KR20150076757A - An Apparatus and Method for Clustering Control of Transport - Google Patents

Abstract

The present invention relates to an apparatus and method for cluster-controlling transportation units capable of increasing efficiency of cluster control by separating a case of individual autonomic drive individually moving at the time of control of moving units from a case of group autonomic drive moving as group and permitting a predetermined level of individual movement in a moving process. The apparatus for cluster-controlling transportation units comprises: an integral control unit for moving units which prevents a collision between moving units in a group line, integrally controls a group, and includes a transmission device transmitting an integral control signal; a detecting unit for a moving unit state and environment which includes an ambient sensing means for sensing a follow-up moving means in the line; a navigation device recognizing a movement route to a destination using space information, position information, and ambient environment data; and a unit control device including a receiving device for receiving the integral control signal, defining the line based on a device providing the space information, and preventing breakaway from the line required for a follow-up vehicle.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus and a method for collective control of moving means,

More particularly, the present invention relates to a method of controlling a moving means, and more particularly, it relates to a case where an independent autonomous moving case is divided into a case of an autonomous moving case and a case of an autonomous moving case, To an apparatus and a method for collective control of a moving means.

As is well known, an autonomous travel apparatus built in various traveling means and performing an autonomous travel through search of a travel position is mainly applied to a ship, an airplane, etc. In recent years, the autonomous travel apparatus has been applied to a vehicle traveling on a road, , Road congestion, and the like to the user through a monitor, or the autonomous mobile device drives the vehicle by itself or controls the running state.

In the case of a moving object moving at a high speed such as a vehicle, for example, such an autonomous travel apparatus recognizes the traveling environment (for example, front vehicle recognition, obstacle detection, etc.) in real time and notifies the driver of the traveling environment, Each corresponding emergency function must be performed by itself, and a high-performance processor capable of processing a large amount of data in real time is required.

For example, the vehicle can be automatically driven according to predetermined conditions by mounting all the sensor devices such as a scanning device, a camera, a radar, etc., a computing device, and vehicle control and autonomous running software in the vehicle.

In particular, in the cluster driving method, the vehicle itself measures the position coordinates, the traveling direction and the traveling speed in real time using the GPS, and exchanges the information between the vehicles in the community through the ad-hoc communication based on the request / Based on the information exchanged.

Collective control of moving means such as crowd driving in a vehicle has the following characteristics.

In the case of driving a car cluster, it is a technical goal to travel on a given road to arrive at the destination, so it is sufficient to control the car including the rider in the rally in a regular sequence.

However, when a degree of freedom such as a certain level of personal movement is required in a moving process rather than a simple moving destination, a group control method that allows a personal moving beyond a certain level is required.

Korean Patent Publication No. 10-2011-0058384 Korea Patent No. 10-0957137

The present invention solves the problem of collective control of the moving means by dividing the case of autonomous autonomous mobile traveling alone and the case of mobile autonomous mobile traveling at the time of moving means control, And an object of the present invention is to provide a device and a method for collective control of a moving means which can increase the efficiency of collective control by allowing a certain level of personal movement in the process.

An object of the present invention is to provide an apparatus and method for collective control of a moving means capable of accurately detecting a surrounding environment in a road environment capable of communicating with a road infrastructure and efficiently controlling the traveling of the cluster.

The present invention provides an apparatus and method for collective control of moving means capable of efficiently performing cluster management and resource management for inter-vehicle communication using location information of a road infrastructure, It has its purpose.

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

In order to achieve the above object, an apparatus for collective control of a moving means according to the present invention includes a transmission device for preventing collision between moving means within a cluster, integrally controlling a cluster, and transmitting an integrated control signal A moving means integrated control unit for detecting a following moving means in a row, a moving means state and environment sensing unit having sensing means for detecting surrounding follow moving means in a row, and a moving path to a destination using spatial information, And a unit control device having a receiving device for receiving an integrated control signal and defining a sequence based on an apparatus for providing spatial information and performing a sequential departure prevention required for the following vehicle .

Here, the moving-unit integrated control unit includes a domain 1 including a boundary set in which a moving means in a cluster travel is set as a 1: 1 region with all other moving means belonging to the group, The moving means is controlled to move while avoiding the obstacle in the domain 2 based on the domain 2 set as the set boundary region that can be included and the domain 3 including the boundary regions designated according to the utilization purpose of the user, The safety distance between each moving means is defined as domain 1 and includes domain 3, which is an additional setting according to the purpose of use of the user.

And an information display device for transmitting information in a manner suited to the situation of sight, hearing, taste and smell, and warning the surroundings by visual, tactile, auditory, and olfactory warning.

In addition, the moving means state and environment sensing unit includes a spatial information and position checking device for confirming the spatial information and the position of the vehicle through signals and communication, and a sensing device for sensing a surrounding environment for sensing the surrounding environment by using signals, communication, sound, And a unit posture sensing device for sensing a speed and an azimuth gradient of the vehicle.

A method for collective control of a moving means according to the present invention for achieving another object includes collective control of a moving means including a moving means integrated control portion for preventing collision between moving means within a cluster sequence, And a control unit for controlling the control unit to control the control unit in the case of an independent autonomous vehicle traveling alone and a case of an autonomous vehicle traveling in a group, Domain 1 including a boundary set as a 1: 1 region with domain 1, domain 2 including a boundary set as an established domain that can include both groups in addition to domain 1, and additional setting On the basis of the domain 3 including the boundary regions according to the obstacle, And the safety distance between the moving means is defined as the domain 1. The domain distance satisfies the domain 3, which is an additional rule according to the user's purpose of use, and group control of the moving means is performed.

Here, the independent autonomous driving includes: determining whether the moving means alone moves to a destination, determining a route from the navigation device, and moving to a destination by the unit control device; A step of separating a case where there is no other means, a case where there is no other means of moving on the traveling path, a step of moving to a destination together with a detour operation on the obstacle, And performing selective control as to whether to move along with the operation of whether to recognize the other moving means as an obstacle and to avoid or recognize it as a temporary tracking target and follow it.

The method includes the steps of: determining whether at least two moving means are moving in the same category, moving the same route by selecting a common moving destination, Selecting a route based on a navigation device, selecting a common destination without a follow-up route, and performing a community travel based on the navigation device A step of recognizing a route by using a navigation device for providing a route and moving the route while sensing a surrounding environment while moving along a route for reaching a destination and performing an obstacle avoiding operation according to a sensing state; , The mobile means included in the cluster are classified into a regular cluster travel and an atypical community travel It characterized in that it comprises a; minutes to the step of moving.

In the case of an obstacle appearing while moving while keeping the safety distance uniformly between the follow moving means by moving the moving means included in the community through the specific arrangement in accordance with the lateral and longitudinal directions, To avoid this, the bypass of the traveling route is executed, and when the avoidance is completed, the return to the given arrangement is continued and the following is continued.

In addition, the atypical community driving controls the movement means to move while avoiding obstacles within the domain 2, and sets the safety distance between each movement means to the domain 1. Thereafter, And domain control of moving means is performed.

개의 1:1 대응이 이루어지고, 각 대응 간의 허용 거리를 설정하는 것을 특징으로 한다.And domain 1 is a 1: 1 and personal area setting, and when there are n units,

1: 1 correspondence is made, and the allowable distance between the correspondences is set.

In the domain 2, the center of the smallest circle and polygon that can include all of the units is set as the center of the group, and the moving area in the group of each unit is shaped into a circle and a polygon centered on this point .

In addition, the domain 3 is a setting of a specific unit movement, and sets a further restriction on the movement of the unit, such as the movement of the unit, the tracking method, and the movement order of the units according to the purpose of utilization of the user.

The apparatus and method for collective control of the moving means according to the present invention have the following effects.

First, it is possible to increase the efficiency of the group control of the moving means by dividing the case of the independent autonomous driving which moves independently in the control of the moving means and the case of the autonomous driving of the moving group.

Second, it is possible to increase the efficiency of group control by allowing a certain level of personal movement in the movement process of the movement means during the movement of the crowd.

Third, it is possible to precisely detect the surrounding environment in the road environment communicable with the road infrastructure, and to efficiently control the community driving.

Fourthly, it can efficiently manage the cluster management and the resource management for inter-vehicle communication by using the location information of the road infrastructure, so that it can be processed quickly in case of an accident.

1 is a block diagram of an apparatus for collective control of moving means according to the present invention;
2A is a configuration diagram showing an operation state of an environment monitoring apparatus at the time of independent autonomous navigation;
2B is a flowchart showing a group control method of the moving means at the time of the independent autonomous running according to the present invention
FIG. 3A is a schematic diagram showing a typical community running state
FIG. 3B is a flowchart showing a group control method of the moving means at the time of the self-propelling movement according to the present invention
4 is a diagram showing a domain setting method at the time of an atypical community driving
5 is a diagram showing an example of an atypical autonomous running

Hereinafter, a preferred embodiment of the apparatus and method for collective control of the moving means according to the present invention will be described in detail as follows.

The features and advantages of the apparatus and method for collective control of moving means according to the present invention will be apparent from the detailed description of each embodiment below.

1 is a configuration diagram of an apparatus for collective control of a moving means according to the present invention.

In the present invention, it is possible to distinguish the case of autonomous autonomous movement that moves independently in the control of the movement means and the case of the autonomous movement that moves in a group, and to increase the efficiency of the group control by allowing a certain level of personal movement in the movement process It is.

An apparatus for collective control of moving means according to the present invention includes a transmission device for performing control to prevent collision between moving means within a cluster and integrally controlling clusters and transmitting an integrated control signal A moving means integration and control unit 100, a moving means state and environment sensing unit 200 having sensing means for sensing velocity, orientation, and tilt of the vehicle and detecting surrounding follower movement means in a row, A navigation device 300 for grasping a moving route to a destination using data such as location information and a surrounding environment, and a receiving device for receiving the integrated control signal from the tracking moving device, A unit control device 400 for defining a ration series based on the vehicle speed, a unit sequence control unit 400 for executing the sequential departure prevention required for the following vehicle, And an information display device 500 that transmits information in a simple manner, and warns the surroundings by giving a visual, tactile, audible, and olfactory warning.

Herein, the unit means a moving means and means an object having a mechanical mechanism capable of moving to a wheel, a leg, a wing, and various other structures.

The moving state and environment sensing unit 200 includes a spatial information and position determining device for confirming the spatial information and the position of the vehicle through signals and communication and a sensing device for sensing the surrounding environment using signals, An ambient environment sensing device, and a unit posture sensing device for sensing the speed, azimuth, and the like of the vehicle.

The moving-unit integrated control unit 100 includes an apparatus for performing actual control or the like by transmitting a command signal on the behavior of the unit based on the processing of each received information and the received information, From the viewpoint of control of the unit, any movement means within a cluster travel includes a boundary set to a 1: 1 region with all other movement means belonging to the group Domain 1 including domain boundaries set to include both groups in addition to domain 1, and domain 3 including boundary regions of the domain specified according to the purpose of utilization of the user.

Through the designation of such a domain, control is made such that the moving means moves freely in the domain 2 while avoiding obstacles, and the safety distance between each moving means is defined as domain 1.

In addition, it is possible to control the detailed unit operation through the designated domain 3 so as to reflect a special situation according to the purpose of utilization of the user such as the setting of the driving priority and the special arrangement type, An algorithm and software can be additionally installed and utilized.

In the present invention, the movement of the moving means is divided into the case of independent autonomous traveling, and the case of autonomous traveling of a cluster moving in a group.

First, the independent autonomous driving will be described as follows.

FIG. 2A is a configuration diagram showing an operation state of an environment monitoring apparatus at the time of independent autonomous travel, and FIG. 2B is a flowchart illustrating a group control method of the movement means at the time of autonomous autonomous travel according to the present invention.

Independent autonomous driving means that the means of movement alone travel to the destination.

In the independent autonomous navigation, first, it is judged whether the moving means alone moves to the destination (S201)

Then, the moving means grasps the route from the navigation device 300, and moves to the destination by the unit control device 400 (S202)

Next, in the process of traveling along the route, the moving environment condition and the surrounding environment detection are performed through the unit state sensing device and the ambient environment sensing device of the environment sensing unit 200 (S203)

At this time, the form of sensing the surrounding situation during driving is divided into two types, that is, when there is no other traveling means on the traveling route, and when there is another traveling means (S204)

If there is no other moving means on the traveling route, the moving to the destination is executed together with the detour operation for the general obstacle (S205)

If there is another moving means on the path, it is possible to selectively control whether the moving means should be recognized as an obstacle, avoided, (S206)

Then, the surroundings environment is sensed through the sensing means of the moving means state and the surroundings sensing device of the environment sensing unit 200 according to the selection of follow and avoidance (S207), and the unit by the unit control device 400 moves the other means Avoid or follow it (S208)

The following is a description of the cluster driving.

FIG. 3A is a block diagram showing a typical cluster running state, and FIG. 3B is a flowchart showing a group control method of a moving means at the time of a cluster self-running according to the present invention.

Crowd driving means that two or more means of transport move within the same category.

First, the cluster driving judges whether two or more moving means belong to the same category and moves. (S301)

Next, a method of selecting a forward moving means as a follower and a method of moving a same route by selecting a common destination is selected by selecting the forward moving means as a follower when traveling in a cluster (S302)

In the case of the cluster driving of the follow-up mode with respect to the lead moving means, the lead moving means, which is the subject of follow-up, grasps the path based on the navigation apparatus (S303)

Here, since the follow moving means follows the follow moving means, a navigation device may not be required for the follow subject.

When a common destination is selected and a cluster is traveled without subject to follow, a route is determined by using a navigation device for providing a route (S304)

Subsequently, both the follow-up and non-follow-up approaches are moved along a path for reaching a destination by a unit control device or other means (S305)

In the process of moving, the moving means state and the surrounding environment are detected through the surrounding environment sensing device of the environment sensing part 200, and the obstacle avoiding operation is performed according to the sensing state (S306)

In this process, the moving means included in the cluster is divided into the regular cluster travel and the atypical community travel (S307)

The typical cluster travel is shown in Fig. 3A.

A typical cluster travel is to move the moving means included in the cluster through a specific arrangement with the horizontal and vertical alignment movements.

At this time, the moving means included in the cluster senses the surrounding environment through the moving means state and the surrounding environment sensing unit of the environment sensing unit 200, and moves while maintaining the safety distance uniformly between the tracking and moving means.

If a sudden obstacle or the like appears, a detour of the driving route is executed to avoid this, and when the avoidance is completed, the operation returns to the given arrangement and continues to follow.

Explanation of atypical community driving is as follows.

FIG. 4 is a diagram illustrating a domain setting method at the time of an atypical community driving, and FIG. 5 is a block diagram illustrating an example of an atypical autonomous running.

As shown in FIG. 4, the movement means within the cluster travels basically a 1: 1 region (boundary 1 of domain 1) with all other travel means belonging to the group.

In addition, domain 1 is set as a set area (boundary 2 of domain 2) which can additionally include all groups.

The moving means moves freely in the domain 2 while avoiding the obstacle, and the safe distance between each moving means is defined as the domain 1.

A detailed description of the above two domains for atypical community driving is as follows.

Domain 1 is characterized by a 1: 1 and personal area setting.

개의 1:1 대응이 이루어진다.As in Figure 4, when there are n units,

1: 1 correspondence is performed.

At this time, a boundary is set for the allowable distance between each correspondence, and this is called domain 1.

Domain 2 has the feature of setting the whole area, and the center of the smallest circle and polygon that can include all the units is set as the center point of the group, and a circle and a polygonal shape centering on this point are moved in the group of each unit Set the boundaries for the limits of the zone, and this zone is called the domain 2.

According to the setting contents of the domain 1 and the domain 2, various types of self-running of the cluster can be performed.

5 is an example of atypical community driving.

With domain 1, each unit defines the minimum distance between units, and domain 2 defines the size of the aggregate variance. Depending on the value set in these conditions, it may show the form of the regular cluster movement or the shape of the atypical community movement in the region.

The apparatus and method for collective control of the moving means according to the present invention distinguishes between the case of autonomous autonomous traveling which moves independently in the control of the moving means and the case of autonomous traveling of the moving group, And to increase the efficiency of group control.

As described above, it will be understood that the present invention is implemented in a modified form without departing from the essential characteristics of the present invention.

It is therefore to be understood that the specified embodiments are to be considered in an illustrative rather than a restrictive sense and that the scope of the invention is indicated by the appended claims rather than by the foregoing description and that all such differences falling within the scope of equivalents thereof are intended to be embraced therein It should be interpreted.

100. Moving means integrated control unit 200. Moving means state and environment sensing unit
300. Navigation device 400. Unit control device
500. Information display device

Claims (12)

A mobile unit integrated control unit including a transmission device for preventing collision between moving means within a group of crowns, collectively controlling the clusters, and transmitting an integrated control signal;
A moving means state and environment sensing unit having sensing means for sensing surrounding follow moving means in a row;
A navigation device for identifying a movement route to a destination using spatial information, position information, and surrounding environment data;
And a unit control device having a receiving device for receiving the integrated control signal and defining a sequence based on the device providing the spatial information and performing the sequential departure prevention required for the following vehicle. Apparatus for collective control of means. The apparatus according to claim 1,
A domain 1 including a boundary in which any one moving means within a cluster travels is set as a 1: 1 region with all other traveling means belonging to the group, and a set boundary region that can include both groups in addition to the domain 1 Controls the movement means to move while avoiding obstacles in the domain 2 based on the domain 2 to be set and the domain 3 including boundary regions designated according to the utilization purpose of the user,
Wherein the safety distance between each movement means is defined as domain 1 and includes domain 3 as an additional setting according to the purpose of use of the user. The information display apparatus according to claim 1, further comprising an information display device for transmitting information in a manner suited to the situation of sight, hearing, taste and smell, and for warning the viewer by visual, tactile, auditory, And means for collective control of the means of movement. 2. The apparatus according to claim 1,
A space information and position confirmation device for confirming space information and position of the vehicle through signals and communication,
A peripheral environment sensing device for sensing the surrounding environment by using signals, communication, sound, and light,
And a unit posture sensing device for sensing the speed, azimuthal gradient of the vehicle. A control method of a device for collective control of a moving means including a moving means integrated control unit for preventing collision between moving means within a cluster and integrally controlling the clusters,
In this paper, we propose a method to control the autonomous mobile autonomous mobile robot,
A domain 1 including a boundary in which any one moving means in a cluster travel is set as a 1: 1 region with all other moving means in the cluster, and a set region that can include both groups in addition to the domain 1 Characterized in that the moving means is controlled to move while avoiding obstacles in the domain (2) based on the domain (2) including the boundary, and the safety distance between the moving means is defined as the domain (1) A method for collective control of moving means. 6. The method of claim 5, wherein the autonomous self-
Determining whether the moving means alone moves to the destination, determining the route from the navigation device, and moving to the destination by the unit control device;
Detecting the surrounding environment and classifying the case where there is no other moving means on the traveling path and the case where there is another moving means;
If there is no other moving means on the traveling route, moving to the destination together with the detouring operation for the obstacle;
And selectively controlling whether to move along with an operation of recognizing and avoiding the other moving means as an obstacle and recognizing the other moving means as a temporary tracking target when the other moving means exists on the path, Lt; RTI ID = 0.0 > of: < / RTI > 6. The method according to claim 5,
Determining whether at least two moving means move within the same category;
Selecting a method of following a leading moving means as a tracking target and selecting a common destination and moving the same route by selecting the traveling means as a tracking target;
A step in which the leading moving means, which is a subject of follow-up, grasps a path based on the navigation apparatus and moves,
When a common destination is selected and a cluster is traveled without subject to follow, a step of grasping and moving the route using a navigation device for providing a route;
Sensing a surrounding environment while moving along a path for reaching a destination and performing an obstacle avoiding operation according to a sensing state;
And moving the moving means included in the cluster into a regular cluster traveling and an atypical cluster traveling in a moving process. 8. The method of claim 7,
In order to avoid the occurrence of obstacles or the like while moving while moving the moving means included in the cluster through the specific arrangement with the arranging operation in accordance with the lateral and longitudinal directions and maintaining the safety distance uniformly between the tracking moving means, And when the avoidance is completed, returning to the given arrangement and continuing the follow-up. 8. The method of claim 7, wherein the atypical community driving comprises:
The control means controls the movement means to move while avoiding obstacles in the domain 2, and after setting the safety distance between each movement means to the domain 1, it satisfies the domain 3, which is an additional setting according to the designated use purpose of the user, And means for performing group control of the means. 6. The method of claim 5, wherein the domain 1 is a 1: 1 and a personal area setting,
When there are n units,

1: 1 correspondence is made, and the allowable distance between each correspondence is set. 6. The method of claim 5, wherein the domain (2)
Wherein the center of the smallest circle and the polygon that can include all of the units are set as a center point of the group, and a movement area in the group of each unit is limited in the shape of a circle and a polygon centered on this point. . 10. The method as claimed in claim 9, wherein the domain (3)
And sets additional restrictions on the movement of the unit with respect to the movement of the unit according to the user's purpose of use, the tracking method, and the order of movement of the units.

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