KR20110060457A - Apparatus for emergency vehicle stop - Google Patents

Abstract

PURPOSE: An apparatus for an emergency vehicle stop is provided to stop a vehicle by spreading an emergency vehicle stop map in a cell area in wireless to stop a specific vehicle. CONSTITUTION: In an apparatus for an emergency vehicle stop, an ID management unit(102) assigns ID according to a connection request by using vehicle ID. The ID management unit generates an ID map by mapping ID information to the ID of the vehicle. An emergency vehicle stop map generation unit(104) generates an emergency vehicle stop map according to ID information and external emergency stop command. A map changing unit(106) updates the emergency vehicle stop map. A communications unit wirelessly spreads the vehicles emergency stop map.

Description

Unmanned Vehicle Emergency Stop Device {APPARATUS FOR EMERGENCY VEHICLE STOP}

The present invention relates to an emergency stop of an unmanned vehicle, and more particularly, to an unmanned vehicle emergency stop device that can stably remotely stop an unmanned vehicle when it is determined that the unmanned vehicle is not stable.

Unmanned vehicle research needs a technology to emergency stop a vehicle in an emergency situation. Most researches on driverless vehicles are equipped with all sensors in the vehicle, and the system is equipped so that the vehicle automatically stops in an emergency. That is, the emergency stop button is attached to the vehicle body and the button is pressed to stop the vehicle. However, this method has a problem that a person must always manually follow the vehicle and press the emergency stop button.

On the other hand, the prior art to emergency stop the vehicle in the driverless vehicle-related research as follows.

First, Japanese Unexamined Patent Application Publication No. 2004-014749 divides a traveling route of an unmanned carrier into a plurality of jurisdictions, installs a lower controller for each jurisdiction, and then runs an unmanned carrier in that jurisdiction. To control. Each lower controller is an unmanned carrier system configured to be controlled in accordance with the controller of the upper controller, so that all unmanned carriers can be emergency stopped by an emergency stop operation of one lower controller.

Such a method is cumbersome for a person to operate one sub-controller as mentioned above.

Recently, with the development of wireless communication, a technology for emergency control of a vehicle through one-to-one wireless communication between an unmanned vehicle and a control terminal has been developed.

However, these technologies not only have a disadvantage that one wireless communication terminal can service only one vehicle but also has a problem that a user has to manually stop the vehicle manually.

The present invention is to solve the above problems, to provide an unmanned vehicle emergency stop device capable of stably remotely stopping the unmanned vehicle when it is determined that the unmanned vehicle is not stable.

In addition, the present invention can receive the vehicle emergency stop map from the vehicle emergency apparatus connected through the communication network and determine whether to process the information based on the information in the vehicle emergency stop map to emergency stop the vehicle as well as the vehicle for a predetermined time It is to provide an unmanned vehicle control device that can automatically emergency stop when the emergency stop map is not received.

The object of the present invention is not limited to the above-mentioned object, and other objects which are not mentioned will be clearly understood by those skilled in the art from the following description.

The unmanned vehicle emergency stop apparatus according to the embodiment of the present invention is an unmanned vehicle emergency stop apparatus that manages different cell areas, and allocates and provides unique ID information according to a connection request using unique information of the vehicle, and assigns the unique unique information. An ID management unit for generating an ID map in which ID information and unique information of the vehicle are mapped, and a vehicle emergency stop map to which unique ID information of each vehicle in the ID map and an emergency stop value changed according to an external emergency stop command are mapped. Emergency stop map generation unit for generating a; and as the emergency stop command or vehicle emergency stop map for a specific vehicle is received from the outside, the information of the specific vehicle is present in the ID map or the ID in the received vehicle emergency stop map A map change unit for updating the generated vehicle emergency stop map when information in a map exists, and the updated vehicle emergency stop map And a communication unit for radio waves over the air.

In the unmanned vehicle emergency stop apparatus according to an embodiment of the present disclosure, the vehicle emergency stop map may include an emergency stop region value set according to whether information of the specific vehicle is present in the ID map.

In the unmanned vehicle emergency stop apparatus according to an exemplary embodiment of the present disclosure, the map change unit may include the vehicle emergency stop map received based on an emergency stop region value in the received vehicle emergency stop map as the vehicle emergency stop map is received from the outside. The updated vehicle emergency stop map may be updated using.

In the unmanned vehicle emergency stop apparatus according to an embodiment of the present disclosure, the map change unit may receive the emergency stop region value by the unmanned vehicle emergency stop apparatus in another external cell when there is no information of a specific vehicle on the ID map. In addition, the generated vehicle emergency stop map may be updated by including information on the specific vehicle.

In the unmanned vehicle emergency stop apparatus according to an embodiment of the present invention, the ID management unit, the unique ID information of the vehicle managed by the external cell using the vehicle emergency stop map received from the outside and the uniqueness of the outer cell A neighbor ID map mapped with information may be generated.

In the unmanned vehicle emergency stop apparatus according to an embodiment of the present invention, the map manager, when the vehicle emergency stop map is received from the outside, when the vehicle emergency stop map does not have the information corresponding to the ID map, the neighbor ID The generated vehicle emergency stop map may be updated based on the received vehicle emergency stop map by comparing a map with the received vehicle emergency stop map.

The unmanned vehicle emergency stop apparatus according to an embodiment of the present invention may include a command generation unit for generating an emergency stop command of the specific vehicle based on the reception of unique information, location information, and obstacle information of the vehicles from the outside. Can be.

In the unmanned vehicle emergency stop apparatus according to an embodiment of the present invention, the command generation unit may identify the unique information, the location information, and the obstacle information of the vehicles by using information received from a plurality of vehicle detection sensors installed in each cell. Can be.

As the vehicle detection sensor, one or more of an image camera, an infrared sensor, an ultrasonic sensor, a high frequency wireless sensor, a radar sensor, a lidar sensor, a loop coil sensor, and a geomagnetic sensor may be used simultaneously.

In the unmanned vehicle emergency stop apparatus according to an exemplary embodiment of the present disclosure, the command generation unit may identify the obstacle information by using information received wirelessly from a plurality of vehicle detection sensors installed in each cell, respectively, in each vehicle. Location information of the vehicle may be determined through communication with a wireless communication device.

In an unmanned vehicle emergency stop apparatus according to an embodiment of the present invention, the emergency stop command may be wirelessly propagated from a portable remote control wireless terminal.

In another aspect, an unmanned vehicle control apparatus according to an exemplary embodiment of the present invention includes an ID receiver configured to allocate unique ID information after performing a connection request to an unmanned vehicle emergency stop apparatus when entering a specific cell region, and an emergency stop apparatus of the vehicle. A map processing determination unit that determines whether or not to process the received vehicle emergency stop map on the basis of the emergency stop area value in the vehicle emergency stop map as the vehicle emergency stop map is received from the map processing decision unit. And a vehicle stop unit which emergency stops the vehicle based on the vehicle emergency stop map.

In the unmanned vehicle control apparatus according to an exemplary embodiment of the present disclosure, the vehicle stop unit may automatically stop the vehicle when the vehicle emergency stop map is not received from the emergency stop device of the vehicle for a preset time.

The present invention manages different cell areas, and wirelessly propagates a vehicle emergency stop map for emergency stopping a specific vehicle in the cell area to stop a specific vehicle, thereby making the vehicle wireless when the vehicle is suddenly in danger. It is possible to emergency stop by controlling, and can improve the stability of the unmanned vehicle because the vehicle can be emergency stopped based on the emergency stop command automatically generated by the obstacle detection.

The objects and effects of the present invention and the technical configurations for achieving them will be apparent with reference to the embodiments described below in detail with the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear. The following terms are defined in consideration of the functions of the present invention, and may be changed according to the intentions or customs of the user, the operator, and the like.

The present invention may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. The present embodiments are merely provided to complete the disclosure of the present invention and to fully inform the scope of the invention to those skilled in the art, and the present invention is defined by the scope of the claims. It will be. Therefore, the definition should be based on the contents throughout this specification.

Hereinafter, with reference to the accompanying drawings will be described an embodiment of the present invention;

An embodiment of the present invention describes an unmanned vehicle emergency stop apparatus that manages different cell regions and can stop a specific vehicle by wirelessly propagating a vehicle emergency stop map for emergency stopping a specific vehicle in the cell region.

In addition, in an embodiment of the present invention, after receiving a vehicle emergency stop map from a vehicle emergency apparatus connected through a wireless communication network, the vehicle may be emergency stopped by determining whether or not to process it based on information in the vehicle emergency stop map. An unmanned vehicle control apparatus that can automatically emergency stop when a vehicle emergency stop map is not received for a period of time will be described.

1 is a block diagram illustrating an unmanned vehicle emergency stop apparatus and an unmanned vehicle control apparatus according to an exemplary embodiment of the present invention, which includes an unmanned vehicle emergency stop apparatus 100 and an unmanned vehicle control apparatus 150 installed in a vehicle.

In an exemplary embodiment of the present invention, the vehicle is an unmanned vehicle and can be stopped through control by a command provided from the outside.

In an exemplary embodiment of the present invention, the unmanned vehicle emergency stop apparatus 100 includes an ID manager 102, an emergency stop map generator 104, a map changer 106, a communication unit 108, a storage unit 110, and a command generation. A unit 112 is installed in a predetermined area, for example, a communication area, which is one cell, to control a vehicle entering the cell.

The ID manager 102 assigns a unique ID to the vehicle after allowing the connection of the vehicle in response to the connection request of the vehicle, and provides the assigned unique ID to the vehicle. Here, the unique ID is unique information in the network for providing a remote emergency stop service, hereinafter referred to as AGVID.

When the vehicle requests connection to the unmanned vehicle emergency stop device 100, the unmanned vehicle control device 150 transmits vehicle license plate information or vehicle specific information that can uniquely define a preset vehicle to the unmanned vehicle emergency stop device 100. In addition, before the connection request, the unmanned vehicle control device 150 wirelessly propagates the beacon request message and then requests a connection to the unmanned vehicle emergency stop apparatus 100 that transmits a response signal to the beacon request message.

On the other hand, when a response signal is received from the plurality of unmanned vehicle emergency stop devices 100 after the radio waves of the beacon request message, the unmanned vehicle control device 150 based on the strength of the response signal unmanned vehicle emergency stop device 100 Select to request a connection.

In addition, the ID manager 102 generates an ID map in which AGVIDs assigned to each vehicle and unique information of the vehicle are mapped according to a connection request of the vehicle, and then stores the ID map in the storage 110.

On the other hand, when the vehicle to which AGVID is assigned by the ID manager 102 moves to an area under the control of the adjacent unmanned vehicle emergency stop device 100, the ID manager 102 moves the vehicle to the adjacent unmanned vehicle emergency stop device 100. In addition to transmitting the unique information of the AGVID value and updates the ID map stored in the storage unit 110. That is, the ID manager 102 updates the ID map by deleting AGVIDs assigned to vehicles outside the area managed by the ID and the unique information of the vehicles from the ID map.

The emergency stop map generation unit 104 generates and manages a vehicle emergency stop map in which the AGVID of each vehicle in the ID map and the emergency stop value changed according to an external emergency stop command are generated, that is, composed of AGVID, which is vehicle-specific information. A tuple of vehicle specific information-emergency stop value is generated using an ID map and then changed to a tuple of AGVID-emergency stop value to generate a vehicle emergency stop map. Here, the emergency stop value in the vehicle emergency stop map is a value changed according to an external emergency stop command and may be expressed as "0" or "1". That is, the emergency stop value may be set to "1" in the AGVID of the vehicle where the emergency stop command is received, and the emergency stop value may be set to "0" in the AGVID of the vehicle in which the emergency stop command is not received.

Meanwhile, the emergency stop map generation unit 104 may further include an emergency stop area value when generating the vehicle emergency stop map, that is, when the unique information or AGVID of the vehicle on which the emergency stop command is to be executed is not included in the ID map (the vehicle itself). Emergency stop area value is set to "0", and the unique information or AGVID of the vehicle for which the emergency stop command is to be executed is in the ID map (if the vehicle exists in a cell managed by the vehicle). The area value is set to "1".

Meanwhile, the emergency stop area value and the emergency stop value in the vehicle emergency stop map may be represented by 2 * AGVID + 1 and 2 * AGVID. At this time, the bitmap address of the vehicle emergency stop map is 2 * AGVID.

The emergency stop command is information including vehicle specific information or AGVID, and is information received from an external portable remote control wireless terminal or a management server managing a plurality of unmanned vehicle emergency stop devices 100, or an unmanned vehicle emergency stop. It may be information generated based on external information in the device 100.

First, a management server managing a plurality of unmanned vehicle emergency stop devices 100 is provided with vehicle location information and obstacle information from a vehicle local server collecting vehicle location information and obstacle information, and then emergency stop command for a specific vehicle. Generate and propagate the generated emergency stop command wirelessly.

Here, the vehicle local server reads the license plate of the vehicle using an image sensor, recognizes the vehicle specific information based on the read license plate, acquires obstacle information, or uses the laser scanner and the image sensor to detect the position information and obstacle of the vehicle. Vehicle specific information and location information may be obtained by exchanging vehicle specific information through communication with a wireless communication device mounted in the vehicle. In the case of using a wireless communication device, obstacle information may be acquired using a vehicle detection sensor. Vehicle specific information, location information, and obstacle information acquired by the vehicle local server are provided to the management server, and the management server generates an emergency stop command for causing a specific vehicle to emergency stop near the obstacle. Contains the unique information of the vehicle.

In the case of using the portable remote control wireless terminal, when the user inputs unique information or AGVID of any vehicle and clicks the emergency stop command button, the portable remote control wireless terminal generates the emergency stop command and then wirelessly propagates it.

The portable remote control wireless terminal can obtain unique information or AGVID information of the vehicle through communication with the management server or the unmanned vehicle emergency stop apparatus 100.

The unmanned vehicle emergency stop apparatus 100 uses the command generator 112 to make an emergency stop command for emergency stopping a specific vehicle based on external information, that is, unique information, location information, and obstacle information provided from a management server. You can create your own.

When the emergency stop command or the vehicle emergency stop map for a specific vehicle is received from the outside, the map change unit 106 may determine an emergency stop value in the vehicle emergency stop map when information (specific information or AGVID) of the specific vehicle exists in the ID map. The emergency stop value of the own vehicle emergency stop map may be changed by comparing the vehicle emergency stop map with the ID map.

In other words, the map change unit 106 sets the emergency stop value of the AGVID of the specific vehicle in the vehicle emergency stop map to "1" when the unique information or the AGVID of the specific vehicle included in the emergency stop command exists in the ID map. If the unique information or AGVID of a specific vehicle is not present in the ID map, the AGVID of the specific vehicle is included in the vehicle emergency stop map and the emergency stop value of the AGVID of the specific vehicle is set to "1", thereby making the vehicle emergency stop map Update On the other hand, when the unique information or AGVID of the specific vehicle does not exist in the ID map, the emergency stop area value is set to "0" when updating the vehicle emergency stop map.

The map changing unit 106 processes this based on the emergency stop area value of the vehicle emergency stop map (external vehicle emergency stop map) received from the outside, that is, the emergency stop area value of the external vehicle emergency stop map is external only to "0". Change your vehicle emergency stop map based on the vehicle emergency stop map. In other words, when an external vehicle emergency stop map having an emergency stop area value of "0" is received, the emergency stop value for the AGVID of a specific vehicle in the external vehicle emergency stop map is assigned to the AGVID of a specific vehicle in its vehicle emergency stop map. In addition to changing the emergency stop value, change the emergency stop area value to "1".

As such, according to an exemplary embodiment of the present disclosure, when receiving a vehicle emergency stop map propagated wirelessly from another external device or another unmanned vehicle emergency stop device 100, the vehicle emergency stop map received based on the emergency stop area value. Since it is possible to determine whether to handle the problem, unnecessary processing can be reduced when generating information for emergency stop of the vehicle.

The communication unit 108 wirelessly propagates the updated vehicle emergency stop map based on the updated vehicle emergency stop map or the external vehicle emergency stop map in a predetermined cycle according to the emergency stop command. That is, the unmanned vehicle control apparatus 150 of the vehicle receives the vehicle emergency stop map at a predetermined cycle. When the vehicle emergency stop map is not received during the preset period, the vehicle may emergency stop.

The unmanned vehicle control apparatus 150 that receives the radio emergency stop map propagated wirelessly performs an access request to the emergency stop apparatus 100 of the vehicle as it enters a specific cell area, and then receives an ID receiver configured to be assigned unique ID information. 152 and a map processing determination unit 154 that determines whether to process the received vehicle emergency stop map based on the emergency stop area value in the vehicle emergency stop map as the vehicle emergency stop map is received from the vehicle emergency stop device 100. And the vehicle stop unit 156 for emergency stopping the vehicle based on the vehicle emergency stop map based on the determination of the map processing determination unit 154.

The map processing determiner 154 of the unmanned vehicle control apparatus 150 first determines whether the vehicle emergency stop map is applied to its own vehicle based on the emergency stop region value, and only when the vehicle emergency stop map is applied to its own vehicle ( By controlling the emergency stop 156 based on the emergency stop value in the vehicle emergency stop map, it is possible to not receive the unnecessary information, that is, process the vehicle emergency stop map received from the adjacent unmanned vehicle emergency stop device 100.

Meanwhile, the vehicle stop unit 156 automatically stops the vehicle when the vehicle emergency stop map is not received for a preset time.

An example of applying the unmanned vehicle emergency stop apparatus 100 as described above will be described with reference to FIG. 2.

2 is an example in which an unmanned vehicle emergency stop apparatus 100 according to an exemplary embodiment of the present invention is applied to a regional segment management server 200 managing each cell, and the regional segment management server 200 is a management server (not shown). Communication with a portable remote control wireless terminal (not shown) to receive an emergency stop command. Here, the management server is a server that manages a plurality of regional segment management servers, and wirelessly propagates the emergency stop command for a specific vehicle based on location information, unique information, and obstacle information of the vehicle received from the vehicle local server. The propagated emergency stop command may be received by at least one regional segment management server 200.

The unmanned vehicle emergency stop apparatus 100 of the regional segment management server 200 may manage a vehicle that a specific vehicle manages by comparing unique information of a specific vehicle in an emergency stop command or an AGVID and an ID map stored in the storage 110. Determine the cognition. That is, if there is unique information or AGVID of a specific vehicle in the ID map, it is determined that the vehicle is in its cell area, and the map changer 106 determines the AGVID of the specific vehicle in the vehicle emergency stop map stored in the storage 110. In addition to changing the emergency stop value set at, i.e., from "0" to "1", the emergency stop area value is set to "1" to update the vehicle emergency stop map and then wirelessly propagate it. The vehicle emergency stop map propagated as described above may be received by not only all vehicles in the cell but also some vehicles managed by the adjacent regional segment management server 200 and the adjacent regional segment management server 200.

Each unmanned vehicle control device 150 that receives the vehicle emergency stop map may process or ignore it based on the emergency stop area value. That is, the unmanned vehicle control apparatus 150 of the specific vehicle that receives the vehicle emergency stop map wirelessly propagated from the local segment management server of the cell including the cell performs an emergency stop command based on the emergency stop value in the vehicle emergency stop map. After that, it sends a response packet.

When the vehicle emergency stop map is received from the adjacent area segment management server, it is ignored based on the emergency stop area value.

On the other hand, if there is no unique information or AGVID for a particular vehicle in the ID map, it is determined that the vehicle is not in its cell area, and the map change unit 106 makes an emergency stop of the vehicle emergency stop map stored in the storage unit 110. In addition to setting the local value to "0", the vehicle emergency stop map is updated by using the AGVID of the specific vehicle whose emergency stop value is set to "1" after setting the emergency stop value to "1" in the AGVID of the specific vehicle. It will then propagate wirelessly. The vehicle emergency stop map propagated as described above may be received by not only all vehicles in the cell but also some vehicles managed by the adjacent regional segment management server 200 and the adjacent regional segment management server 200.

The unmanned vehicle control apparatus 150 of all vehicles that have received the radio emergency stop map propagated in this way ignore the emergency stop area value because it is set to "0", and in the adjacent area segment management server 200. The unmanned vehicle emergency stop apparatus 100 updates its own vehicle emergency stop map by using the map change unit 106, that is, an ID map in which the AGVID of a specific vehicle in the received vehicle emergency stop map is stored in the storage unit 110. If present, the emergency stop value set in AGVID in the vehicle emergency stop map is changed to "1" using the emergency stop value set in the AGVID of a specific vehicle, and the emergency stop area value is changed to "1". After updating his vehicle emergency stop map, it propagates wirelessly through the communication unit 108.

As such, in an emergency stop network including a plurality of regional segment management servers, any one regional segment management server may be used as a management server, that is, a central network management server, and may play a role. Here, the central network management server may assign an AGVID to a vehicle requesting access to an arbitrary regional segment management server 200 through communication with the regional segment management server 200. That is, the central network management server may receive the vehicle connection request from the arbitrary regional segment management server 200 and transmit and assign the AGVID to the vehicle through the arbitrary regional segment management server.

On the other hand, in the case of actively stopping a specific vehicle by using the portable remote control wireless terminal, the user of the portable remote control wireless terminal presses the emergency stop command button after inputting the AGVID or the unique information of the vehicle using the input device, The remote control wireless terminal may transmit an emergency stop command including the AGVID or the unique information of the vehicle to the vehicle to which the AGVID is assigned. In this case, the portable remote control wireless terminal is a case that includes the emergency control apparatus of the vehicle according to an embodiment of the present invention.

On the other hand, the portable remote control wireless terminal may transmit through the local segment management server 200 without directly transmitting the emergency stop command to the vehicle, that is, the regional segment management server 200 receiving the radio wave propagation emergency stop command. The unmanned vehicle emergency stop apparatus 100 may update its vehicle emergency stop map by using an emergency stop command and then wirelessly propagate it to the vehicle to which the corresponding AGVID is assigned.

In the embodiment of the present invention has been described as an example to determine whether the AGVID of the emergency stop vehicle exists in the ID map based on the emergency stop region value, on the other hand, the vehicle emergency stop received from the adjacent unmanned vehicle emergency stop device 100 By using the map, it is possible to know the AGVID managed by the neighboring unmanned vehicle emergency stop apparatus 100, and converts it into a neighbor ID map and stores it in the storage unit 110, so that the emergency stop command is received when the emergency stop command is received. When the AGVID or the unique information of the vehicle is not present in the ID map managed by the vehicle, the AGVID of the vehicle managed by the neighboring unmanned vehicle emergency stop device 100 may be determined based on the neighbor ID map stored in the storage 110. have.

For example, the AGVID of a vehicle managed by the neighbor driverless vehicle emergency stop device 100 is managed as a separate neighbor ID map. However, the unique information of the driverless vehicle emergency stop device 100 is further added to the ID map for management. can do. That is, as shown in Table 1 below, segment IDs can be assigned and managed for each AGVID.

AGVID 0 One 2 3 4 5 6 Segment ID A A A B B C C

An operation of the driverless vehicle emergency stop apparatus 100 according to an exemplary embodiment of the present invention will be described with reference to FIG. 3.

3 is a flowchart illustrating an emergency stop process of a vehicle according to an exemplary embodiment of the present invention.

Prior to the description, the unmanned vehicle emergency stop apparatus 100 managing each cell enters its cell area, allocates an AGVID to a vehicle requesting connection, and then generates an ID map by mapping the assigned AGVID and unique information of the vehicle. The ID map is stored in the storage unit 110. The emergency stop map generator 104 of the unmanned vehicle emergency stop apparatus 100 generates and manages a vehicle emergency stop map in which each AGVID, an emergency stop value, and an emergency stop region value are mapped in the ID map.

Referring to FIG. 3, when an external device, for example, a management server, a central management server, an adjacent area segment management server, a portable remote control wireless terminal, or the like propagates an emergency stop command for a specific vehicle wirelessly (S300), an arbitrary area The segment management server updates the vehicle emergency stop map stored in the storage unit 110 using the map change unit 106 of the unmanned vehicle emergency stop apparatus 100 and then wirelessly propagates it. It looks like this:

First, the map change unit 106 of the unmanned vehicle emergency stop apparatus 100 determines whether unique information or AGVID of a specific vehicle exists in the ID map or the vehicle emergency maintenance map (S302).

As a result of the determination in S302, when the unique information or the AGVID of the specific vehicle exists, the map change unit 106 determines that the specific vehicle exists in its cell area, and thus the emergency stop mapped to the AGVID of the specific vehicle in the vehicle emergency stop map. The vehicle emergency stop map is updated by setting the value to "1" and setting the emergency stop area value to "1" (S304).

Thereafter, the map change unit 106 wirelessly propagates the updated vehicle emergency stop map through the communication unit 108 (S306), and the unmanned vehicle control apparatus of the vehicle that receives the vehicle emergency stop map propagated wirelessly ( 150 processes the corresponding vehicle emergency stop map based on the emergency stop area value and the emergency stop value.

That is, each unmanned vehicle control apparatus 150 of the vehicles that receive the radio emergency stop map propagated wirelessly extracts an emergency stop value corresponding to its AGVID from the vehicle emergency stop map and determines whether the vehicle is emergency stopped based on the extracted emergency stop value. If the emergency stop value is "1" (S308), if the emergency stop value is "1", after stopping the vehicle, the vehicle emergency stop map reception time is updated (S310), otherwise the vehicle emergency stop map is ignored (S312). ).

As a result of the determination in S302, when there is no unique information or AGVID of the specific vehicle, the map change unit 106 determines that the specific vehicle does not exist in its cell area and based on the information of the ID map (segment ID for each AGVID). It is determined whether the AGVID of the specific vehicle is managed by the adjacent unmanned vehicle emergency stop apparatus 100 (S314).

As a result of the determination of S316, when the driverless vehicle 100 is managed by the adjacent driverless vehicle emergency stop device 100, the driverless vehicle emergency stop device 100 that receives the emergency stop command sets the emergency stop area value to “0” and the emergency stop value is changed. The vehicle emergency stop map is updated by including the AGVID of the specific vehicle set to "1" in the vehicle emergency stop map (S316).

The vehicle emergency stop map updated in S318 is wirelessly propagated through the communication unit 108 of the unmanned vehicle emergency stop device 100, and each unmanned vehicle control device 150 of vehicles that have received the radio emergency stop map propagated wirelessly. Ignore this since the emergency stop area value is "0", and the adjacent unmanned vehicle emergency stop device 100 updates its vehicle emergency stop map by using the radio emergency stop map propagated wirelessly, that is, the emergency stop area value. By setting the "1" and the emergency stop value mapped to the AGVID of the specific vehicle to "1", it updates its own vehicle emergency stop map (S318).

Then, the adjacent driverless vehicle emergency stop apparatus 100 wirelessly propagates the updated vehicle emergency stop map using the communication unit 108.

Then, the process proceeds to S308 to perform the subsequent steps, that is, each unmanned vehicle control device 150 of the vehicles in the adjacent cell area receives the vehicle emergency stop map and processes it based on the emergency stop value to emergency stop the vehicle. Or ignore it. That is, the specific vehicle in the adjacent cell region receives the vehicle emergency stop map propagated wirelessly and then makes an emergency stop based on the emergency stop value in the received vehicle emergency stop map.

According to an exemplary embodiment of the present invention, when a vehicle is suddenly in danger, it is not only possible to emergency stop the vehicle wirelessly but also automatically generates an emergency stop command based on obstacle information and transmits the specific vehicle. Emergency stop can be made.

Although the embodiments of the present invention have been described above with reference to the accompanying drawings, those skilled in the art to which the present invention pertains may implement the present invention in other specific forms without changing the technical spirit or essential features thereof. I can understand that. For example, those skilled in the art can change the material, size, etc. of each component according to the application field, or combine or replace the disclosed embodiments in a form that is not clearly disclosed in the embodiments of the present invention, but this also It does not depart from the scope of the invention. Therefore, the above-described embodiments are to be considered in all respects as illustrative and not restrictive, and such modified embodiments should be included in the technical spirit described in the claims of the present invention.

1 is a block diagram illustrating an unmanned vehicle emergency stop apparatus and an unmanned vehicle control apparatus according to an exemplary embodiment of the present invention.

2 is a view showing an example in which the driverless vehicle emergency stop apparatus of the present invention is applied,

3 is a flowchart illustrating a process of emergency stopping an unmanned vehicle according to an embodiment of the present invention.

<Explanation of symbols for the main parts of the drawings>

100: driverless vehicle emergency stop device

102: ID management unit 104: emergency stop map generation unit

106: map changing unit 108: communication unit

110: storage unit 112: command generation unit

150: driverless vehicle control device 152: ID receiver

154: Map processing determination unit 156: Vehicle stop unit

Claims (1)

Unmanned vehicle emergency stop that manages different cell areas An ID management unit for allocating and providing unique ID information according to a connection request using unique information of a vehicle, and generating an ID map in which the assigned unique ID information and unique information of the vehicle are mapped; An emergency stop map generation unit generating a vehicle emergency stop map to which unique ID information of each vehicle in the ID map and emergency stop values changed according to external emergency stop commands are mapped; The generated vehicle when the information of the specific vehicle exists in the ID map or the information in the ID map exists in the received vehicle emergency stop map as an emergency stop command or a vehicle emergency stop map for a specific vehicle is received from the outside. A map changer for updating the emergency stop map, It includes a communication unit for wirelessly propagating the updated vehicle emergency stop map Driverless vehicle emergency stop device.

Images