KR102272499B1 - Position and heading angle control system for vehicles using multiple GPS and its control method - Google Patents

Abstract

The present invention relates to a system and method for controlling a position and a heading angle of a vehicle using multiple GPS receivers. In accordance with one aspect of the present invention, a driving control method of an autonomous vehicle comprises: a first step of transmitting, by a communication unit of an autonomous vehicle, a connection request signal to a plurality of neighboring base stations; a second step of receiving, by the communication unit, a connection signal corresponding to the connection request signal from at least one first base station among the base stations; a third step of selecting, by a control unit of the autonomous vehicle, a second base station closest to the autonomous vehicle among the first base stations; a fourth step of transmitting, by the control unit, information related to the selected second base station to a first GPS receiver of the autonomous vehicle; a fifth step of correcting, by the first GPS receiver which obtains first location information, the first location information on the basis of the information related to the second base station; a sixth step of transmitting, by the first GPS receiver, the corrected first location information to a second GPS receiver disposed in the autonomous vehicle to be spaced apart from the first GPS receiver by a predetermined distance; a seventh step of calculating, by the second GPS receiver which obtains a second location information, heading angle information on the autonomous vehicle using the corrected first location information and the second location information; and an eighth step of controlling, by the control unit, the driving of the autonomous vehicle, on the basis of the corrected first location information transmitted from the first GPS receiver and the heading angle information transmitted from the second GPS receiver. Accordingly, the driving of the autonomous vehicle can be controlled by selectively using state information.

Description

Position and heading angle control system for vehicles using multiple GPS and its control method

The present invention relates to a system for controlling the position and heading angle of a vehicle using a plurality of GPS and a method for controlling the same.

In driving an unmanned vehicle, a vehicle driving method by automatic steering is to enable driving by automatically applying driving assistance to an Electric Power Steering (EPS) system without a driver's manipulation.

In autonomous driving, when a reference path from the starting point A of the vehicle to the destination point B is given, in order to move the vehicle to the destination point B, an appropriate steering angle and speed are controlled and inputted from the vehicle departure point A to move the vehicle to the destination point B. It must be moved to point B To this end, in the prior art, it is common to control in a manner that reduces the error of the distance from the reference path or the error of the direction angle from the predicted distance.

However, the control in a manner that reduces the distance error or the directional angle error in the position has a problem in that the calculation load increases as the speed of the vehicle increases, the cycle for calculating the error becomes shorter.

Therefore, the need for a system and method capable of solving these problems is increasing.

Korean Intellectual Property Office Registration No. 10-1556171 Korean Intellectual Property Office Registration No. 10-1017604

The present invention relates to a vehicle position and heading angle control system using a plurality of GPS and a control method thereof, by transmitting and receiving both RF and NTRIP signals and allowing “plural” RTCM streams received wirelessly to pass through a Host, A host actively selects a signal of itself and a nearest base station and provides a system and a control method that can be injected into each GPS (moving base) to the user.

In addition, the present invention is to install an NTRIP server that transmits RTCM signals to the periphery of a golf course to establish a local-network, and to provide a control system and a control method thereof that use RF signals mixedly.

That is, the present invention mounts a host that actively selects an RTCM stream and two or more GPS on each golf cart, and enables each golf cart to measure its own “RTK-position/heading angle”, so that external help It is intended to provide a system and method that support autonomous driving to a pre-entered target position without self-driving.

In addition, the present invention may receive speed and steering angle information from the autonomous vehicle to determine the state information, and selectively use the state information to control the driving of the autonomous vehicle.

Specifically, the present invention controls the driving of the autonomous vehicle by using only the corrected first location information and heading angle information when the signal values of a plurality of GPS are better than or equal to a predetermined value, and when the signal value of a plurality of GPS is less than a predetermined value, the state The information can be used to control the driving of the autonomous vehicle.

Also, according to the present invention, the state information of the autonomous vehicle may be determined according to the prediction and update operations according to the Kalman filter algorithm.

On the other hand, the technical problems to be achieved in the present invention are not limited to the technical problems mentioned above, and other technical problems not mentioned are clearly to those of ordinary skill in the art to which the present invention belongs from the description below. can be understood

In one aspect of the present invention, there is provided a driving control method of an autonomous driving vehicle, the method comprising: a first step of transmitting a connection request signal to a plurality of neighboring base stations by a communication unit of the autonomous driving vehicle; a second step of receiving, by the communication unit, an access signal corresponding to the access request signal from a first base station that is at least one of the plurality of base stations; a third step of selecting, by the control unit of the autonomous vehicle, a second base station closest to the autonomous vehicle among the first base stations; a fourth step of transmitting, by the control unit, the selected information related to the second base station to the first GPS of the autonomous vehicle; a fifth step of calibrating, by the first GPS having obtained the first location information, the first location information based on the second base station-related information; a sixth step of transmitting, by the first GPS, the corrected first location information to a second GPS disposed in the autonomous vehicle spaced apart from the first GPS by a predetermined distance; a seventh step of calculating, by a second GPS having obtained the second location information, heading angle information of the autonomous vehicle using the corrected first location information and the second location information; and an eighth step of controlling the driving of the autonomous vehicle by the controller based on the corrected first location information transmitted from the first GPS and the heading angle information transmitted from the second GPS can

Also, between the seventh step and the eighth step, a 7.5 step in which the control unit determines the state information of the autonomous vehicle by receiving information on the speed and the steering angle of the autonomous vehicle from the autonomous vehicle; Further comprising, in the eighth step, the control unit may selectively use the state information to control the driving of the autonomous vehicle.

In addition, when the signal values of the first GPS and the second GPS are better than a predetermined value, the controller may control the driving of the autonomous vehicle using only the corrected first location information and the heading angle information. can

Also, when the signal values of the first GPS and the second GPS are less than a predetermined value, the controller may control the driving of the autonomous vehicle by using the state information.

Also, the controller may determine the state information of the autonomous vehicle according to prediction and update operations according to the Kalman filter algorithm.

In addition, the second base station-related information is difference information between the location of the second base station confirmed through a signal received from at least one satellite and the actual location of the second base station, and in the fifth step, the difference information Based on , an error generated due to a separation distance between the at least one satellite and the first GPS may be corrected.

In addition, the plurality of base stations may communicate using at least one of a Radio Technical Commission for Maritime (RTCM) stream and a Radio Frequency (RF) stream.

In addition, the corrected first location information may include information about the location, speed, and time on the location of the autonomous vehicle.

Also, the heading angle information may be angle information at which the second location information is rotated based on the corrected first location information and a preset separation distance between the first GPS and the second GPS.

In addition, the seventh step may include: a 7-1 step in which the second GPS calibrates the second location information based on the second base station related information; and a 7-2 step of calculating, by the second GPS, the heading angle information of the autonomous vehicle by using the corrected first position information and the corrected second position information.

In addition, after the eighth step, a ninth step of the communication unit broadcasting the corrected first location information and the heading angle information based on an Internet protocol; may further include.

In addition, in the eighth step, so that the autonomous vehicle can reach the predetermined target point, the control unit may include: a direction and a direction of the autonomous vehicle based on the corrected first position information and the heading angle information; You can control the speed.

In addition, the plurality of base stations may be base stations existing within a predetermined separation range from the golf course, and the autonomous vehicle may be a golf cart disposed inside the golf course.

In addition, the first to the eighth steps may be performed periodically, and the first base station may be changeable according to a result of the periodic execution.

The present invention relates to a vehicle position and heading angle control system using a plurality of GPS and a control method thereof, by transmitting and receiving both RF and NTRIP signals and allowing “plural” RTCM streams received wirelessly to pass through a Host, A host can provide a user with a system and a control method that can be injected into each GPS (moving base) by actively selecting a signal of itself and a nearest base station.

In addition, the present invention can provide a control system and a control method for establishing a local-network by installing an NTRIP server that transmits an RTCM signal to the periphery of a golf course, and using RF signals mixedly.

In the present invention, a host that actively selects an RTCM stream and two or more GPS are mounted on each golf cart, and each golf cart can measure its own “RTK-position/heading angle” by itself without external help. A system and method for supporting autonomous driving to a pre-inputted target position may be provided to the user.

In addition, the present invention may receive speed and steering angle information from the autonomous vehicle to determine the state information, and selectively use the state information to control the driving of the autonomous vehicle.

Specifically, the present invention controls the driving of the autonomous vehicle by using only the corrected first location information and heading angle information when the signal values of a plurality of GPS are better than the predetermined value, and when the signal value is less than the predetermined value, the state The information can be used to control the driving of the autonomous vehicle.

Also, according to the present invention, the state information of the autonomous vehicle may be determined according to the prediction and update operations according to the Kalman filter algorithm.

However, the effects obtainable in the present invention are not limited to the above-mentioned effects, and other effects not mentioned will be clearly understood by those of ordinary skill in the art to which the present invention belongs from the following description. will be able

1 shows an example of a block diagram of a vehicle position and heading angle control system using a plurality of GPS according to the present invention.
2 shows an example of a block diagram of a vehicle applied to the control system of the present invention.
3 is a view for explaining a positioning method using a single DGPS in relation to the present invention.
4 is a diagram for explaining a method for measuring a position/heading angle using two Differential-GPS in relation to the present invention.
5 is a view for explaining a method of controlling a vehicle position and a heading angle using a plurality of GPSs proposed by the present invention.
6 is a flowchart illustrating a method for controlling a vehicle position and a heading angle using a plurality of GPSs described in FIG. 5 .
7 illustrates an example of a flowchart for selecting a nearby base station when the current location is Seoul in relation to the present invention.
8 shows an example of an extension structure for a host location feedback to a central monitoring center in relation to the present invention.
9 is a flowchart illustrating the operation of the golf cart autonomous driving and monitoring system proposed by the present invention.
10 illustrates an example of a system capable of transmitting and receiving both RF and NTRIP signals in relation to the present invention.
11 illustrates an example in which a vehicle position and an azimuth state are summarized in response to cases classified according to signal sensitivity of GPS in relation to the present invention.
12 (a) and (b) show the geometry of a Bicycle model and a Bicycle model of a vehicle.
13 shows the WGS84 Earth model constant in relation to the present invention.
14 is a diagram for explaining the Predict and Update processes of the Kalman filter in relation to the present invention.
15 illustrates an example of positioning the vehicle state by fusing GPS measurement values and vehicle state information according to four RTK states in relation to the present invention.
FIG. 16 shows an example of an extended system in which each host broadcasts its location as an RTCM stream to track the location of the host in the control center with respect to FIG.

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

Since the present invention can have various changes and can have various embodiments, specific embodiments are illustrated in the drawings and described in detail in the detailed description. This is not intended to limit the present invention to specific embodiments, it can be understood to include all modifications, equivalents and substitutes included in the spirit and scope of the present invention.

In describing the present invention, terms such as first, second, etc. may be used to describe various components, but the components may not be limited by the terms. The above terms are only for the purpose of distinguishing one component from another. For example, without departing from the scope of the present invention, a first component may be referred to as a second component, and similarly, a second component may also be referred to as a first component.

When a component is referred to as being connected or connected to another component, it may be directly connected or connected to the other component, but it can be understood that other components may exist in between. . On the other hand, when it is mentioned that a certain element is directly connected to or directly connected to another element, it may be understood that the other element does not exist in the middle.

The terms used herein are used only to describe specific embodiments, and are not intended to limit the present invention. The singular expression may include the plural expression unless the context clearly dictates otherwise.

In this specification, the terms include or include are intended to designate that a feature, number, step, operation, component, part, or combination thereof described in the specification exists, and includes one or more other features or numbers, It may be understood that the existence or addition of steps, operations, components, parts or combinations thereof is not precluded in advance.

In addition, unless otherwise defined, all terms used herein, including technical or scientific terms, may have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs. . Terms such as those defined in a commonly used dictionary may be interpreted as having a meaning consistent with the meaning in the context of the related art, and unless explicitly defined in the present specification, it is interpreted in an ideal or excessively formal meaning. it may not be

autonomous driving system

A self-driving vehicle refers to a vehicle that detects the situation with various sensors of the vehicle, such as a precise map and a global positioning system (GPS), and finds a destination by itself without the driver operating the steering wheel, accelerator pedal, or brake.

The autonomous driving market is expected to enter full-fledged growth from 2020.

According to market research firm Navigant Research, the global autonomous vehicle market is expected to reach $1.2 trillion by 2035 after accounting for $200 billion, or 2% of the total car market in 2020.

A number of technologies may be required to realize autonomous vehicles, including HDA technology that automatically maintains the distance between vehicles, Lane Departure Warning System (LDWS), Lane Keeping Assist System (LKAS), Blind Spot Warning System (BSD), Advanced Smart Cruise Control (ASCC) and Automatic Emergency Braking System (AEB) are required.

Here, the autonomous vehicle must be operated stably according to a predetermined route, and even when a specific event occurs, a stable service technology must be provided through bypass operation corresponding to the corresponding event.

1 shows an example of a block diagram of a vehicle position and heading angle control system using a plurality of GPS according to the present invention.

Referring to FIG. 1 , the control system 1 according to the present invention may include a base station 10 , an autonomous vehicle 100 , and a control center 1000 .

Data can be exchanged between the base station 10 , the autonomous vehicle 100 , and the control center 1000 through long-distance wireless communication, short-range wireless communication, or wired communication.

Here, the short-range communication may include ANT, Bluetooth, Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra-Wideband (UWB), and ZigBee technologies.

In addition, long-distance communication is CDMA (code division multiple access), FDMA (frequency division multiple access), TDMA (time division multiple access), OFDMA (orthogonal frequency division multiple access), SC-FDMA (single carrier frequency division multiple access) may include

Hereinafter, components of the autonomous vehicle 100 applied to the present invention will be described in detail.

autonomous vehicle

2 shows an example of a block diagram of a vehicle applied to the control system of the present invention.

Referring to FIG. 2 , the autonomous vehicle 100 includes a wireless communication unit 110 , a driving unit 120 , a braking unit 130 , a sensing unit 140 , an output unit 150 , a memory 160 , and a GPS 170 . ), the control unit 180, and the like.

However, since the components shown in FIG. 2 are not essential, the autonomous vehicle 100 having more or fewer components may be implemented.

For example, an example of hardware implementation in which a part of the wireless communication unit is replaced with a wire is shown in FIG. 4 . In the figure, since both the GPS and the host are mounted on the vehicle and the separation distance is short, Radio Links #2, #3, and #4 are directly connected by wire to reduce costs.

Hereinafter, the components will be described in turn.

The wireless communication unit 110 may include one or more modules that enable wireless communication between the autonomous vehicle 100 and a wireless communication system or between a device and a network in which the device is located.

The wireless communication unit 110 may communicate with an external device through short-distance communication or long-distance communication.

Here, the short-range communication may include ANT, Bluetooth, Radio Frequency Identification (RFID), infrared data association (IrDA), Ultra-Wideband (UWB), and ZigBee technologies.

In addition, long-distance communication is CDMA (code division multiple access), FDMA (frequency division multiple access), TDMA (time division multiple access), OFDMA (orthogonal frequency division multiple access), SC-FDMA (single carrier frequency division multiple access) may include

Also, referring to FIG. 2 , the driving unit 120 provides a function of driving the autonomous vehicle 100 , that is, a moving object.

That is, it is possible to provide a driving force for moving the autonomous vehicle 100 based on components such as a motor and an inverter.

Also, referring to FIG. 2 , the braking unit 130 is configured to provide a braking function to stop the movement of the autonomous vehicle 100 .

The braking unit 130 includes a braking force generating device that generates a force necessary for braking using a driver's operating force or auxiliary power, a braking device that reduces the speed of the vehicle or directly stops the vehicle using the force generated from the braking force generating device; It may be composed of an auxiliary device that transmits the force generated by the braking force generating device to the braking device.

The braking force generating device may include auxiliary power such as vacuum, hydraulic, air brake, master cylinder, booster, etc., the braking device may include a drum and disc brake, and the auxiliary device may include a vacuum pump and an air compressor.

The braking unit 130 includes a braking brake necessary to lower the driving speed of the vehicle or make an abrupt stop, a parking brake to maintain a parked or stopped state, or a parking brake to prevent a vehicle parked or stopped on a slope from slipping, and an auxiliary brake for controlling the speed when going down a slope classified as Also, according to the friction method, it can be divided into a friction type and a non-friction type.

The former include parking, center, wheel, commercial, hydraulic, air brakes, etc., and the latter include deceleration, exhaust, engine, electronic, fluid brakes, and the like.

In addition, the sensing unit 140 performs autonomous driving such as the opening/closing state of the autonomous driving vehicle 100 , the position of the autonomous driving vehicle 100 , the orientation of the autonomous driving vehicle 100 , and acceleration/deceleration of the autonomous driving vehicle 100 . A sensing signal for controlling the operation of the autonomous driving vehicle 100 is generated by detecting the current state of the vehicle 100 .

The sensing unit 140 may sense whether power is supplied from the power supply unit 190 .

The sensing unit 140 according to the present invention may further include a proximity sensor, an ultrasonic sensor, a distance sensor, and the like.

The output unit 150 is for generating an output related to visual, auditory or tactile sense, and may include a display unit 151 , a sound output module 152 , and the like.

The display unit 151 displays (outputs) information processed by the autonomous vehicle 100 .

The display unit 151 includes a liquid crystal display (LCD), a thin film transistor-liquid crystal display (TFT LCD), an organic light-emitting diode (OLED), and a flexible display (Flexible Display). display) and at least one of a three-dimensional display (3D display).

Some of these displays may be of a transparent type or a light-transmitting type so that the outside can be viewed through them. This may be referred to as a transparent display, and a typical example of the transparent display is a TOLED (Transparant OLED). The rear structure of the display unit 151 may also be configured as a light-transmitting structure. With this structure, the user can see an object located at the rear of the body of the autonomous vehicle 100 through the area occupied by the display unit 151 of the body of the autonomous vehicle 100 .

Two or more display units 151 may exist according to an implementation form of the autonomous vehicle 100 .

When the display unit 151 and the sensor for sensing a touch operation (hereinafter, referred to as a 'touch sensor') form a layered structure (hereinafter referred to as a 'touch screen'), the display unit 151 may be used in addition to the output device. It can also be used as an input device. The touch sensor may have the form of, for example, a touch film, a touch sheet, a touch pad, or the like.

The touch sensor may be configured to convert a change in pressure applied to a specific portion of the display unit 151 or capacitance generated in a specific portion of the display unit 151 into an electrical input signal. The touch sensor may be configured to detect not only the touched position and area, but also the pressure at the time of the touch.

When there is a touch input to the touch sensor, a signal(s) corresponding thereto is sent to the touch controller. The touch controller processes the signal(s) and then transmits corresponding data to the controller 180 . Accordingly, the controller 180 can know which area of the display unit 151 has been touched, and the like.

The proximity sensor 141 may be disposed in an inner region of the autonomous vehicle 100 covered by the touch screen or near the touch screen. The proximity sensor refers to a sensor that detects the presence or absence of an object approaching a predetermined detection surface or an object existing in the vicinity without mechanical contact using the force of an electromagnetic field or infrared rays. Proximity sensors have a longer lifespan than contact sensors and their utility is also high.

Examples of the proximity sensor include a transmission type photoelectric sensor, a direct reflection type photoelectric sensor, a mirror reflection type photoelectric sensor, a high frequency oscillation type proximity sensor, a capacitive type proximity sensor, a magnetic type proximity sensor, and an infrared proximity sensor. When the touch screen is of a capacitive type, it is configured to detect the proximity of the pointer by a change in an electric field according to the proximity of the pointer. In this case, the touch screen (touch sensor) may be classified as a proximity sensor.

The sound output module 152 may output audio data received from the wireless communication unit 110 or stored in the memory 160 in a recording mode, a voice recognition mode, a broadcast reception mode, and the like.

The sound output module 152 also outputs a sound signal related to a function performed in the autonomous vehicle 100 . The sound output module 152 may include a receiver, a speaker, a buzzer, and the like.

The memory unit 160 may store a program for processing and control of the controller 180, and has a function for temporarily storing input/output data (eg, message, audio, still image, moving image, etc.). can also be performed.

The memory 160 may include a flash memory type, a hard disk type, a multimedia card micro type, a card type memory (eg, SD or XD memory), and a RAM. (Random Access Memory, RAM), SRAM (Static Random Access Memory), ROM (Read-Only Memory, ROM), EEPROM (Electrically Erasable Programmable Read-Only Memory), PROM (Programmable Read-Only Memory), magnetic memory, magnetic It may include at least one type of storage medium among a disk and an optical disk. The autonomous vehicle 100 may operate in relation to a web storage that performs a storage function of the memory 160 on the Internet.

GPS (Global Positioning System, 170) is a satellite navigation system that calculates a user's current location by receiving a signal from a satellite.

GPS consists of satellite sector, ground control sector, and user sector. Here, the satellite section refers to GPS satellites, the ground control section refers to a control station located on the ground, and the user section refers to a GPS receiver.

There are 30 GPS satellites orbiting the Earth. Of these, 24 satellites are distributed in 6 orbital planes orbiting the earth, making it possible to observe at least 6 GPS satellites from anywhere in the world. The remaining 6 satellites serve as a backup in case of a problem with 24 satellites.

GPS satellites are powered by solar energy and have a lifespan of about 8 to 10 years. The control station is divided into a main control station located in Colorado Springs, USA, and five secondary control stations distributed around the world. Each sub-control station tracks the GPS satellites passing in the sky, measures the distance and rate of change, and sends it to the main control station. The main control station gathers the information and processes it to keep the satellite in orbit. A GPS receiver consists of an antenna that receives signals from GPS satellites, a clock, software that processes signals, and an output device that outputs them.

The GPS 170 according to the present invention includes a Moving Base GPS 171 and a Rover GPS 172 .

Here, the Moving Base GPS 171 may be used to determine the location of the vehicle 100 .

Next, the Rover GPS 172 may be used to measure the heading angle of the vehicle.

Specific operations of the Moving Base GPS 171 and the Rover GPS 172 will be described later with reference to the drawings.

In addition, the controller 180 generally controls the overall operation of the autonomous vehicle 100 .

In this specification, the controller 180 may be referred to as a host (HOST).

The power supply unit 190 receives external power and internal power under the control of the control unit 180 to supply power required for operation of each component.

Various embodiments described herein may be implemented in a computer-readable recording medium using, for example, software, hardware, or a combination thereof.

According to the hardware implementation, the embodiments described herein are ASICs (application specific integrated circuits), DSPs (digital signal processors), DSPDs (digital signal processing devices), PLDs (programmable logic devices), FPGAs (field programmable gate arrays, It may be implemented using at least one of processors, controllers, micro-controllers, microprocessors, and other electrical units for performing functions. The described embodiments may be implemented by the controller 180 itself.

According to the software implementation, embodiments such as the procedures and functions described in this specification may be implemented as separate software modules. Each of the software modules may perform one or more functions and operations described herein. The software code may be implemented as a software application written in a suitable programming language. The software code may be stored in the memory 160 and executed by the controller 180 .

Positioning method using single DGPS

Currently, techniques for using the current heading angle of the vehicle and the current location (latitude and longitude) together have been proposed as a method for realizing autonomous driving of a vehicle.

Representatively, the Pure pursuit method and the Stanley method are currently being proposed.

In particular, a method of measuring the heading angle and position of a vehicle outdoors can be roughly divided into the following methods.

Of course, a method using a mixture of the following methods may also be applied.

(1) 1 GPS for position measurement + 1 inertial sensor for heading angle measurement

(2) Use of 1 GPS + vehicle information for location measurement

(3) using 2 GPS

The above three methods can also be classified according to the error correction method in Differential-GPS, and since the content of NTRIP is mainly dealt with in this specification, the radio-based error correction position is called RTK.

Before describing the specific content of the present invention, the concept of DGPS will be described.

First, with respect to the error of GPS, DGPS (Differential GPS) is a relative positioning-type GPS surveying technique, which is a method to obtain a more accurate location by correcting the elements causing the error by using the known reference point coordinates to be.

In general, factors that cause errors in GPS are shown in Table 1 below.

Table 1

Of the errors in Table 1 above, the ionospheric error has a large influence, and this error tends to be almost the same in the 100km area around the receiver. This method can be said to be the basic principle of DGPS.

Next, in relation to the DGPS error correction method, it can be divided into a Satellite Based Augmentation System (SBAS) method and a Real-Time Kinematic (RTK) method according to a method of propagating (transmitting) the amount to be corrected.

The methods of SBAS (short-based) and RTK (radio-based) can be summarized in Table 2 below.

Table 2

A positioning method using a single DGPS among the above three methods will be described with reference to FIG. 3 .

Referring to FIG. 3 , a base station 10 , a vehicle Rover 100 , a satellite 2 , and a radio link applied to communication between the base station 10 and the vehicle 100 are illustrated.

First, the base station (Base station, 10) is fixed on the ground and does not move (stationary) the first GPS receiver 11 and the vehicle (Rover, 100) to the Radio Link (12) for transmitting the GPS correction signal (RTCM) is composed of

Next, in relation to the vehicle (Rover, 100), the second GPS receiver 172 and the base station 10 that are fixed to the vehicle 100 and move together with the vehicle are Radio Link (Rover, 100) for receiving the GPS correction signal. 110a).

In addition, in the radio link between the vehicle 100 and the base station 10, the RTCM method is mainly used for the communication standard of the correction signal, and the hardware for transmitting and receiving the radio signal is RF, Bluetooth, and recently, the network method ( NTRIP) is also used. Of course, if the separation distance between devices using communication is short, a wired connection is also possible.

The communication speed of Radio Link applied here is generally sufficient with well-known serial communication, and recent GPS ICs are configured as follows.

- Serial-Communication Channel 1: Connect to Host using GPS-measured signals

- Serial-communication channel 2: Connected to Radio Link for sending/receiving correction signals

Position/heading angle measurement method using two Differential-GPS

Next, a method of measuring a position/heading angle using two Differential-GPSs will be described with reference to FIG. 4 .

Referring to FIG. 4 , by mounting two GPS units 171 and 172 in the vehicle 100 by applying the DGPS concept described above, the host 180 measures both the position and the heading angle of the vehicle 100 . can

For example, the location is the first ?? It is possible to measure from the GPS (moving base, 171), and the heading angle can be measured from the second GPS (rover, 172) connected to the moving base.

Referring to FIG. 4 , an example of hardware implementation in which a part of the wireless communication unit is replaced with a wire is shown. In FIG. 4 , both the GPS and the host are mounted on the vehicle and the separation distance is short. can reduce costs by connecting directly with a wired connection.

The present invention intends to propose an improved method for operating two DGPS and NTRIP-based RTCM signals together based on the technical contents described with reference to FIGS. 3 and 4 .

That is, unlike the method described in FIG. 3 , each terminal directly connects to an NTRIP caster (or server) that transmits an RTCM signal as an NTRIP client, thereby suggesting a distributed system that does not require a DGPS server.

In addition, unlike the method described with reference to FIG. 4 , the present invention intends to propose a modified method and system capable of transmitting and receiving both RF and NTRIP signals.

Hereinafter, with reference to FIGS. 5 and 6, the method and system proposed in the present invention will be described in detail.

5 is a view for explaining a method of controlling a vehicle position and a heading angle using a plurality of GPSs proposed by the present invention.

Also, FIG. 6 is a flowchart illustrating a method for controlling a vehicle position and a heading angle using a plurality of GPSs described in FIG. 5 .

As shown in FIGS. 5 and 6 , in the present invention, the vehicle 100 is provided with two GPS 170 and utilized without using the DGPS server. However, two GPS 170 is an example for implementing the present invention, it is also possible to utilize a larger number of GPS (170).

Referring to FIG. 5 , the vehicle 100 is provided with a Moving Base GPS 171 and a Rover GPS 172 , and the controller 180 uses a communication unit 110 and a wireless link through a wireless link 1 110a. It communicates with radio link 1 (12a) of base station 1 (10a) supporting 1, and link 2 of base station 2 (10b) base station 3 (10c) supporting NTRIP signal through link 2 (110k) based on NTRIP signal. , 3 (12b, 12c).

Based on this, the controller 180 selects a nearby base station and transmits information on the nearby base station to the Moving Base GPS 171 side.

Thereafter, the Moving Base GPS 171 transfers the reference position information to the Rover GPS 172 side, the Moving Base GPS 171 transfers the position information to the host 180, and the Rover GPS 172 derives the heading value. It transmits the relative PVT value for this to the host 180 .

Therefore, without a DGPS server, with only two GPSs, a position value and a heading value of the vehicle 100 can be derived to enable autonomous driving.

Referring to FIG. 6 , the control unit HOST 180 of the vehicle 100 requests access to a plurality of neighboring base stations 10 through the wireless communication unit 110 .

That is, the access request is sent to the base station 1 (10a) based on the NTRIP signal (S1), the access request is sent to the base station 2 (10b) based on another NTRIP signal (S2), and the base station 3 (10c) based on the RF signal It is also possible to send a connection request (S3).

In this case, the HOST 180 of the vehicle 100 may select a signal of a nearby base station (S4).

For example, since RTCM Type 3.0 already includes information including the position of the base station antenna, it can be used to select a nearby base station.

Mainly used RTCM messages are shown in Table 3 below, and details are described in the RTCM standard.

Table 3

In Table 3, since location information of a reference station is described in 1005 and 1006, information of a nearby base station can be known.

Returning to FIG. 6 again, the controller 180 transmits information about the base station 1 10a based on the NTRIP signal, which is the nearest server, to the Moving Base GPS 171 (S8).

In step S8, RTCM stream1 means the RTCM stream of the nearest server selected by the host 180.

In this case, the Moving Base GPS 171 may correct the location information based on the nearest server (base station) related information.

That is, the nearest server (base station) related information is information on the difference between the location of the nearest server (base station) confirmed through a signal received from at least one satellite and the actual location of the nearest server (base station), and the difference information Based on , an error generated due to a separation distance between the at least one satellite and the Moving Base GPS 171 may be corrected.

Next, the Moving Base GPS 171 transmits the corrected reference position information to the Rover GPS 172 side (S9).

In step S9, RTCM stream2 means an RTCM stream transmitted by the moving base 171 to the Rover GPS 172 side.

At this time, the Rover GPS 172, which has acquired the location information, may calculate the heading angle information of the autonomous vehicle 100 using the corrected location information of the Moving Base GPS 171 and the location information obtained by the user. .

Here, the heading angle information is obtained by the Rover GPS 172 based on the corrected location information of the Moving Base GPS 171 and the preset separation distance between the Moving Base GPS 171 and the Rover GPS 172 . The position information may be rotation angle information.

In addition, the Rover GPS 172 may receive the nearest server (base station) related information from the Moving Base GPS 171 and calculate the heading angle information after correcting the location information.

That is, the Rover GPS 172 uses the corrected position information of the Moving Base GPS 171 and the corrected position information of the Rover GPS 172 to finally calculate the heading angle information of the autonomous vehicle 100 . may be

Thereafter, the Moving Base GPS 171 transmits PVT information related to the position, speed, and time to the host 180 (S10).

Also, the Rover GPS 172 transmits a relative PVT value for deriving a heading value to the host 180 (S11).

Thereafter, the controller 180 transmits the RTK-PVT to the monitor 151 to display it (S12, 13).

Here, the RTK-PVT information means a PVT value measured when the moving base 171 is fixed.

Also, “fixed” means that the GPS measurement value is in a high-precision state (through RTCM correction).

Also, the controller 180 transmits and displays the RTK-Heading information to the monitor 151 (S14, S15).

Here, the RTK-Heading information means a relative heading value measured when the Rover GPS 172 is fixed, and the relative heading value is the relative position of the Rover GPS 172 with respect to the moving base GPS 171 . is measured, so it can be calculated.

Also, “fixed” means that the GPS measurement value (via RTCM calibration) is in a high-precision state.

Accordingly, so that the autonomous vehicle 100 can reach the predetermined target point, the controller 180 obtains the corrected position information obtained through the moving base GPS 171 and the Rover GPS 172 The direction and speed of the autonomous vehicle 100 may be controlled based on the obtained heading angle information.

In addition, these steps S1 to S15 are periodically performed, and the nearest base station can be changed in real time according to the periodic execution result.

Meanwhile, FIG. 7 shows an example of a flowchart for selecting a nearby base station when the current location is Seoul in relation to the present invention.

If the current location is Seoul and there are only two servers as shown below, the Host 180 should select the RTCM stream in Yongsan-gu, which is close to each other.

Referring to FIG. 7 , NTRIP Server1 ( 10a ) may be located in Kurume Prefecture ( KURUME_01 ), Japan, and NTRIP Server2 ( 10b ) may be located in Yongsan-gu, Seoul (YONS-RTCM31).

Through steps S111 and S112, the RTCM parser generates an RTCM message (S113), and converts the latitude and longitude information included in the PVT into the ECEF coordinate system, thereby generating an LLT ECEF (S114, 115, 116, 117, 118). ).

In addition, in Sort Logic, the ECEF coordinates (ECEF1, ECEF2) and the current position (ECEF0) are converted into UTM coordinates for positioning the relative distance (m) (S119, S120), and the RTCM caster receives it (S121), The RTCM stream of the shortest distance base station determined by the sort logic is selected and transmitted to the Moving base GPS 171 (S123).

In the example of FIG. 7, the minimum distance base station number of Yongsan-gu is No.(2)YONS-RTCM31.

As a result, RTCM stream1 = RTCM stream (server2) can be transmitted to the Moving base GPS (171).

Extended structure for host location feedback to central monitoring center

In the present invention, a method of tracking the location of the host in the control center by each host broadcasting its location as an RTCM stream may be additionally used.

If broadcast in the NTRIP method as in the prior art, there is a disadvantage that the host must implement the NTRIP server function as well as the NTRIP client function.

However, since the Internet protocol applied to the present invention is basically bidirectional in which both transmission and reception are possible, additional hardware is unnecessary.

8 shows an example of an extension structure for a host location feedback to a central monitoring center in relation to the present invention.

Since the processes S1 to S15 in FIG. 8 are the same as the processes in FIG. 6 described above, repeated descriptions will be omitted for simplification of the specification.

After step S15, the moving base GPS 171 transmits the RTCM stream 2 related reference location to the host 180 (S16), and the host 180 broadcasts its location as an RTCM stream (S17).

Through this, it is possible for the control center 1000 to track the location of the host 180 of each vehicle 100 in real time (S18).

Golf cart autonomous driving and monitoring method

The method proposed by the present invention is effective in an environment in which a plurality of vehicles 100 are operated because the host 180 shares the selection of the RTCM stream, and as a representative example, it can be utilized for the operation of a golf cart operated at a golf course. have.

By installing an NTRIP server that transmits RTCM signals to the periphery of the golf course, RF signals can be mixed by building a regional-network, and if a public NTRIP server with sufficient signal strength is already installed around the golf course, the regional-network Installation is unnecessary, and if necessary, a method of mixing them together is possible.

A system according to the present invention (a host and two GPS units that actively select an RTCM stream) is mounted on each golf cart, and from this, each golf cart can measure its own “RTK-position/heading angle”, so external help It is possible to autonomously drive to a pre-entered target position by itself.

Here, it is assumed that a driving algorithm that follows the path to the target point well if only the current position and heading angle of the golf cart is known is loaded.

In addition, as described in FIG. 8 , each golf cart broadcasts its location to the central control center 1000 so that the central control center can track the location of each golf cart in real time.

9 is a flowchart illustrating the operation of the golf cart autonomous driving and monitoring system proposed by the present invention.

Referring to FIG. 9 , two golf carts 100a and 100b may autonomously drive.

The control unit (HOST, 180) of the vehicle 1 (100a) and the control unit (HOST, 180) of the vehicle 2 (100b) request access to a plurality of nearby base stations 10 through the wireless communication unit 110, A signal of a nearby base station may be selected (S1 to S4).

In addition, the control unit 180 of the vehicle 1 ( 100a ) and the vehicle 2 ( 100b ) transmits information about the nearest base station to the Moving Base GPS 171 side, and the Moving Base GPS 171 is the reference position information to the Rover GPS 172 side. The Moving Base GPS 171 transmits PVT information related to position, speed, and time to the host 180 , and the Rover GPS 172 transmits a relative PVT value for deriving a heading value to the host 180 . It transmits (S5 to S11).

Then, the controller 180 of the vehicle 1 ( 100a ) and the vehicle 2 ( 100b ) transmits and displays the RTK-PVT to each monitor 151 side, and transmits and displays the RTK-Heading information (S12 to S15). ).

In addition, the moving base GPS 171 transmits the reference location to the host 180 , the host 180 broadcasts its location, and the control center 1000 determines the location of the host 180 of each vehicle 100 . It is possible to track in real time (S16 to S18).

Furthermore, the control center 1000 transmits (S19) the location information of the vehicle 1 ( 100a ) and the vehicle 2 ( 100b ) to the MAP server 2000 to update the map information, and the updated location is reflected in the map information of the vehicle 1 ( 100a ) And it is also possible to transmit (S20, S21) to vehicle 2 ( 100b ) so that the operation of vehicle 1 ( 100a ) and vehicle 2 ( 100b ) and the location are displayed on the display unit 151 .

Method of measuring vehicle position/heading angle using two RTK-GPS

As described above, as a method for realizing autonomous driving of a vehicle, the Pure pursuit method, Stanley method, etc. can be utilized as a method of using the current heading angle and the current location (latitude, longitude) of the vehicle together.

In particular, a method of measuring the heading angle and position of a vehicle outdoors can be roughly divided into the following methods.

1) 1 GPS for position measurement + 1 inertial sensor for heading angle measurement

2) Using 1 GPS + vehicle's information for location measurement

3) Using 2 GPS

In this embodiment, two GPS units are used in a non-shaded area with a good GPS signal, and a method of actively utilizing vehicle information in a shaded area (eg, a tunnel) where the GPS signal is weak is proposed. .

That is, in a non-shaded area where the GPS signal is good, the method of 3) using two GPS units is applied, and in a shaded area (for example, a tunnel) where the GPS signal is weak, vehicle information is actively utilized. We would like to propose a method of applying 1) and 2) together.

Hereinafter, for classification according to the error correction method in Differential-GPS, since the present specification mainly deals with NTRIP, the radio-based error correction position will be referred to as RTK.

In the above-described method of the present invention, since vehicle information is not separately used, there is a problem that positioning of a vehicle is impossible in a shaded area. In this embodiment, a Kalman filter can be used to compensate for this.

First of all, in the positioning method using a single DGPS, as described in FIG. 4, the base station is fixed on the ground and is stationary as a Radio Link for transmitting the GPS correction signal (RTCM) to the first GPS receiver, the rover. is composed

In addition, the Rover is composed of a second GPS receiver fixed to the vehicle and moving with the vehicle, and a Radio Link to receive GPS correction signals from the base station.

In addition, in Radio Link, the RTCM method is mainly used for the communication standard of the correction signal, and RF, Bluetooth, and, recently, the network method (NTRIP) may be used as hardware for radio signal transmission and reception (of course, the rover position is always fixed) A wired connection is also possible).

In addition, since the communication speed of Radio Link is generally sufficient with well-known serial-communication, recent GPS ICs are configured as follows.

Serial-Communication Channel 1: Connect to Host using GPS-measured signals

Serial-Communication Channel 2: Connected to Radio Link for sending/receiving correction signals

In particular, the technical feature of the present embodiment is to transmit an RTCM signal of a base station nearby from the terminal to the terminal using a DGPS server.

Here, RTCM Type-3 may include location information of each of the plurality of reference stations 110 .

In addition, the DGPS server 130 may select GPS correction data corresponding to the reference station located closest to the user terminal 160 by using the location information of the user terminal 160 included in the received request message. .

In addition, a method using a Strap-Down GPS may be applied.

Specifically, in this embodiment, we intend to propose an algorithm based on Inertial-Navigation that enables positioning even in a shaded area where no DGPS signal is received.

The method proposed in this embodiment may apply a positioning filter.

In addition, when a prediction process using vehicle information or IMU is applied, and GPS acquisition is impossible, filter update based on GPS information may be abandoned.

In addition, if GPS acquisition is possible, filter updates based on GPS information may be used.

In this embodiment, since “plural” RTCM Streams received wirelessly go through the Host, the Host can actively select the signal of itself and the nearest base station and inject it into each GPS (moving base).

A specific operation method will be described with reference to FIG. 10 .

10 illustrates an example of a system capable of transmitting and receiving both RF and NTRIP signals in relation to the present invention.

Referring to FIG. 10 , although each step of the contents of FIG. 8 is employed, steps S30 to S32 are added.

Specifically, referring to FIG. 10 , the control unit HOST 180 of the vehicle 100 requests access to a plurality of neighboring base stations 10 through the wireless communication unit 110 .

That is, the access request is sent to the base station 1 (10a) based on the NTRIP signal (S1), the access request is sent to the base station 2 (10b) based on another NTRIP signal (S2), and the base station 3 (10c) based on the RF signal It is also possible to send a connection request (S3).

In this case, the HOST 180 of the vehicle 100 may select a signal of a nearby base station (S4).

For example, since RTCM Type 3.0 already includes information including the position of the base station antenna, it can be used to select a nearby base station.

The controller 180 transmits information about the base station 1 10a based on the NTRIP signal, which is the nearest server, to the Moving Base GPS 171 (S8).

In step S8, RTCM stream1 means the RTCM stream of the nearest server selected by the host 180.

In this case, the Moving Base GPS 171 may correct the location information based on the nearest server (base station) related information.

That is, the nearest server (base station) related information is information on the difference between the location of the nearest server (base station) and the actual location of the nearest server (base station) confirmed through a signal received from at least one satellite, and the difference information Based on , an error generated due to a separation distance between the at least one satellite and the Moving Base GPS 171 may be corrected.

Next, the Moving Base GPS 171 transmits the corrected reference position information to the Rover GPS 172 side (S9).

In step S9, RTCM stream2 means an RTCM stream transmitted by the moving base 171 to the Rover GPS 172 side.

At this time, the Rover GPS 172, which has acquired the location information, may calculate the heading angle information of the autonomous vehicle 100 using the corrected location information of the Moving Base GPS 171 and the location information obtained by the user. .

Here, the heading angle information is obtained by the Rover GPS 172 based on the corrected location information of the Moving Base GPS 171 and the preset separation distance between the Moving Base GPS 171 and the Rover GPS 172 . The position information may be rotation angle information.

In addition, the Rover GPS 172 may receive the nearest server (base station) related information from the Moving Base GPS 171 and calculate the heading angle information after correcting the location information.

That is, the Rover GPS 172 uses the corrected position information of the Moving Base GPS 171 and the corrected position information of the Rover GPS 172 to finally calculate the heading angle information of the autonomous vehicle 100 . may be

Here, RTCM stream1 means the RTCM stream of the nearest server selected by the host (the host is delivered to the moving base through Radio Link #4, S31).

In addition, RTCM stream2 refers to an RTCM stream that transmits the position and azimuth of a vehicle positioned with the INS algorithm (transmission/reception between moving bases (GPS) through Radio Link #2, S32).

Thereafter, the INS Algorithm is applied (S30).

Here, RTK-PVT means the PVT value measured when the moving base is fixed, and RTK-Heading is the relative heading value measured when the rover is fixed (it can be easily calculated because it measures the relative position of the rover with respect to the moving base) , and “fixed” means that the GPS measurement value (through RTCM calibration) is in a high-precision state.

Thereafter, the host 180 broadcasts its location as an RTCM stream (S17).

Through this, it is possible for the control center 1000 to track the location of the host 180 of each vehicle 100 in real time (S18).

Specifically, FIG. 11 shows an example in which a vehicle position and an azimuth state are summarized corresponding to cases classified according to the signal sensitivity of the GPS in relation to the present invention.

Referring to FIG. 11 , it can be divided into four cases according to the signal sensitivity of the GPS, and thus the vehicle position and the azimuth state can be divided. First, the position value (X_ENU) measurement is performed from the measurement value of the Moving Base. It is possible (S40).

Thereafter, it is possible to measure the heading angle (Relative heading) from the measured value of the Rover (S44).

In addition, it is possible to predict the state value of the vehicle from the measured values of the vehicle (speed [m/s], steering angle [radian]) (S41).

In addition, it is possible to update the Kalman filter according to the RTK-GPS state (Case check) of the predicted vehicle state value.

An application method of the Kalman filter applied to the present invention will be described in more detail with reference to the drawings.

12 (a) and (b) show the geometry of a Bicycle model and a Bicycle model of a vehicle.

Referring to FIGS. 12A and 12B , it can be simplified to a bicycle model in which a pair of single wheels exist at the center of the axles of the front and rear wheels of the vehicle.

At this time, the motion equation of the bicycle model can be defined as the following Equation 1 in consideration of the non-holonomic constraint in which the vehicle moves in a two-dimensional plane and only the front wheels can be steered.

Equation 1

는 각각 2차원 평면에서 후륜과 전륜의 위치이고,

는 2차원 평면의 x축 기준의 차량의 방위각(=헤딩각)이며, 차량의 진행방향 벡터(heading vector)와 같은 방향을 가진다.

는 차량의 전륜 조향각을 의미한다. here,

are the positions of the rear and front wheels in the two-dimensional plane, respectively,

is the azimuth (= heading angle) of the vehicle based on the x-axis of the two-dimensional plane, and has the same direction as the heading vector of the vehicle.

is the front wheel steering angle of the vehicle.

)에 대해 거리 L만큼 위치하고 있기 때문에 전륜의 위치는 다음의 수학식 2와 같이 나타낼 수 있다.In Fig. 12, the front wheel is the azimuth angle of the vehicle from the rear wheel (

) by the distance L, the position of the front wheel can be expressed as in Equation 2 below.

Equation 2

From the top, the following equation 3 can be obtained

Equation 3

)과 헤딩 각도(

)로부터 다음의 수학식 4와 같이 계산할 수 있다.Also, the vehicle's speed vector is the vehicle's speed (

) and heading angle (

) can be calculated as in Equation 4 below.

Equation 4

As a result, the equation of motion of the vehicle can be written as Equation 5 below.

Equation 5

On the other hand, Figure 13 shows the WGS84 Earth model constant in relation to the present invention.

The GPS receiver provides the position estimate specified in the World Geodetic System 1984 Earth model (WGS84), and the constant equatorial radius and polar radius required for conversion to an ENU or NED frame are to be defined as a and b, as shown in FIG. can

로부터 ECEF(Earth-Centered, Earth-Fixed) 좌표계 상의 차량 위치를 계산하기 위한 수식은 다음의 수학식 6과 같다. Location data received from GPS receiver

Equation for calculating the vehicle position on the ECEF (Earth-Centered, Earth-Fixed) coordinate system from Equation 6 is as follows.

Equation 6

은 위도(latitude),

는 경도(longitude),

는 고도(altitude)를 의미한다. 는 지구의 수직 곡률 반경이며 다음의 수학식 7과 같이 정의된다.here,

is latitude,

is the longitude,

stands for altitude. is the vertical radius of curvature of the Earth and is defined as in Equation 7 below.

Equation 7

로부터 ENU 좌표계 상의 위치 벡터(

)로 변환하는 수식은 다음의 수학식 8과 같다.Next, in the ECEF coordinate system,

From the position vector in the ENU coordinate system (

) is the same as Equation 8 below.

Equation 8

)는 Moving Base에서 측위한 PVT로부터 계산하고, 수학식 5의 헤딩각(

)은 Rover의 Relative heading으로 직접 측위할 수 있다.On the other hand, when using two GPS, the position of Equation 8 (

) is calculated from the PVT measured by the Moving Base, and the heading angle (

) can be positioned directly as the Relative heading of the Rover.

In particular, when two GPSs are used, an INS algorithm that can be used is proposed as shown in FIG. 11 .

A discrete-time model for implementing the Kalman filter from the vehicle model of Equation 5 is written as Equation 9 below.

Equation 9

From this, the Kalman filter algorithm can be applied as follows.

Predict and Update of the Kalman filter applied to this embodiment are applied according to Equations 10 and 11 below.

Equation 10 is related to Predict, and Equation 11 is related to Update.

Equation 10

Equation 11

14 is a diagram for explaining the Predict and Update processes of the Kalman filter in relation to the present invention.

Referring to FIG. 14 , in this embodiment, a method of adjusting the values of covariance matrices Q and R (Update rule) may be applied in consideration of the fact that two RTK-GPSs are used in the update process.

In relation to the Update Rule (using Case check), the following may be applied.

15 illustrates an example of positioning the vehicle state by fusing GPS measurement values and vehicle state information according to four RTK states in relation to the present invention.

Referring to FIG. 15 , the following may be applied.

)에 대해서만 사용하게 되고, 결론적으로 제안하는 INS 알고리즘의 목적은 차량의 상태 =[,,

]^ 를 측위하는 것이 된다.That is, in this embodiment, it is assumed that the roll/pitch angle positioned by the IMU is known, and the position and (,) heading angle (

), and in conclusion, the purpose of the proposed INS algorithm is vehicle state =[,,

]^ is to be positioned.

According to the above four RTK states, the state of the vehicle can be determined by fusion of the GPS measurement value and the vehicle state information.

If necessary, the structure of FIG. 11 may be extended as shown in FIG. 11 .

That is, in relation to FIG. 11, FIG. 16 shows an example of an extended system in which each host broadcasts its location as an RTCM stream so that the location of the host can be tracked in the control center.

If broadcast in the NTRIP method as shown in FIG. 11, there is a disadvantage in that the host needs to implement the NTRIP server function as well as the NTRIP client function.

However, since the Internet protocol is basically bidirectional in which both transmission and reception are possible, additional hardware for the implementation of FIG. 11 is unnecessary.

In addition, the communication method for the broadcast of FIG. 16 may be implemented in various methods other than NTRIP.

Meanwhile, the above-described embodiments of the present invention may be implemented through various means. For example, embodiments of the present invention may be implemented by hardware, firmware, software, or a combination thereof.

In case of implementation by hardware, the method according to embodiments of the present invention may include one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs). , FPGAs (Field Programmable Gate Arrays), processors, controllers, microcontrollers, microprocessors, and the like.

In the case of implementation by firmware or software, the method according to the embodiments of the present invention may be implemented in the form of a module, procedure, or function that performs the functions or operations described above. The software code may be stored in the memory unit and driven by the processor. The memory unit may be located inside or outside the processor, and may transmit and receive data to and from the processor by various known means.

The detailed description of the preferred embodiments of the present invention disclosed as described above is provided to enable any person skilled in the art to make and practice the present invention. Although the above has been described with reference to preferred embodiments of the present invention, it will be understood by those skilled in the art that various modifications and changes can be made to the present invention without departing from the scope of the present invention. For example, those skilled in the art may use each configuration described in the above-described embodiments in a way in combination with each other. Accordingly, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

The present invention may be embodied in other specific forms without departing from the spirit and essential characteristics of the present invention. Accordingly, the above detailed description should not be construed as restrictive in all respects but as exemplary. The scope of the present invention should be determined by a reasonable interpretation of the appended claims, and all modifications within the equivalent scope of the present invention are included in the scope of the present invention. The present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein. In addition, claims that are not explicitly cited in the claims may be combined to form an embodiment, or may be included as a new claim by amendment after filing.

Claims (14)

In the driving control method of an autonomous vehicle,
a first step of transmitting, by a communication unit of the autonomous vehicle, a connection request signal to a plurality of neighboring base stations;
a second step of receiving, by the communication unit, an access signal corresponding to the access request signal from a first base station that is at least one of the plurality of base stations;
a third step of selecting, by the control unit of the autonomous vehicle, a second base station closest to the autonomous vehicle among the first base stations;
a fourth step of transmitting, by the control unit, the selected information related to the second base station to the first GPS of the autonomous vehicle;
a fifth step of calibrating, by the first GPS having obtained the first location information, the first location information based on the second base station-related information;
a sixth step of transmitting, by the first GPS, the corrected first location information to a second GPS disposed in the autonomous vehicle spaced apart from the first GPS by a predetermined distance;
a seventh step of calculating, by a second GPS having obtained second location information, heading angle information of the autonomous vehicle by using the corrected first location information and the second location information; and
an eighth step of controlling the driving of the autonomous vehicle by the controller based on the corrected first location information transmitted from the first GPS and the heading angle information transmitted from the second GPS; and

Between the seventh step and the eighth step,
Step 7.5, wherein the control unit determines the state information of the autonomous vehicle by receiving information on the speed and the steering angle of the autonomous vehicle from the autonomous vehicle;
In the eighth step, the control unit selectively uses the state information to control the driving of the autonomous driving vehicle.
delete ◈Claim 3 was abandoned when paying the registration fee.◈ The method of claim 1,
When the signal values of the first GPS and the second GPS are better than a predetermined value, the controller controls the driving of the autonomous vehicle using only the corrected first location information and the heading angle information. A driving control method of an autonomous driving vehicle.
◈Claim 4 was abandoned when paying the registration fee.◈ 4. The method of claim 3,
When the signal values of the first GPS and the second GPS are less than a predetermined value, the control unit controls the driving of the autonomous vehicle by using the state information. ◈Claim 5 was abandoned when paying the registration fee.◈ 5. The method of claim 4,
and the controller determines the state information of the autonomous vehicle according to a prediction and update operation according to a Kalman filter algorithm. The method of claim 1,
The second base station-related information is information about a difference between the location of the second base station confirmed through a signal received from at least one satellite and the actual location of the second base station,
In the fifth step,
and correcting an error generated due to a separation distance between the at least one satellite and the first GPS based on the difference information. The method of claim 1,
The plurality of base stations, the driving control method of the autonomous vehicle, characterized in that the communication using at least one of a RTCM (Radio Technical Commission for Maritime) stream and an RF (Radio Frequency) stream. The method of claim 1,
The corrected first location information,
The driving control method of the autonomous driving vehicle, characterized in that it includes information on the position, speed, and time on the position of the autonomous driving vehicle. The method of claim 1,
The heading angle information is
Based on the corrected first location information and a preset separation distance between the first GPS and the second GPS, the second location information obtained by the second GPS is rotation angle information. of driving control method. The method of claim 1,
The seventh step is
a 7-1 step of calibrating, by the second GPS having obtained the second location information, the second location information based on the second base station-related information; and
and a 7-2 step of calculating, by the second GPS, the heading angle information of the autonomous vehicle by using the corrected first position information and the corrected second position information. A method of controlling the driving of a vehicle. The method of claim 1,
After the eighth step,
A ninth step of broadcasting, by the communication unit, the corrected first location information and the heading angle information based on an Internet protocol; The method of claim 1,
The eighth step is
Autonomy, characterized in that the control unit controls the direction and speed of the autonomous vehicle based on the corrected first position information and the heading angle information so that the autonomous vehicle can reach a predetermined target point. A driving control method of a driving vehicle. ◈Claim 13 was abandoned when paying the registration fee.◈ The method of claim 1,
The plurality of base stations are base stations existing within a predetermined separation range from the golf course,
The autonomous driving vehicle is a driving control method of an autonomous driving vehicle, characterized in that the golf cart disposed inside the golf course. The method of claim 1,
The first to the eighth steps are periodically and repeatedly performed,
The driving control method of an autonomous vehicle, characterized in that the first base station can be changed according to a result of periodically repeating the first to the eighth steps.

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