KR102373825B1 - Vehicle navigaton switching device for golf course self-driving cars - Google Patents

Abstract

a first navigation device including a two-dimensional optical radar module, a second navigation device including a global navigation satellite system module, and a motion control device, wherein the motion control device includes the first navigation device and the second navigation device A golf course self-driving car that unmannedly drives the self-driving vehicle in the driving area based on any one of the first navigation result of the first navigation device and the second navigation result of the second navigation device based on each confidence level of navigation conversion equipment.

Description

Navigation conversion facility for self-driving cars on golf courses {VEHICLE NAVIGATON SWITCHING DEVICE FOR GOLF COURSE SELF-DRIVING CARS}

The present invention relates to a self-driving car, and more particularly, to a navigation switching facility for a self-driving car on a golf course.

An autonomous vehicle is also called an unmanned vehicle, a robot vehicle, etc., and is a vehicle that runs automatically based on the results of environmental detection, either by manual operation of a small amount of human beings, or completely without human manual operation. BACKGROUND ART In recent years, with investment in research such as determining the course of a vehicle, transmitting a command, or operating an engine, the technology of an autonomous vehicle is making rapid progress.

Driving of self-driving cars relies on navigation equipment, and accurate judgment can be made and accurate navigation results can be obtained because the navigation equipment is based on accurate positioning for both route determination and response to driving conditions.

Currently, one of the mainstream applications of self-driving cars is to perform high-level (level 4 or higher) unmanned driving within a limited area. In this application, an autonomous vehicle typically travels along a general road within a limited area, and since the pavement and road environment of such a road are simple, a commercially available navigation device is also applicable, and navigation suitable for use can provide results.

However, when a self-driving car is applied to a golf cart that runs on both the fairway and the cartway of a golf course, the pavement and road environment are not simple, so the asphalt of the cartway, the maintenance condition of the fairway, wind or rain, and automatic front and rear Due to factors such as the distance from the driving vehicle, the conventional navigation device may not respond satisfactorily when applied to the fairway of a golf course, and misjudgment or deviation may occur when driving the fairway.

As described above, the conventional navigation device does not respond to dramatic changes in conditions such as fairways, pavement conditions and the overall environment of a golf course, so there is a problem in that self-driving car technology cannot be applied to a golf course.

Accordingly, it is an object of the present invention to provide a navigation switching facility for an autonomous vehicle driving a golf course that stably provides accurate navigation results to an autonomous vehicle driving on a golf course.

The technical means used by the present invention to solve the conventional technical problem is to use at least one of the fairway and the rough of the golf course as a driving area, and automatically switch the navigation method of the golf course self-driving car in the driving area. A golf course self-driving car navigation conversion facility, comprising: a two-dimensional optical radar module, a photographing module, a first positioning module connected to the two-dimensional optical radar module and the photographing module, and a first connected to the first positioning module 1 path determination module is included, detection results are obtained by detection of the two-dimensional optical radar module and the imaging module, and the first positioning module and the first path determination module perform calculations based on the detection results to obtain a first navigation location result and a first navigation confidence level; a global navigation satellite system module, a second positioning module coupled to the global navigation satellite system module, and a second path determination module coupled to the second positioning module, detected by detection of the global navigation satellite system module a result is obtained, and the second positioning module and the second route determination module perform calculations based on the detection result, so that the golf course self-driving car has a second navigation position result in the driving zone and a second navigation trust a second navigation device from which the level is obtained; and a motion control module, and a navigation selection switching module connected to the motion control module, wherein the navigation selection switching module is installed to determine the first navigation confidence level of the first navigation device and the second navigation device of the second navigation device. 2 based on the navigation trust level, switch the motion control module from the first navigation device to the second navigation device, or to connect the motion control module from the second navigation device to the first navigation device. by switching, the motion control module makes the self-driving car unmanned in the driving zone based on any one of the result of the first navigation position of the first navigation device and the result of the second navigation position of the second navigation device. motion control device to drive; is included, wherein the first navigation confidence level of the first navigation device is obtained by a computational probabilistic model of the two-dimensional optical radar module, the imaging module, and the first positioning module, and the second navigation device The second navigation confidence level of the golf course self-driving car navigation, characterized in that it is acquired by calculation information of the global navigation satellite system module and the second positioning module, and vehicle dynamics and road dynamics capture information of the autonomous vehicle to provide conversion facilities.

In one embodiment of the present invention, the first positioning module is a slam (Simultaneous Localization and Mapping, SLAM) module, it provides a navigation switching facility for a self-driving car on a golf course, characterized in that.

In one embodiment of the present invention, there is provided a navigation switching facility for a golf course self-driving car, wherein the map data used in the first positioning module includes high-precision electronic map data.

In one embodiment of the present invention, there is provided a navigation switching facility for a self-driving golf course, wherein the high-precision electronic map data includes a laser point cloud map, a geographic information system map data, and a longitude coordinate data.

In one embodiment of the present invention, the second positioning module includes an inertial measurement unit, a Kalman filter unit, a map matching unit, and a position enhancement unit, and the Kalman filter unit is provided to the global navigation satellite system module and the inertial measurement unit. Connected, the map matching unit is connected to the Kalman filter unit, and the position enhancement unit is connected to the map matching unit to provide a navigation switching facility for a self-driving golf course, characterized in that connected to the unit.

In one embodiment of the present invention, there is provided a navigation switching facility for a self-driving car on a golf course, wherein the map data used in the second positioning module includes geographic information system map data and latitude coordinates data.

According to the technical means of the present invention, according to the change of conditions such as the fairway of the golf course, the pavement condition and the overall environment of the golf course, the navigation conversion facility of the self-driving car of the golf course can be installed in a more efficient way in a two-dimensional optical navigation (photographic device) By switching between equipped) and satellite navigation, it is possible to randomly select the navigation result with a higher confidence level. In this way, even when the self-driving car travels on public roads, the fairways of the golf course, or travels between the two, the navigation switching facility of the golf course self-driving car can stably provide accurate navigation results, so that the self-driving car can By avoiding departure, it is possible to protect the safety of the occupants and provide a good riding experience. As described above, the navigation switching facility of the self-driving car of the golf course of the present invention employs the two-dimensional optical radar module, and the price is lower than that of the three-dimensional optical radar module, and the cost can be effectively suppressed. At the same time, when installed as a two-dimensional optical radar module, there is no need to install it on the roof of the vehicle. In addition, the camera is equipped with an indexing function to assist in recognizing specific marks on the golf course more accurately, and to provide a more accurate information about the golf course self-driving car in bad weather. Assist in recognizing location. Thereby, navigation can be performed in an optical navigation method, and delay or error in navigation commands due to a net transmission error can be prevented.

1 is a view showing a navigation switching facility of a golf course self-driving car according to an embodiment of the present invention.
FIG. 2A is a diagram illustrating that an autonomous vehicle using a navigation switching facility for a golf course self-driving vehicle is operated on a golf course according to an embodiment of the present invention.
FIG. 2B is a diagram illustrating a case in which an autonomous driving vehicle using a navigation switching facility for a golf course self-driving vehicle enters a fairway from a cart road according to an embodiment of the present invention.
2C is a diagram illustrating a case in which an autonomous vehicle using a navigation switching facility for a golf course self-driving vehicle drives on a fairway according to an embodiment of the present invention.
FIG. 2D is a diagram illustrating a case in which an autonomous vehicle using a navigation switching facility for a golf course self-driving vehicle enters a cartway from a fairway according to an embodiment of the present invention.
FIG. 2E is a diagram illustrating a case in which an autonomous vehicle using a navigation switching facility for a golf course self-driving vehicle runs on a cart road according to an embodiment of the present invention.

Hereinafter, an embodiment of the present invention will be described with reference to FIGS. 1 to 2E. The description is merely an illustration of one of the embodiments of the present invention, and does not limit the embodiments of the present invention.

1 to 2E , the navigation switching facility 100 for a self-driving car on a golf course according to an embodiment of the present invention sets the fairway of the golf course as the driving zone A, and in the driving zone A Guide the self-driving car (C). The navigation switching facility 100 of the golf course self-driving car includes a first navigation device 1 , a second navigation device 2 , and an exercise control device 3 .

As shown in FIG. 1 , the first navigation device 1 includes a two-dimensional optical radar module 11 , a photographing module 12 , a first positioning module 13 , and a first path determination module 14 . do. The first positioning module 13 is connected to the two-dimensional optical module 11 and the photographing module 12, and the first path determining module 14 is connected to the first positioning module 13, In the first navigation device 1, a detection result is obtained by detection of the two-dimensional optical radar module 11 and the photographing module 12, and the first positioning module 13 and the first path determination module (14) performs calculation based on the detection result, so that the first navigation result N1 of the driving zone A is obtained.

Specifically, the 2D optical radar module 11 uses a light detection and ranging (LiDAR) module. Lidar is an optical remote sensing technology, and its principle is to irradiate an object with a pulsed laser and measure the distance to the object by measuring a reflected pulse by a sensor. In this embodiment, the two-dimensional optical radar module 11 is a 2D mechanical scanning lidar, which guides the beam with a mechanical rotation or a rotating mirror of a laser/receiver component, Collect data. Of course, the present invention is not limited thereto, and the two-dimensional optical radar module 11 may be a 2D solid state lidar, which does not have a rotating member and has only a planar detection member, so the size is small and light in weight. In any two-dimensional optical radar module 11, the value is lower than that of the three-dimensional optical radar module, so there is no need to install it on the roof of the vehicle, and the cost can be effectively suppressed. The photographing module 12 is used to acquire photographing data by photographing, and by repeatedly combining the photographing data and the detection result of the two-dimensional optical radar module 11 with map data, it is instantaneous and Accurate results are obtained. In the present embodiment, the photographing module 12 is an optical photographing machine, has better object recognition capability, and can recognize colors, dividing lines, road markings, and the like by a machine vision algorithm. Accordingly, when applied to a golf course, the photographing module 12 recognizes the color of the environment such as the grass of the golf course or the mark installed on the field (for example, a color sign for a golf course self-driving car at the golf course), Performing the assistance of the two-dimensional optical radar module 11, obtaining a clear judgment after combining with the map data, the accuracy of judgment is effectively increased, and the occurrence of misjudgment is suppressed. In the present invention, the two-dimensional optical radar module 11 and the photographing module 12 may provide a plurality at the same time in order to obtain a more complete and accurate detection result. In addition, when the two-dimensional optical radar module 11 is installed in pairs to perform detection in front, the photographing module 12 assists the two-dimensional optical radar module 11 by photographing in the left and right directions. can be installed to perform, solving the problem that the two-dimensional optical radar module 11 cannot detect the left and right directions while detecting the front. The first positioning module 13 is a Simultaneous Localization and Mapping (SLAM) module in this embodiment, and the concept of slam is to build or update a map of an unknown environment while tracing a location, It is to achieve the purpose of performing self-location estimation and environment mapping at the same time. The first path determination module 14 is used for execution of path planning, and performs simulation to obtain a moving path of the self-driving vehicle.

As shown in Fig. 1, according to the navigation switching facility 100 of the self-driving car of the golf course according to the embodiment of the present invention, the map data used in the first positioning module 13 is high-precision electronic map (HD Map) data. (M) is included, and in the present embodiment, the high-precision electronic map data (M) is a Laser Point Cloud Map data (M1) and a Geographic Information System (GIS) map data. (M2) and the theodic coordinate data (M3). Specifically, in the present embodiment, the first navigation device 1 operates the detection information provided by the two-dimensional optical radar module 11 and the photographing module 12, etc. to obtain the laser point cloud map data M1. , using the high-precision electronic map data M, including geographic information system map data M2 and theodolite coordinate data M3, to achieve self-position estimation, and the first for the driving zone A A navigation result (N1) is obtained.

As shown in FIG. 1 , the second navigation device 2 includes a global navigation satellite system module 21 , a second positioning module 22 , and a second path determination module 23 . The second positioning module 22 is connected to the global navigation satellite system module 21 , and the second path determination module 23 is connected to the second positioning module 22 , so that the global navigation satellite system module A detection result is obtained by the detection of (21), and the second positioning module 22 and the second path determination module 23 perform calculations based on the detection result, and A second navigation result N2 is obtained.

Specifically, the global navigation satellite system module 21 is a module using a global navigation satellite system (GNSS), for example, a global positioning system (GPS) of the United States. As shown in FIG. 1 , in the present embodiment, the second positioning module 22 includes an inertial measurement unit 221 , a Kalman Filter unit 222 , and a Map Matching unit 223 . and a Position Enhancement unit 224, wherein the Kalman filter unit 222 is connected to the global navigation satellite system module 21 and the inertial measurement unit 221, and the map matching unit ( 223 is connected to the Kalman filter unit 222 , and the position enhancement unit 224 is connected to the map matching unit 223 . The second route determination module 23 is also a module that executes route design, and is used for simulation to obtain a motion route of the autonomous vehicle.

As shown in FIG. 1 , according to the navigation switching facility 100 for the self-driving car of the golf course according to the embodiment of the present invention, the map data used in the second positioning module 22 includes geographic information system map data M2 and It contains the theodolite coordinate data M3. Similarly, the second navigation device 2 uses detection information by the global navigation satellite system module 21 or the like, and uses the geographic information system map data M2 and the longitude coordinate data M3 to estimate its own position. , and obtain a second navigation result N2 for the driving zone A.

The motion control device 3 includes a navigation switching module 31 and a motion control module 32 . The navigation selection switching module 31 is connected to the motion control module 32 , and the navigation switching module 31 has a trust level ( Based on L1 and L2), the motion control module 32 is switched from the first navigation device 1 to the second navigation device 2 to be connected, or the motion control module 32 is connected to the second navigation device 2 . 2 is installed so as to be switched from the navigation device (2) to being connected to the first navigation device (1), so that the motion control module (32) controls the self-driving car (C) to be connected to the first navigation device (1) of the first navigation device (1). Based on either one of the first navigation result N1 and the second navigation result N2 of the second navigation device 2, the driving is automatically performed in the driving zone A.

According to the navigation switching facility 100 for a golf course self-driving car according to the embodiment of the present invention, the navigation reliability levels L1 and L2 are the first navigation result N1 of the first navigation device 1 and the second It is an estimate of the Confidence Level of the second navigation result N2 of the navigation device 2 . Confidence level is used to evaluate the accuracy of a target result in statistics, that is, it is an indicator of the degree of reliability. In the present invention, the navigation confidence level L1 of the first navigation device 1 and the navigation confidence level L2 of the second navigation device 2 are respectively the navigation results (L1) of the first navigation device 1 N1 ) and the navigation result N2 of the second navigation device 2 are used to evaluate the navigation confidence level L1 of the first navigation device 1 , the two-dimensional optical radar module 11 and the obtained by the computational probabilistic model of the first positioning module (13), and the navigation confidence level (L2) of the second navigation device (2) is the global navigation satellite system module (21) and the second positioning module (22) It is acquired based on the calculation information of , and vehicle dynamics and road dynamics capture information of the self-driving vehicle C.

As shown in FIGS. 2A to 2E , when the self-driving car C in which the navigation switching facility 100 of the self-driving car of the golf course is used is applied to the golf course (the driving area A), the self-driving car When driving a cart road (refer to FIG. 2A ), the navigation switching facility 100 of the self-driving car on the golf course may select a navigation result (eg, the first navigation result N1 ) having a higher navigation confidence level. and based on it, the self-driving car C is controlled to drive unmanned in the driving zone A. and in response to dramatic changes in pavement conditions and road conditions (eg, from a cartway to a fairway as shown in FIG. 2B , or returning from a fairway to a cartway as shown in FIG. 2D ), the golf course automatically The navigation conversion facility 100 of the driving car may optionally select a navigation result having a higher confidence level at the present time (eg, from selecting the first navigation result N1 to the second navigation result N2 ). ), or returning from the selection of the second navigation result N2 to the selection of the first navigation result N1). Thereby, the self-driving vehicle C is controlled to be operated unattended in the driving zone A. Of course, the method of selecting a conversion of the navigation result is not limited to the method of selecting the navigation result having a higher navigation confidence level value described above. In another embodiment, it is possible to provide a threshold for switching for each of the navigation confidence level L1 of the first navigation device 1 and the navigation confidence level L2 of the second navigation device 2 ( upper threshold and/or lower threshold), the navigation conversion module, only when the navigation confidence level of the currently selected navigation result is below the lower threshold and/or when the confidence level of the unselected navigation result exceeds the upper threshold (31) performs switching of this navigation device.

According to the above-described technology, the navigation conversion facility 100 of the self-driving car of the golf course of the present invention can be installed in a two-dimensional manner in a more efficient way according to changes in conditions such as the fairway of the golf course, the state of the pavement and the overall environment of the fairway. By switching between optical navigation (with camera mounted) and satellite navigation, it is possible to arbitrarily select a navigation result having a higher confidence level (one of the first navigation result N1 and the second navigation result N2). Accordingly, even if the self-driving car C drives on a public road, a fairway of a golf course, or goes back and forth between both, the navigation switching facility 100 of the self-driving car of the golf course can stably provide accurate navigation results. Thus, the self-driving car C avoids misjudgment or departure, protects the safety of the occupants, and provides a good riding experience. In addition, the navigation switching facility 100 of the self-driving car of the golf course of the present invention employs the two-dimensional optical radar module 11, the price is lower than that of the three-dimensional optical radar module, and the cost can be effectively suppressed. At the same time, if it is installed with the two-dimensional optical radar module 11, there is no need to install it on the roof of the vehicle, and in addition, the camera is equipped with an indexing function to assist in recognizing specific marks of the golf course more accurately, automatically driving the golf course in bad weather Assist in recognizing the vehicle's location. Thereby, navigation can be performed in the optical navigation method, and delay or error in navigation commands due to a net transmission error can be prevented.

Although preferred embodiments of the present invention have been disclosed above, they do not in any way limit the present invention. Various changes and modifications can be made without departing from the spirit and scope of the present invention. Accordingly, the claims of the present invention should be broadly interpreted including such changes and modifications.

100: self-driving car navigation system
1: first navigation device
11: Two-dimensional optical radar module
12: shooting module
13: first positioning module
14: first path determination module
2: second navigation module
21: global navigation satellite system module
22: second positioning module
221: inertial measurement unit
222: Kalman filter unit
223: map matching unit
224: position enhancement unit
23: second path determination module
3: motion control device
31: navigation conversion module
32: motion control module
A: Driving area
C: self-driving car
L1: Navigation confidence level
L2: Navigation confidence level
M: high-precision electronic map data
M1: laser point cloud map data
M2: Geospatial Information System Map Data
M3: Theodolite coordinate data
N1: first navigation result
N2: Second navigation result

Claims (6)

A golf course self-driving car navigation switching facility for automatically switching a navigation method of a golf course self-driving car in the driving area by using at least one of the fairway and the rough of the golf course as a driving zone,
A two-dimensional optical radar module, a photographing module, a first positioning module connected to the two-dimensional optical radar module and the photographing module, and a first path determining module connected to the first positioning module, the 2 A detection result is obtained by the detection of the dimensional optical radar module and the photographing module, and the first positioning module and the first path determining module perform calculations based on the detection result, so that the first navigation position result and the first a first navigation device from which a navigation confidence level is obtained;
a global navigation satellite system module, a second positioning module connected to the global navigation satellite system module, and a second path determination module connected to the second positioning module; a detection result by detection of the global navigation satellite system module is obtained, and the second positioning module and the second route determining module perform calculations based on the detection result, so that the golf course self-driving car has a second navigation location result and a second navigation confidence level in the driving area. a second navigation device obtained by this; and
a motion control module; and a navigation selection switching module connected to the motion control module, wherein the navigation selection switching module is installed to determine the first navigation confidence level of the first navigation device and the second navigation device of the second navigation device. Based on the navigation trust level, switching the motion control module from the first navigation device to a coupling to the second navigation device, or switching the motion control module from the second navigation device to coupling to the first navigation device thereby causing the motion control module to position the self-driving vehicle in the driving zone based on one selected from the first navigation location result of the first navigation device and the second navigation location result of the second navigation device. motion control device for unmanned driving; is included,
the first navigation confidence level of the first navigation device is obtained by computational probabilistic models of the two-dimensional optical radar module, the imaging module, and the first positioning module;
The second navigation confidence level of the second navigation device is obtained by calculation information of the global navigation satellite system module and the second positioning module and vehicle dynamics and road dynamics capture information of the self-driving vehicle. Navigation conversion facility for self-driving cars. The method of claim 1,
The first positioning module is a Simultaneous Localization and Mapping, SLAM (Simultaneous Localization and Mapping, SLAM) module. The method of claim 1,
The map data used in the first positioning module includes high-precision electronic map data. 4. The method of claim 3,
The high-precision electronic map data includes laser point cloud map data, geographic information system map data, and theodolite coordinate data. The method of claim 1,
the second positioning module includes an inertial measurement unit, a Kalman filter unit, a map matching unit and a position enhancement unit, the Kalman filter unit is connected to the global navigation satellite system module and the inertial measurement unit, the map matching unit is A navigation switching facility for a golf course self-driving car, characterized in that it is connected to the Kalman filter unit, and the position enhancement unit is connected to the map matching unit. 6. The method of claim 1 or 5,
The map data used for the second positioning module includes geographic information system map data and theodolite coordinate data.

Images