KR20180024740A - Connecting and disconnecting system for autonomous vehicle - Google Patents

Connecting and disconnecting system for autonomous vehicle Download PDF

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Publication number
KR20180024740A
KR20180024740A KR1020160111519A KR20160111519A KR20180024740A KR 20180024740 A KR20180024740 A KR 20180024740A KR 1020160111519 A KR1020160111519 A KR 1020160111519A KR 20160111519 A KR20160111519 A KR 20160111519A KR 20180024740 A KR20180024740 A KR 20180024740A
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KR
South Korea
Prior art keywords
vehicle
autonomous
connection
autonomous vehicle
algorithm
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KR1020160111519A
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Korean (ko)
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이명헌
건 곽
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이명헌
건 곽
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Priority to KR1020160111519A priority Critical patent/KR20180024740A/en
Publication of KR20180024740A publication Critical patent/KR20180024740A/en

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60D—VEHICLE CONNECTIONS
    • B60D99/00—Subject matter not provided for in other groups of this subclass
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D63/00—Motor vehicles or trailers not otherwise provided for

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  • Engineering & Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Transportation (AREA)
  • Traffic Control Systems (AREA)

Abstract

The present invention relates to an autonomous device of a vehicle and an algorithm thereof. A connecting and disconnecting system for an autonomous vehicle comprises: a direct connection unit directly connecting and disconnecting an autonomous vehicle; and an algorithm connecting and disconnecting an autonomous vehicle with a passage connection unit connecting a passage between autonomous vehicles.

Description

자율주행자동차 간 연결 및 분리 시스템 {CONNECTING AND DISCONNECTING SYSTEM FOR AUTONOMOUS VEHICLE}BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to a self-

본 발명은 차량의 자율주행 장치 및 그 알고리즘에 관한 것이다. 보다 상세하게는 자율주행차와 자율주행차 사이의 주행 중 연결 및 분리에 관한 것이다. 즉 연결 및 분리의 장치와 그 알고리즘에 대한 것이다.
BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an autonomous navigation apparatus for a vehicle and an algorithm thereof. More particularly, the present invention relates to connection and disconnection during running between an autonomous vehicle and an autonomous vehicle. That is, the connection and disconnection device and its algorithm.

없음
none

본 발명의 목적은, 자율주행차와 자율주행차 사이의 주행 중 연결 및 분리에 관한 것이다. 즉, 연결 및 분리의 알고리즘과 장치에 대한 것이다.
An object of the present invention is to connect and disconnect during running between an autonomous vehicle and an autonomous vehicle. That is, the algorithm and apparatus for connection and disconnection.

상기 과제를 해결하기 위한 본 발명의 실시예에 따른, 자율주행자동차 간 연결 및 분리 알고리즘은 중에서 연결 알고리즘은According to an embodiment of the present invention for solving the above problems, the connection algorithm and the separation algorithm between autonomous vehicles,

자동차1(군집 주행에 합류하려는 대상) 자동차2(군집주행 및 연결된 상태에 있는 대상)으로 군집주행 합류 요청하는 단계; 자동차1(연결 시도하는 대상)이 자동차2(연결 당하는 대상)으로 연결 요청하는 단계; 자동차2에서 특정구간(연결 시간동안 직선 운행이 가능한 거리)인지 확인하는 단계; 자동차1 및 자동차2의 정속주행 유지 확인하는 단계; 자동차1 및 자동차2의 커플러 작동 확인하는 단계; 커플러 이동 및 연결하는 단계; 전력/통신 시스템 연결하는 단계; 연결통로 연결하는 단계; 군집주행 시스템 off 및 연결주행 시스템 on하는 단계를 포함한다.Car 1 (target to join the crowd driving) car 2 (crowd driving and connected target) to join the crowd driving; Requesting connection of the vehicle 1 (the object to be connected) to the vehicle 2 (the object to be connected); Confirming whether the vehicle 2 is in a specific section (a distance at which the vehicle can run straight during the connection time); Confirming that the vehicle 1 and the vehicle 2 are at constant speed; Confirming the operation of the coupler of the vehicle 1 and the vehicle 2; Moving and connecting the coupler; Connecting a power / communication system; Connecting the connecting passages; A cluster drive system off and a link drive system on.

분리 알고리즘은 The separation algorithm

앞/뒤 모두 연결된 상태라는 가정하에, 자동차1(분리 시도하는 대상)이 자동차2(앞에서 분리 당하는 대상)과 자동차3(뒤에서 분리 당하는 대상)으로 분리 요청하는 단계; 자동차2에서 특정구간(분리 시간동안 직선 운행이 가능한 거리)인지 확인하는 단계; 자동차1, 자동차2 및 자동차3의 정속주행 유지 확인하는 단계; 연결통로1(자동차1과 자동차2) 및 연결통로2(자동차2와 자동차3) 차단 및 분리 가능성 확인(통로 내 물건 및 이물질 있는지 확인)하는 단계; 연결통로1 및 연결통로2 분리하는 단계; 전력/통신 시스템1(자동차1과 자동차2) 분리하는 단계; 자동차1의 군집주행 시스템 on 및 연결주행 시스템 off하는 단계; 커플러1 분리 및 이동하는 단계; 자동차3의 군집주행 시스템 on 및 연결주행 시스템 off하는 단계; 커플러2 분리 및 이동하는 단계; 자동차1이 군집운행 대열에서 이탈하는 단계; 자동차2와 자동차3의 연결하는 단계(연결 알고리즘)를 포함한다.
Requesting separation of the vehicle 1 (the object to be separated) from the vehicle 2 (the object to be separated from the front) and the vehicle 3 (the object to be separated from the rear) on the assumption that both the front and rear are connected; Confirming that the vehicle 2 is in a specific section (a distance at which the vehicle can run straight during the separation time); Confirming that the vehicle 1, the car 2, and the car 3 are kept at constant speed; Checking the possibility of blocking and separating the connection passage 1 (cars 1 and 2) and the connecting passage 2 (cars 2 and 3) (checking whether there is any object in the passage or foreign matter); Separating the connecting passage 1 and the connecting passage 2; Separating the power / communication system 1 (cars 1 and 2); A step of turning off the communal driving system of the vehicle 1 and the connecting driving system; Separating and moving the coupler 1; The cluster driving system on the vehicle 3 and the connecting driving system off; Separating and moving the coupler 2; A step in which the vehicle 1 departs from the community driving train; And a step of connecting the vehicle 2 and the vehicle 3 (connection algorithm).

본 발명의 실시예에 따르면, 자율주행자동차 간 연결 및 분리 시스템은 자율주행자동차 간 연결 및 분리의 알고리즘을 제시하고, 연결 및 분리 장치를 함께 제시함으로써, 자율주행 중 운전자 및 탑승자에게 다양한 서비스를 제공할 수 있도록 하여 기능성을 높일 수 있다.
According to the embodiment of the present invention, an autonomous vehicle-to-vehicle interconnection and separation system provides an algorithm for connection and separation between autonomous vehicles and provides a variety of services to the driver and the passenger during autonomous traveling So that the functionality can be enhanced.

또한, 본 발명의 실시예에 따르면 자율주행자동차 간 연결 및 분리 시스템은 장거리로 운전하는 상황에서 유용하게 쓰일 수 있다.
In addition, according to the embodiment of the present invention, the connection and separation system between autonomous vehicles can be usefully used in a long distance operation.

도 1은 본 발명의 실시예에 따른 자율주행자동차의 연결 및 분리 시스템 장치를 나타내는 구성도이다.
도 2는 본 발명의 실시예에 따른 자율주행자동차 간의 연결 및 분리 측면도와 연결 및 분리 장치의 상세 구성도이다.BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a block diagram showing an apparatus for connecting and disconnecting an autonomous vehicle according to an embodiment of the present invention; FIG.
FIG. 2 is a side view showing connection and disconnection between autonomous vehicles according to an embodiment of the present invention and a detailed configuration of a connection and separation device.

..

..

정면도 : 자율주행자동차의 연결부 정면도
측면도 : 자율주행자동차의 연결부 측면도
차량간 연결 예시 - 측면도 : 자율주행자동차 간 연결 예시의 측면도
요철체결 : 직접 연결부의 상세도Front view: Front view of connection of autonomous vehicle
Side view: Connection side view of autonomous vehicle
Example of connection between vehicles - Side view: Side view of connection example between autonomous vehicles
Unevenness: Direct connection detail

Claims (1)

..
KR1020160111519A 2016-08-31 2016-08-31 Connecting and disconnecting system for autonomous vehicle KR20180024740A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113401234A (en) * 2021-06-11 2021-09-17 上海振华重工(集团)股份有限公司 Method and system for mixing automatic driving vehicle and manual driving vehicle

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN113401234A (en) * 2021-06-11 2021-09-17 上海振华重工(集团)股份有限公司 Method and system for mixing automatic driving vehicle and manual driving vehicle

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