KR101975658B1 - Method and apparatus for controlling vehicles - Google Patents

Abstract

In the present invention, the control unit collects information through an information collecting unit that collects a desired departure point, a desired destination, and a departure time, searches for point information corresponding to the starting point and the destination in the point DB, And acquires the authority to access or access all the points on the route to the moving object so as to guarantee a certain time when the moving object moves to the destination and to move to the moving object so as not to waste time due to delay and congestion And to a method and an apparatus for controlling a moving object which enables continuous movement without interfering with each other regardless of the number of moving objects while moving to a provided moving route.

Description

[0001] METHOD AND APPARATUS FOR CONTROLLING VEHICLES [0002]

The present invention relates to a moving object, and more particularly, to a method for efficiently controlling all moving objects by providing an optimal path for moving without moving and interfering with each other when a plurality of moving objects move.

Most existing traffic systems control traffic in two patterns: mobile and atmospheric. When one group of moving objects moves, another group of moving objects must wait until they can move. Most moving objects such as land, sea, and air are moving depending on signals generated in real time. This system generates a delay of time and does not guarantee a constant movement time. Especially in the case of land, the structural characteristics cause traffic congestion and environmental pollution, and further adversely affect the national economy.

Therefore, it is necessary to keep the time required for the movement constantly, to minimize the waste time by grasping the estimated time required, and to control all the moving objects in an efficient and safe manner by integrally controlling all the moving objects.

Patent Publication No. 10-2005-0075046 {publication date: July 20, 2005}

SUMMARY OF THE INVENTION The present invention has been made in order to meet such a demand, and it is an object of the present invention to prevent all the inter-mobiles from interfering with each other because the path is created by referring to the mobilities of other mobiles from the set- There is no possibility that the moving object must stop or decelerate due to another moving object, and it is possible to utilize the points to determine the starting / passing / arrival time of all the moving objects and the estimated moving route of the moving object, The purpose is to provide.

In order to achieve the above object, a method of controlling a moving object according to the present invention includes the steps of: (i) collecting a point of position information including a source and a destination, each of which is provided from a plurality of moving objects, (ii) generating an optimal path from the starting point to the destination point by referring to the connection information and the attribution information of the collected points; (iii) acquiring the right to access or access the optimal path by recording the moving object ID and the durable permissible time from the departure time in which the durable permissible time can be sequentially recorded at all points on the generated optimal route; (iv) transmitting the obtained rights information to the corresponding mobile entity.

The connection information in the step (ii) includes information enabling the approximation of the absolute coordinates of the adjacent points of the point, thereby making it possible to clearly form the position-to-point configuration so that the movement path can be generated in the form of continuous points .

The attribute information in the step (ii) includes information defining a behavior that the mobile can perform at each point, and controls the flow of the mobile in the movement path.

In the step (ii), (ii-1) one or more points for searching at least one movable path from the starting point to the destination point via the adjacent point are selected by referring to the connection information and the attribution information ; (ii-2) determining whether the selected point is a destination point.

If the selected point is not the destination point as a result of the determination of (ii-2), the step (ii-1) may further include returning to the point (ii-1) have.

In the step (iii), if it is impossible to sequentially record the diesel permissible time at all the points on the optimal route, adjusting the departure time and returning to step (iii) may be further included.

According to another aspect of the present invention, there is provided an apparatus for controlling a moving object, comprising: an information collecting unit for collecting points of position information including a source and a destination, each of which is provided from a plurality of moving objects, A point database for storing a plurality of point IDs including position information, connection information, attribute information, allowable passage time, and moving object ID; And generating an optimal route from the departure point to the destination point by referring to the connection information and the attribution information of the collected points, and from the departure time at which all the points on the generated optimal route are sequentially recordable, And a control unit for acquiring the right to access or access the optimal route by recording the allowable time and passing the acquired right information to the corresponding mobile unit.

The present invention collects points of position information and start time desired from a plurality of mobile objects, each of which includes a start point and a destination, and refers to the connection information and attribute information of the collected points, Acquires the right to access or access the optimal route by recording the moving object ID and the durable permissible time from the departure time at which the durable permissible time can be sequentially recorded at all points on the generated optimal route, By transferring the acquired authority information to the corresponding mobile object, it is possible to efficiently control all the mobile objects by providing an optimal path to move safely and without delay without interfering with each other when a plurality of mobile objects move.

In other words, the planned traffic system does not interfere with other mobile bodies because it presents and coordinates the movement route. Since the path is created by referring to the movement path of the other moving object from the moving path of the moving object, all the moving object interference does not occur. If no interference occurs between the moving objects during the movement, there is no situation in which the moving object must stop or decelerate due to another moving object. As a result, the optimal travel path can always ensure a consistent time. Point, it is possible to control the specific moving object affecting the traffic because the departure / passing / arrival time of all the moving objects and the expected moving route for moving the moving object are grasped, and it is possible to restrict the movement for various reasons such as natural disasters or fire Which can promptly and safely control traffic.

1 is a block diagram showing the configuration of a control apparatus for a moving body according to an embodiment of the present invention.
2 is a view showing an example of the point DB shown in FIG.
3 is a flowchart illustrating a method of controlling a moving object according to an embodiment of the present invention.
4 is a diagram illustrating an example of all point information on an optimal path according to an embodiment of the present invention.
5 is a diagram illustrating an example of an optimal path according to an embodiment of the present invention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an apparatus and method for controlling a moving object according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings.

1 is a block diagram showing the configuration of a control apparatus for a moving body according to an embodiment of the present invention. 2 is a view showing an example of the point DB shown in FIG.

The control apparatus for a moving object according to the embodiment of the present invention includes an information collecting unit 110, a point database 130, and a control unit 120.

The information collecting unit 110 collects points of the location information including the source and destination provided from the plurality of mobile objects, and the desired time of departure.

The point database 130 stores a plurality of point IDs including position information, connection information, attribute information, allowable passage time, and mobile ID. One point includes absolute coordinates, position information, moving object ID, allowable dwell time, connection information, and attribute information. At this time, absolute coordinates are used as ID values to call points. Knowing only one point ID allows you to know which point in the real space the point is in and to know when all the moving objects passing through this point pass through that point. As described above, the mobile unit informs the point of when it will pass or approach the point, and records the predetermined time so that the mobile unit can pass through the mobile unit for a certain period of time, will be. Specifically, it records the allowable dwell time at the point in advance so that the moving object can not pass through or access to the moving object for 30 seconds from the time at which the moving object is recorded at the point. The other moving object refers to the time recorded by the other moving object and records it so that the point can be accessed or accessed at another time.

The control unit 120 refers to the connection information and the attribute information of the points collected by the information collecting unit 110 to search for at least one movable path from the starting point to the destination point via the adjacent point Selects one or more points, determines whether the selected point is a destination point, and generates an optimal path from the starting point point to the destination point. The control unit 120 records the moving object ID and the durable permissible time from the departure time in which the durable permissible time can be sequentially recorded at all points on the generated optimal route to acquire the right to access or access the optimum route. At this time, the control unit 120 may adjust the departure time when it is impossible to sequentially record the diesel permissible time at all points on the generated optimal route. When it is possible to sequentially record the durable permissible time at all points on the generated optimal route, the controller 120 records the moving object ID and the durable permissible time in the point ID sequentially in the point DB 110, And transmits the right information to the corresponding mobile object.

Hereinafter, a method of controlling a moving body according to an embodiment of the present invention will be described with reference to the accompanying drawings.

3 is a flowchart illustrating a method of controlling a moving object according to an embodiment of the present invention. 4 is a diagram illustrating an example of all point information on an optimal path according to an embodiment of the present invention. 5 is a diagram illustrating an example of an optimal path according to an embodiment of the present invention.

The information collecting unit 110 collects points of the location information including the source and destination provided from the plurality of mobile bodies 100 and the desired time of departure (step S202). In this case, when the information collection unit 110 collects only the location information including the source and destination provided from the plurality of mobile objects 100, the control unit 120 may include the location information closest to the collected location information, The starting point and the destination point can be searched in the point DB 130 and selected. The position information may utilize the information of the satellite navigation apparatus that can be received in the outdoor environment in the form of the position information and may utilize the relative position information independently designed based on the absolute reference point arbitrarily generated in the indoor environment. That is, the positional information enabling the actual position of a plurality of mobile bodies 100 to be clearly distinguished from other mobile bodies can be used in any form.

The control unit 120 selects at least one point for searching at least one movable path from the starting point to the destination point via the adjacent point by referring to the connection information and the attribution information of the collected point Step S204). The selection of a plurality of points means that there are two or more paths that can be searched to a destination based on one point and that another searchable path can exist again at all points in the path being searched.

In order to select the one or more points, the connection information includes information enabling the absolute coordinates of the points around the point to be inferred, thereby clearly ensuring the point-to-point position configuration, and the movement path in the form of consecutive points It is used to generate information about the next point through connection information. Through this, the connection information informs the next point of one point and generates consecutive points and is created in such a way as a movement path.

The connection information is recorded as shown in Table 1 with respect to the absolute coordinates X, Y, and Z of neighboring points in order to indicate the neighboring point positions of one point, and by adding or changing the values of absolute coordinates thereof according to each recording, It tells the location of the point to be inferred. It is possible to record the connection information at each point and to arrange points of the movement path continuously. When the absolute coordinates are recorded as 20405 (X; 20, Y: 40, Z: 5) in one point 20405 and the connection information is recorded as 231, adjacent points are referred to as X (10405, 20505, 20305, 20406) because there are one in the direction of -X and two in the direction of + -Z because of the fact that Y is 3, It is possible. 5, the connection information of the other point 20205 is recorded as 221, and another point 20305 is recorded as the connection information of the other point 20205. In this case, Is clearly ensured by the connection information of the point 20405 and the point 20205.

first second third 000
Three


X direction point Y-direction point Z-point 0 No connection 0 No connection 0 No connection One + Unidirectional One + Unidirectional One + Unidirectional 2 - Unidirectional 2 - Unidirectional 2 - Unidirectional 3 +, - bidirectional 3 +, - bidirectional 3 +, - bidirectional

In order to select the one or more points, the attribution information identifies an action that can be performed at a nearby point found by the connection information, and selects a searchable point of a movable path. The attribute information defines the actions that can be performed at the corresponding points as shown in Table 2, and it is possible to confirm whether one or more pieces of connection information can be recorded in one point, and whether the user can go straight or turn right. The attribute information of the point 40205 is recorded at 1000, 1040, and 1080, so that it can be seen that the moving object can be straight forward, rightward, and accelerated at the point 40205. In addition, attribute information for keeping the traveling direction of the movement route constant can be added as needed.

property Characteristic value Straight Move to the next point in the progress direction 1000 turn left Move to the left point in the progress direction 1020 turn right Move to the right point in the progress direction 1040 Increase +1 Move to point of Z value 1050 descent -1 Move to point of Z value 1060 Acceleration Reduced travel time between points 1080 deceleration Increase movement time between points 1090 temporary Temporary generation in emergency situations 9000 Maintain location Maintain point location 5000

That is, a nearby point is identified through the connection information, and a searchable point of a path through which the moving object can move is selected through the attribute information. As described above, the utilization of the connection information and the attribute information for route search is performed by creating a common route (for example, a road infrastructure on the land) for moving a plurality of mobile units 100 as connection information, (Eg, on-road road traffic regulations). Even if consecutive points exist, they are consecutive point types that are not available unless they are defined by attribute information.

The control unit 120 determines whether one or more points selected to search for the one movable path are the destination points of the position information provided from the mobile unit 100 (step S206). At this time, if a plurality of points are selected and a plurality of search paths are generated in step S204, it is determined whether the point being searched for in all the search paths is a destination point of the position information provided from the mobile device 100. [

If it is determined in step S206 that the destination point is not the destination point of the location information provided from the mobile terminal 100, the processing routine returns to step S204 to perform the search on the point on the searching path.

In order to search for an optimal path, a point capable of path search is selected from the initial point of departure, and each point selected is checked to see if it is the destination point. If the point is not the destination point, Repeat until the destination point is identified to create an optimal path.

As a result of the determination in step S206, if it is the destination point of the location information provided from the mobile device 100, the control unit 120 determines that the number of points is the smallest among the routes to the all the mobile destinations that have been searched, And determines the largest number of paths as the optimal path for each moving object (step S208).

Then, the control unit 120 extracts the point IDs included in the optimal path for each moving object, and collects the moving object ID and the dirt permissible time for each extracted point ID, as shown in FIG.

The control unit 120 checks the moving object ID and the dirt permissible time collected for each of the point IDs and judges whether or not the moving object ID and the dirt permissible time can be recorded sequentially to each point ID from the departure time provided from the moving object 100 (Step S210).

As a result of the determination in step S210, if it is possible to continuously record the moving object ID and the dirt permissible time in each point ID, the control unit 120 sets the moving object ID and the dirt permissible time to the point IDs for a plurality of moving objects 100 in 30 seconds And sequentially stores them in the point DB 110 (step S214).

Referring to Table 3, no information on the moving object ID or the durability time is recorded for all the point IDs in the collected information. It means that it is possible to record so that the mobile user can pass 100% at a desired time.

Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Point ID 20505 20405 20305 20205 30205 40205 40105

In step S210, if it is possible to acquire rights continuously from point IDs 20505 to 40105 for 11:30:30 on March 25, 2017, which is the desired start time collected from the first mobile 1000, Similarly, the moving object ID and the diesel permissible time are recorded in the point DB 110 at intervals of 30 seconds for each point ID.

Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Point ID 20505 20405 20305 20205 30205 40205 40105 1000 20170325113030 1000 20170325113100 1000 20170325113130 1000 20170325113200 1000 20170325113230 1000 20170325113300 1000 20170325113330

Next, the controller 120 checks the previous moving object, i.e., the moving object ID recorded by the first moving object 100, and the allowable dirt time, as shown in Table 4 in the point DB 100, As shown in Table 5, the desired moving object ID and the transit time allowed are recorded in the point DB 110 only for the time recorded for each point. That is, the user can acquire the authority to continuously pass points from the desired departure time 11: 27: 00.

Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Point ID 20505 20405 20305 20205 30205 40205 40105 1000 20170325113030 1000 20170325113100 1000 20170325113130 1000 20170325113200 1000 20170325113230 1000 20170325113300 1000 20170325113330 3500 20170325112700 3500 20170325112730 3500 20170325112800 3500 20170325112830 3500 20170325112900 3500 20170325112930 3500 20170325113000

It is regarded that an optimal movement path via three points of the movement path among seven points of the optimal path of the third moving body 7000 is generated. Table 6 below is the point ID included in the optimal path of the third moving object 7000.

Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Point ID 10405 20405 20305 20205 20105 10105 20105 1000 20170325113100 1000 20170325113130 1000 20170325113200 3500 20170325112730 3500 20170325112800 3500 20170325112830

Information is recorded by the other moving object on three points on the path, and there is no recording on the remaining four points. To create continuous points, you need to select a start time at which all seven points can be recorded at intervals of 30 seconds.

For example, if the start time collected by the third mobile unit 7000 is 11:30:30, which is the same as the first mobile unit 1000, the first mobile unit 1000 can acquire the authority of the first point 10405, The second point 20405 can not acquire the authority. Accordingly, the departure time can be set to 30 seconds before or 30 seconds later, and the start time at which successive rights can be acquired can be found and recorded in the point DB 110 (step S212). As a result of the determination in step S210, if it is impossible to continuously record the moving object ID and the dirt permissible time in each point ID for each moving object, the control unit 120 adjusts the departure time (step S212), and returns to step S210 Return and perform again. Table 7 below shows the information recorded in the point DB 110 by setting the departure time of the third mobile body 7000 to 30 seconds before.

Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Moving object ID time Point ID 10405 20405 20305 20205 20105 10105 10205 1000 20170325113100 1000 20170325113130 1000 20170325113200 3500 20170325112730 3500 20170325112800 3500 20170325112830 7000 20170325113000 7000 20170325113030 7000 20170325113100 7000 20170325113130 7000 20170325113200 7000 20170325113230 7000 20170325113300

The three mobile units set up the optimal travel route according to their respective origins and destinations. In other words, there is no interference from other moving objects in generating the movement path. Then, each mobile unit checks whether the point authority can be acquired continuously from the desired departure time. Since the point DB 110 includes the authority information recorded for each point, the departure time is determined by referring to the point DB 110. [ The first moving body 1000 and the third moving body 7000 are configured to fly at intervals of 30 seconds and any moving object can not pass through or approach one point at the same time.

The control unit 120 transmits the rights information of each moving object to the corresponding moving object as shown in Table 8 based on the collected point IDs, the position information of the collected points, and the stored durable permission time (step S216 ). Table 8 shows information of the first mobile 1000.

Point ID Allowance time Location information 20505 20170325113030 37.554687, 126.969039, 15000 20405 20170325113100 37.552129, 126.969367, 15000 20305 20170325113130 37.548626, 126.969957, 15000 20205 20170325113200 37.544900, 126.970665, 15000 30205 20170325113230 37.545432, 126.970557, 15000 40205 20170325113300 37.539004, 126.961235, 15000 40105 20170325113330 37.541284, 126.954240, 15000

This is to transmit the information to move to the next location (37.552129, 126.969367, 15000) via the location (37.554687, 126.969039, 15000) between 11:30:30 and 31:00. The location information shown in Table 8 is information provided by the GPS satellites in the satellite navigation apparatus, and 15000, which means altitude, implies that the altitude should be maintained at 150 meters (meter, m) when moving.

While the present invention has been described in connection with what is presently considered to be practical exemplary embodiments, it is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, It is to be understood that the invention is not limited to the disclosed embodiments, but, on the contrary, is intended to cover various modifications and similarities. Accordingly, the scope of the present invention should be construed as being limited to the embodiments described, and it is intended that the scope of the present invention encompasses not only the following claims, but also equivalents thereto.

110: Information collecting unit
120:
130: Point DB
1000: first mobile body
3500: second mobile body
7000: Third mobile body

Claims (7)

(i) collecting points of positional information including start points and destinations provided from a plurality of mobile objects, respectively, and desired start time;
(ii) generating an optimal path from the starting point to the destination point by referring to the connection information and the attribution information of the collected points;
(iii) acquiring the right to access or access the optimal path by recording the moving object ID and the durable permissible time from the departure time in which the durable permissible time can be sequentially recorded at all points on the generated optimal route;
(iv) transmitting the obtained rights information to the corresponding mobile entity,
Step (ii)
(ii-1) selecting at least one point for searching at least one movable path from the starting point to the destination point via the adjacent point by referring to the connection information and the attribution information of the collected point;
(ii-2) determining whether the selected one or more points for searching for the one movable path is a destination point of the position information provided from the moving object;
(ii-3) In the case of the destination point of the location information provided from the moving object, the route having the smallest number of points and the largest number of straight lines with respect to the traveling direction of the moving object is referred to as an optimal route for each moving object Respectively,
In order to select the one or more points, the connection information includes information enabling the absolute coordinates of the points around the point to be inferred, thereby clearly ensuring the point-to-point position configuration, and the movement path in the form of consecutive points The connection information is used to notify the next point through the connection information. Through this, the connection information informs the next point of one point, and a continuous point is generated and generated in such a manner as a movement path The connection information is recorded for the absolute coordinates X, Y and Z of the neighboring points so as to indicate the neighboring point positions of one point, and by adding or not changing the values of the absolute coordinates thereof according to each record, It should be noted that the location information can be inferred and the connection information is recorded at each point, Points can be used for successive placement,
Wherein the property information includes a searchable point of a movable path by checking an action that can be performed at a nearby point found by the connection information, Wherein the at least one connection information can be recorded at one point and can be checked whether the user can go straight or turn right. delete delete delete The method according to claim 1, wherein as a result of (ii-2)
If the selected point is not the destination point, returning to the step (ii-1) with respect to the point of the path being searched in the step (ii-1). The method according to claim 1,
Further comprising the step of adjusting the departure time and returning to step (iii) if it is impossible to sequentially record the diesel permissible time at all points on the optimal route in the step (iii). delete

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