (AREA)
- Steering Control In Accordance With Driving Conditions (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
본 발명은 집단무인차량의 제어에 관한 것으로, 집단적으로 운행하는 차량간의 조향각제어를 자동적으로 행하도록 하여, 차량간의 정보의 송수신으로 선두 및 후미차량이 일렬로 운행할 수 있도록하는 집단무인주행차량의 조향각제어시스템을 구비한 집단무인자율주행을 위한 차량을 제공하고 이들을 주행하는 방법을 제공하는 것을 그 목적으로 한다.The present invention relates to the control of a group unmanned vehicle, which automatically controls steering angles between vehicles that are collectively operated, and enables the front and rear vehicles to run in line by transmitting and receiving information between vehicles. An object of the present invention is to provide a vehicle for group unmanned autonomous driving with a steering angle control system and to provide a method of driving the vehicle.
본 발명에 따른 집단무인차량은 선두차량의 영상분석에 의한 기준조향각 검출과 조향각제어를 후미차량이 그대로 따라하므로 여러 대가 동시에 일 렬로 무인 주행 하기에 적합한 방법을 제공한다.The group unmanned vehicle according to the present invention provides a method suitable for unmanned driving of several vehicles simultaneously in a row since the rear vehicle follows the reference steering angle detection and the steering angle control by image analysis of the leading vehicle.
Description
종래에는 차량의 운행을 위하여서 반드시 운전자가 탐승하여야만 하였다.그러나, 최근들어 인건비의 지출에 따른 물류비용의 절감을 위하여 무인 주행차량에 대한 관심이 높아지고 있다.In the related art, a driver must ride a vehicle to drive a vehicle. However, in recent years, interest in an unmanned driving vehicle has been increasing in order to reduce the logistics cost according to the labor cost.
이러한 무인차량은 아직은 상용화 되지 못하고 있는 실정이지만, 도로상황, 목표지점의 확인, 차량의 현재 상태 등을 파악하기 위한 각종의 정보를 입력하는 센서 등의 신호입력부와, 이들로부터 현재 주행중인 차량의 상황을 판단하여 제어의 목표를 설정하고 가속, 감속의 여부, 조향각의 설정정도를 제어할 수 있는 전자제어장치와, 전자제어장치의 제어신호에 따라 구체적인 가속, 감속, 조향각의 설정을 행하는 각종의 밸브, 모터등으로 구성된 구동부인 가속력제어장치, 제동력제어장치, 조향각제어장치를 주요한 구성으로 하고 있다.Although such unmanned vehicles are not commercially available yet, signal input units such as sensors for inputting various types of information for identifying road conditions, confirmation of target points, and the current state of the vehicle, and the status of the vehicle currently being driven therefrom. Electronic control device that can control the acceleration, deceleration, steering angle setting degree, and various valves to set specific acceleration, deceleration, steering angle according to the control signal of the electronic control device. The main components are the acceleration force control device, the braking force control device, and the steering angle control device, which are the drive parts composed of the motor and the like.
이러한 제어에서는 가장 어려운 부분은 목적지를 설정하면 스스로 주변의 지형조건, 노면상태, 등을 판단하는 기초자료로서 입력수단을 개발하는 것이지만, 이러한 인식분야에서도 어느정도의 기술적 발전이 이루어 지고 있음을 고려하면, 보다 가까운 장래에 실현가능한 수송형태의 개발도 요구된다 할 것이다.The most difficult part of this control is to develop the input means as the basic data to determine the topographical conditions, the road condition, and the surroundings by setting the destination, but considering the technical development in the field of recognition, Development of a form of transport feasible in the near future is also required.
본 발명은 전술한 기술적 한계와 현실적 상태를 고려한 것으로서, 여러대를 일렬로 하여 주행하는 집단무인주행차량의 조향각제어를 위한 시스템을 구성하여 물류비용의 절감과 함께, 효율적인 비용으로 이러한 요구를 실현하는 것을 기술적과제로 한다.In view of the above technical limitations and practical conditions, the present invention provides a system for steering angle control of a group unmanned driving vehicle that runs in a row of vehicles, thereby reducing the logistics cost and realizing such a demand at an efficient cost. This is a technical task.
제1도는 본 발명에 따른 집단무인차량의 일렬 주행도.1 is a line driving diagram of a group driverless vehicle according to the present invention.
제2도는 본 발명에 따른 집단무인주행용 선두차량의 조행각제어시스템의 구성을 보여주는 블록도.2 is a block diagram showing the configuration of a steering angle control system of a leading vehicle for group driverless driving according to the present invention.
제3도는 본 발명에 따른 집단무인주행용 후미차량의 조행각제어시스템의 구성을 보여주는 블록도.Figure 3 is a block diagram showing the configuration of the steering angle control system of the rear end vehicle for group driverless driving according to the present invention.
제4도는 본 발명에 따른 집단무인주행용 선두차량의 조행각제어시스템의 제어순차를보여주는 제어흐름도.4 is a control flow diagram showing the control sequence of the steering angle control system of the leading vehicle for group unmanned driving according to the present invention.
제5도는 본 발명에 따른 집단무인주행용 후미차량의 조행각제어시스템의 제어순차를보여주는 제어흐름도.5 is a control flow diagram showing the control sequence of the steering angle control system of the rear end vehicle for group unmanned driving according to the present invention.
* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings
1 : 집단무인주행용 선두차량 2 : 집단무인주행용 중간차량1: Leading vehicle for group driverless driving 2: Intermediate vehicle for group driverless driving
3 : 집단무인주행용 후미차량 4 : 화상입력수단3: rear end vehicle for group driverless driving 4: image input means
5 : 화상신호변환수단 6, 11 : 조향휠 위치검출수단5: image signal converting means 6, 11: steering wheel position detecting means
7, 12 : 자동/수동 변환스위치 8, 14 : 전자제어장치7, 12: automatic / manual switch 8, 14: electronic control device
9 : 조향휠 구동수단 10, 16 : 제어신호 송신수단9: steering wheel driving means 10, 16: control signal transmission means
13 : 제어신호 수신수단 20 : 모터회전제어수단13: control signal receiving means 20: motor rotation control means
22 : 기억장치22: storage device
본 발명은 전술한 기술적 과제를 실현하기 위한 것으로서, 자동차에 있어서, 도로의 영상을 입력하는 화상입력수단(4)과, 화상입력수단으로부터의 정보를 기초로 기준 조향각을 산출하는 기준조향각 산출수단(5)과, 조향휠의 현재위치를 검출하는 조향휠 위치검출수단(6)과, 자동운전과 수동운전을 선택 전환할 수 있는 자동/수동 변환스위치(7)와, 조향휠을 회전시키는 조향휠 구동수단(9)과, 전자제어장치에서 산출된 조향휠 회전각도에 따라 조향휠 구동수단(9)의 회전각을 설정하고 조향휠 구동수단을 제어하는 모터회전제어수단(20)과, 기준조향각 산출수단으로부터 산출되고 전자제어장치로부터 가공된 현재위치에서의 기준조향각을 후미의 차량으로 송신하는 제어신호송신수단(10) 및 기준조향각 산출수단으로부터의 기준조향각과 현재의 조향각을 비교하여 조향휠의 회전각을 산출하여 모터회전제어수단(20)으로 발신하고, 현재의 기준조향각을 제어신호 송신수단으로 발신하는 전자제어장치(8)를 포함하는 것을 특징으로 하는 집단무인주행용 선두차량을 제공한다.SUMMARY OF THE INVENTION The present invention has been made to realize the above-described technical problem. In an automobile, image input means (4) for inputting an image of a road, and reference steering angle calculation means for calculating a reference steering angle based on information from the image input means ( 5), steering wheel position detection means 6 for detecting the current position of the steering wheel, automatic / manual switching switch 7 for switching between automatic operation and manual operation, and steering wheel for rotating the steering wheel. A motor rotation control means 20 for setting the rotation angle of the steering wheel driving means 9 and controlling the steering wheel driving means according to the driving means 9 and the steering wheel rotation angle calculated by the electronic control device, and the reference steering angle. The reference steering angle and the current steering angle from the control signal transmitting means 10 and the reference steering angle calculating means for transmitting the reference steering angle at the current position calculated from the calculating means and processed by the electronic controller to the rear vehicle. Comparing to calculate the rotation angle of the steering wheel to transmit to the motor rotation control means 20, and the electronic control device 8 for transmitting the current reference steering angle to the control signal transmission means for group unmanned driving Provide the lead vehicle.
또한 본 발명은, 자동차에 있어서, 선두차량으로부터의 송신신호를 수신하고 수신신호를 변환하여 전자제어장치(14)로 발신하는 제어신호 수신수단(13)과, 조향휠의 현재위치를 검출하는 조향휠 위치검출수단(11)과, 자동운전과 수동운전을 선택 전환할 수 있는 자동/수동 변환스위치(12)와, 조향휠을 회전시키는 조향휠 구동수단(15)과, 전자제어장치에서 산출된 조향휠 회전각도에 따라 조향휠 구동수단(15)의 회전각을 설정하고 조향휠 구동수단을 제어하는 모터회전제어수단(21) 및, 제어신호 수신수단으로부터의 신호를 기초로 기준조향각을 산출하고 이값을 조향휠 위치검출수단으로부터의 현재의 조향각과 비교하여 조향휠의 회전각을 산출하여 모터회전제어수단(21)으로 발신하는 전자제어장치(14)를 포함하는 것을 특징으로 하는 집단무인주행용 후미차량을 제공한다.In addition, the present invention relates to a steering signal receiving means 13 for receiving a transmission signal from a first vehicle, converting the reception signal, and transmitting the received signal to the electronic control apparatus 14, and for detecting a current position of the steering wheel. A wheel position detecting means 11, an automatic / manual switching switch 12 for selectively switching between automatic operation and manual operation, a steering wheel driving means 15 for rotating a steering wheel, and an electronic controller The reference steering angle is calculated based on the motor rotation control means 21 for setting the rotation angle of the steering wheel driving means 15 according to the steering wheel rotation angle and controlling the steering wheel driving means, and the signal from the control signal receiving means. Comparing this value with the current steering angle from the steering wheel position detection means for calculating the rotation angle of the steering wheel and including the electronic control device 14 for transmitting to the motor rotation control means 21 for group unmanned driving after Offer a vehicle.
또한 본 발명은, 집단무인차량의 주행방법에 있어서,도로의 영상을 입력하는 화상입력수단(4)과, 화상입력수단으로부터의 정보를 기초로 기준 조향각을 산출하는 기준조향각 산출수단(5)과, 조향휠의 현재위치를 검출하는 조향휠 위치검출수단(6)과, 자동운전과 수동운전을 선택 전환할 수 있는 자동/수동 변환스위치(7)와, 조향휠을 회전시키는 조향휠 구동수단(9)과, 전자제어장치에서 산출된 조향휠 회전각도에 따라 조향휠 구동수단(9)의 회전각을 설정하고 조향휠 구동수단을 제어하는 모터회전제어수단(20)과, 기준조향각 산출수단으로부터 산출되고 전자제어장치로부터 가공된 현재위치에서의 기준조향각을 신호변환하여 후미의 차량으로 송신하는 제어신호송신수단(10) 및 기준조향각 산출수단으로부터의 기준조향각과 현재의 조향각을 비교하여 조향휠의 회전각을 산출하여 모터회전제어수단(20)으로 발신하고, 현재의 기준조향각을 제어신호 송신수단으로 발신하는 전자제어장치(8)를 구비하는 집단무인주행용 선두차량과, 선두차량으로부터의 송신신호를 수신하고 수신신호를 변환하여 전자제어장치(14)로 발신하는 제어신호 수신수단(13)과, 조향휠의 현재위치를 검출하는 조향휠 위치검출수단(11)과, 자동운전과 수동운전을 선택 전환할 수 있는 자동/수동변환스위치(12)와, 조향휠을 회전시키는 조향휠 구동수단(15)과, 전자제어장치에서 산출된 조향휠 회전각도에 따라 조향휠 구동수단(15)의 회전각을 설정하고 조향휠 구동수단을 제어하는 모터회전제어수단(21)및, 제어신호 수신수단으로부터의 신호를 기초로 기준조향각을 산출하고 이 값을 조향휠 위치검출수단으로부터의 현재의 조향각과 비교하여 조향휠의 회전각을 산출하여 모터회전제어수단(21)으로 발신하는 전자제어장치(14)를 구비하는 집단무인주행용 후미차량을 하나 이상으로 하여 주행하는 것을 특징으로 하는 차량집단무인 주행방법을 제공한다.In addition, the present invention provides a driving method of a group unmanned vehicle, comprising: image input means (4) for inputting an image of a road, reference steering angle calculation means (5) for calculating a reference steering angle based on information from the image input means; Steering wheel position detection means 6 for detecting the current position of the steering wheel, automatic / manual switching switch 7 for switching between automatic operation and manual operation, steering wheel driving means for rotating the steering wheel ( 9) and motor rotation control means 20 for setting the rotation angle of the steering wheel driving means 9 and controlling the steering wheel driving means in accordance with the steering wheel rotation angle calculated by the electronic control device, and from the reference steering angle calculation means. Comparing the current steering angle with the reference steering angle from the control signal transmission means 10 and the reference steering angle calculation means, which converts the reference steering angle at the current position, which is calculated and processed by the electronic controller, to the rear vehicle. A group unmanned driving head vehicle and a head vehicle having an electronic control device 8 which calculates the rotation angle of the steering wheel and sends it to the motor rotation control means 20 and sends the current reference steering angle to the control signal transmission means. Control signal receiving means 13 for receiving a transmission signal from the control signal and converting the received signal to the electronic control apparatus 14, steering wheel position detection means 11 for detecting the current position of the steering wheel, and automatic operation. Auto / manual conversion switch 12 capable of selectively switching between manual and manual operation, steering wheel driving means 15 for rotating the steering wheel, and steering wheel driving means according to the steering wheel rotation angle calculated by the electronic controller ( Motor rotation control means 21 for setting the rotation angle and controlling the steering wheel driving means, and calculating a reference steering angle based on a signal from the control signal receiving means, and calculating this value from the current from the steering wheel position detecting means. Steering angle Comparing the vehicle group unmanned driving, characterized in that traveling by using at least one rear end vehicle for group unmanned driving having an electronic control device 14 for calculating the rotation angle of the steering wheel and transmitting it to the motor rotation control means 21. Provide a method.
이하 본 발명의 구성요소 및 그 작동상태를 도면을 참조하여 설명하도록 한다.Hereinafter, the components of the present invention and their operating states will be described with reference to the drawings.
제1도는 본 발명에 따른 집단무인차량의 주행상태를 보여주는 도면이다.선두 차량은 화상입력수단으로 CCD 카메라가 설치되어 화상정보를 입력하여 이를 기초로 기준조향각을 산출하고 이를 기초로 현재의 조향각과 비교하여 조향휠을 제어한다. 또한 구해진 현재상태의 조향각은 데이터 변환되어 후미의 차량으로 전송된다.1 is a view showing a driving state of a group unmanned vehicle according to the present invention. A leading vehicle is provided with a CCD camera as an image input means and inputs image information to calculate a reference steering angle based on the current steering angle. Control steering wheel in comparison. Also, the steering angle of the current state obtained is converted into data and transmitted to the rear vehicle.
후미 차량은 선두차량으로부터 송신된 신호를 이용 현재의 기준각을 설정하고 현재의 조향각과 비교하여 조향휠을 제어한다.The rear vehicle sets the current reference angle using the signal transmitted from the head vehicle and compares the steering wheel with the current steering angle.
일반적으로는 선두차량하나와 하나이상의 후미차량을 구성으로하여 일렬 주행한다.In general, the first vehicle and one or more tail vehicles are configured to travel in a row.
또 다른 주행방법으로는 중간에 중간차량을 사용하는 방식이다. 이경우 중간차량은 선두차량으로부터 정보를 수신하는 수신수단과 후미차량으로 정보를 송신하는 송신수단을 모두 구비하여야 한다.Another driving method is to use an intermediate vehicle in the middle. In this case, the intermediate vehicle should have both a receiving means for receiving information from the head vehicle and a transmitting means for transmitting information to the rear vehicle.
선두차량의 구체적인 기준조향각 산출방식 및 조향휠 구동방식을 설명하고자 한다.The detailed reference steering angle calculation method and steering wheel driving method of the lead vehicle will be described.
선두차량(1)의 제어시스템에서 입력부는 화상입력수단(4)와 조향휠 위치검출수단(6)이며, 구동부는 모터회전제어수단(20)과 제어신호 송신수단(10)이며제어부는 마이크로 컴퓨터 또는 논리연산회로인 전자제어장치이다.In the control system of the head vehicle 1, the input unit is an image input unit 4 and a steering wheel position detecting unit 6, the driving unit is a motor rotation control unit 20 and a control signal transmitting unit 10, and the control unit is a microcomputer. Or an electronic control device which is a logic operation circuit.
화상입력수단은 카메라 구조체이며, CCD카메라가 사용된다. 기준조향각 검출수단(5)은 입력된 화상정보를 기초로 기준조향각을 산출한다. 이 때 이를 연산하는 방법은 공지된 방법에 따른다. 공지된 방법에 따르면, 차선이 그려진 도로에서 차선 사이에 중심선의 위치를 연산하고 화상의 화면중심이 중심선에 놓이도록 하기위한 조향각을 결정하는 방법으로 기준조향각을 연산해 낸다.The image input means is a camera structure, and a CCD camera is used. The reference steering angle detection unit 5 calculates the reference steering angle based on the input image information. At this time, the method of calculating this follows a known method. According to the known method, the reference steering angle is calculated by calculating the position of the center line between the lanes on the road where the lane is drawn and determining the steering angle so that the screen center of the image lies on the center line.
조향휠 위치검출수단(6)은 현재의 조향각을 검출하여 전자제어장치(8)로 보낸다.The steering wheel position detecting means 6 detects the current steering angle and sends it to the electronic controller 8.
전자제어장치(8)는 현재의 조향각과 기준조향각을 비교하여 그 오차 만큼의 조향각 보정을 행하도록 모터회전제어수단(20)으로 제어신호와 함께 오차정보를 발산한다.The electronic controller 8 emits the error information together with the control signal to the motor rotation control means 20 to compare the current steering angle with the reference steering angle and correct the steering angle by the error.
모터회전제어수단(20)은 조향휠을 회전시키는 조향휠회전수단(9)를 제어하며 모터를 얼마만큼 회전시켜야 조향각을 보정할 수 있는가에 대한 정보를 기억하는수단 및 그 값을 연산할 수 있는 수단을 구비하고 있다.The motor rotation control means 20 controls the steering wheel rotation means 9 for rotating the steering wheel, and means for storing information about how much the motor should be rotated to correct the steering angle, and the value can be calculated. Means are provided.
무인자동차의 스티어링 제어장치에 대해서는 이미 공지된 방법을 사용하며, 본 출원인에 의해 기출원 된 특허출원번호 95-41270에 따른다.The steering control device of the driverless vehicle uses a known method and is in accordance with patent application No. 95-41270 filed by the present applicant.
한편, 무인집단차량의 집단주행을 위해서는 각 차량간의 정보의 송수신이 필수적이며, 이를 위해 송수신장비를 구비하고 있는 바, 선두차량의 경우는 송신수단만을 가지고 있으면 족하다.Meanwhile, for group driving of an unmanned group vehicle, transmission and reception of information between each vehicle is essential. For this purpose, a transmission / reception device is provided. Therefore, the head vehicle needs only a transmission means.
송신의 자료는 현재의 위치 및 차속등의 기초정보와 함께 현재의 기준 조향각이 반드시 포함되어야 한다. 이러한 정보는 전자제어장치에의해 암호화되어 제어신호 송신수단(10)으로 발신되며, 제어신호 송신수단(10)은 이를 송신에 적합한 형식으로 변환하여 안테나를 통해 송신한다.The transmission data must include the current reference steering angle with basic information such as the current position and vehicle speed. This information is encrypted by the electronic control apparatus and transmitted to the control signal transmitting means 10, and the control signal transmitting means 10 converts it into a format suitable for transmission and transmits it through the antenna.
후미차량(3)은 입력부로 조향휠 위치검출수단(11)이 외에 안테나로부터의 입력을 받는 제어신호 수신수단(13)을 추가로구비하고 있다.The rear vehicle 3 further comprises a control signal receiving means 13 which receives an input from an antenna in addition to the steering wheel position detecting means 11 as an input portion.
제어신호 수신수단(13)은 상기의 선두차량의 제어신호 송신수단(10)고 반대로 동작된다. 즉, 수신된 정보는 전자제어장치(14)에서 처리가능한 형식으로 변환되며, 이 정보를 전자제어장치로 송신하면, 전자제어장치는 이 정보를 기초로 기준조향각에 대한 연산을 행한다.The control signal receiving means 13 is operated in the opposite manner to the control signal transmitting means 10 of the head vehicle. That is, the received information is converted into a format that can be processed by the electronic control apparatus 14, and when this information is transmitted to the electronic control apparatus, the electronic control apparatus calculates a reference steering angle based on this information.
또한 후미차량에는 기억수단(22)을 구비하고 있어 선두차량에서의 기준조향각 정보를 기억시켜 두었다가 제어가 요구되는 시간이 되면 이를 꺼내서 현재의 조향각과 비교하고 조향휠을 제어하도록 한다. 이 경우는 선두차량이 두 대이상의 후미차량으로 동시에 송신을 하는 경우라면 필수적일 것이다.In addition, the rear vehicle is provided with a storage means 22, so that the reference steering angle information from the head vehicle is stored, and when it is time for control to be required, it is taken out, compared with the current steering angle, and the steering wheel is controlled. This case is essential if the leading vehicle transmits more than two tail vehicles at the same time.
한편, 중간 차량은 전술한 후미 차량에 구동부로 후미차량으로 정보를 송신하기 위한 제어신호 송신수단(16)을 추가로 구비한다. 중간차량이 필요한 경우는 상대적으로 많은 대수가 이동하므로 제어의 오차가 심해질 가능성이 있을 때 사용되는 것이 바람직하다.On the other hand, the intermediate vehicle further includes control signal transmission means 16 for transmitting information to the rear vehicle as a rear vehicle to the driver. In the case where an intermediate vehicle is needed, a relatively large number of vehicles move, so it is preferable to be used when there is a possibility that the control error becomes severe.
이러한 경우는 한대의 선두차량에 수대의 후미차량만을 가지고 운행하는 것보다, 한대의 선두차량 한대의 후미차량 그리고 수대의 중간차량을 두어 각 차량간에 조향각을 새롭게 보정하고 보정한 결과를 기초로 새로운 기준조향각을 설정해야 하는 경우에 유용하다.In this case, rather than driving a single leading vehicle with only a few rear vehicles, a new standard is based on the result of newly correcting and correcting the steering angle between each vehicle by having one leading vehicle and one rear vehicle and several intermediate vehicles. This is useful if you need to set the steering angle.
중복된 명칭의 장치는 이미 설명한 선두차량의 그 것과 기능이 같다. 도4와 도는 각각 선두차량과 후미차량이 정보의 송수신을 기초로 조향각을 결정하는 제어흐름도 이다.The device with the duplicate name has the same function as that of the first vehicle already described. 4 and FIG. 4 are control flow charts for determining the steering angle based on transmission and reception of the head vehicle and the tail vehicle, respectively.
기술적 한계와 현실적 상태를 고려하여 구성된 전술한 시스템에의해, 여러대를 일렬로 하여 주행하는 집단무인주행차량의 조향각제어를 위한 시스템을 구성하여 집단무인자율차량의 개발로 인하여 물류비용의 절감을 이룩할 수 있게 되었으며, 이에 따라 효율성을 높이려는 요구를 실현할 수 있게 되었다.According to the above-described system configured in consideration of technical limitations and realistic conditions, a system for steering angle control of a group unmanned driving vehicle that runs in multiple lines can be configured to achieve a reduction in logistics costs by developing a group unmanned autonomous vehicle. This makes it possible to meet the demand for greater efficiency.
본 발명은 집단무인차량의 제어에 관한 것으로, 집단적으로 운행하는 차량간의 조향각제어를 자동적으로 행하도록 하여, 차량간의 정보의 송수신으로 선두 및 후미차량이 일렬로 운행할 수 있도록하는 집단무인주행차량의 조향각제어시스템을 구비한 집단무인자율주행을 위한 차량을 제공하고 이들을 주행하는 방법을 제공하는 것을 그 목적으로 한다.The present invention relates to the control of a group unmanned vehicle, which automatically controls steering angles between vehicles that are collectively operated, and enables the front and rear vehicles to run in line by transmitting and receiving information between vehicles. An object of the present invention is to provide a vehicle for group unmanned autonomous driving with a steering angle control system and to provide a method of driving the vehicle.
Claims (8)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR1019960067765A KR100199757B1 (en) | 1996-12-19 | 1996-12-19 | Unmanded vehicle and driving method |
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| KR1019960067765A KR100199757B1 (en) | 1996-12-19 | 1996-12-19 | Unmanded vehicle and driving method |
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| KR19980049092A KR19980049092A (en) | 1998-09-15 |
| KR100199757B1 true KR100199757B1 (en) | 1999-06-15 |
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| KR1019960067765A KR100199757B1 (en) | 1996-12-19 | 1996-12-19 | Unmanded vehicle and driving method |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010037004A2 (en) * | 2008-09-29 | 2010-04-01 | David Kronenberg | Systems for positioning and linking motor vehicles to reduce aerodynamic drag |
| US10449963B2 (en) | 2016-12-01 | 2019-10-22 | Hanwha Defense Co., Ltd. | Following cruise control method and following cruise control device |
| KR102512793B1 (en) | 2021-11-29 | 2023-03-22 | 한국기술교육대학교 산학협력단 | System for platooning |
-
1996
- 1996-12-19 KR KR1019960067765A patent/KR100199757B1/en not_active IP Right Cessation
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| WO2010037004A2 (en) * | 2008-09-29 | 2010-04-01 | David Kronenberg | Systems for positioning and linking motor vehicles to reduce aerodynamic drag |
| WO2010037004A3 (en) * | 2008-09-29 | 2010-06-10 | David Kronenberg | Systems for positioning and linking motor vehicles to reduce aerodynamic drag |
| US8100426B2 (en) | 2008-09-29 | 2012-01-24 | David Kronenberg | Systems for positioning and linking motor vehicles to reduce aerodynamic drag |
| US10449963B2 (en) | 2016-12-01 | 2019-10-22 | Hanwha Defense Co., Ltd. | Following cruise control method and following cruise control device |
| KR102512793B1 (en) | 2021-11-29 | 2023-03-22 | 한국기술교육대학교 산학협력단 | System for platooning |
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| KR19980049092A (en) | 1998-09-15 |
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